Squashed 'third_party/allwpilib/' changes from 83f1860047..f1a82828fe
f1a82828fe [wpiutil] Add DataLog and DataLogManager Stop() (#5860)
2a04e12c6f [apriltag] AprilTagFieldLayout: Add accessors for origin and field dimensions (#5869)
33e0089afb Cleanup usages of std::function<void(void)> (#5864)
d06fa633d5 [build] Fix protobuf generation when building with make (#5867)
049732afb8 [cscore] Make camera connection logging clearer (#5866)
87f7c19f90 [wpimath] Make InterpolatingDoubleTreeMap constructor public (#5865)
6b53ef47cf [wpimath] Don't recreate TrapezoidProfile in ProfiledPIDController calculate() (#5863)
8a3a268ae6 [commands] Add finallyDo with zero-arg lambda (#5862)
1c35d42cd0 [wpilib] Pop diagnostic for deprecated function use (#5859)
ddc8db6c26 [wpimath] Add feedforward constant constructor to ElevatorSim (#5823)
c6aff2c431 [upstream_utils] Update to LLVM 17.0.4 (#5855)
a9c5b18a39 [build] Update OpenCV to 2024-4.8.0-2 (#5854)
9540b6922d [hal] Add CAN IDs for AndyMark and Vivid Hosting (#5852)
83a7d33c47 [glass] Improve display of protobuf/struct type strings (#5850)
a4a8ad9c75 [commands] Make Java SelectCommand generic (#5849)
9eecf2a456 [build] Add CMake option to build Java sources jars (#5768)
9536a311cb [wpilib] Add support for the PS5 DualSense controller (#5257)
8d5e6737fc [wpilibc] SolenoidSim: Add virtual destructor (#5848)
07e13d60a2 [ntcore] Fix write_impl (#5847)
1713386869 [wpiutil] ProtobufMessageDatabase: Fix out-of-order Add() rebuild (#5845)
35472f5fc9 [ntcore] Fix a use-after-free in client close (#5844)
ed168b522c [ntcore] Disable buf pool when asan is enabled (#5843)
3e7ba2cc6f [wpinet] WebSocket: Fix write behavior (#5841)
80c47da237 [sim] Disable the robot program when DS disconnects (#5818)
abe1cec90c [wpilib] Update Usage Reporting ResourceType from NI Libraries (#5842)
cdf981abba [glass] Fix position of data type in NT view (#5840)
04dcd80adb [build] Publish unit tests for examples (#5838)
49920234ac [build] Fix checkstyle rules to allow Windows paths (#5839)
366b715942 [wpilib] Fix SendableChooser test (#5835)
3ba501f947 [commands] Java: Fix CommandXboxController.leftTrigger() parameter order (#5831)
ec569a58ef [wpimath] Make KalmanTypeFilter interface public (#5830)
b91317fd36 [wpiutil] DataLog.addSchema(): Don't add into a set view (#5829)
2ab4fcbc24 [wpiutil] ProtobufMessageDatabase: Clear messages first (#5827)
98c14f1692 [wpimath] Add EKF/UKF u-y-R correct overload (#5832)
60bcdeded9 [ci] Disable java in sanitizer builds (#5833)
c87f8fd538 [commands] Add DeferredCommand (#5566)
ad80eb3a0b [ci] Update actions for comment-command (#5824)
c7d6ad5a0b [ntcore] WebSocketConnection: Use weak capture (#5822)
8a8e220792 [simgui] Add 'Invalid' option for AllianceStation (#5820)
cfc6a47f76 [sim] DS plugin: Fix off-by-one error when setting alliance station (#5819)
8efa586ace [ntcore] Don't check type string on publishing an entry (#5816)
23ea188e60 [glass] Add protobuf decode error log message (#5812)
928e87b4f4 [build] Add combined test meta-task (#5813)
63ef585d4b [wpiutil] Fix compilation of MathExtras.h on Windows with /sdl (#5809)
b03a7668f9 [build] Windows CMake/vcpkg fixes (#5807)
3f08bcde54 [hal] Fix HAL AllianceStation on rio (#5811)
196d963dc4 [ntcore] Fix off-by-one error in stream write (#5810)
f4cbcbc984 Fix typos (NFC) (#5804)
ec0f7fefb0 [myrobot] Update the myRobot JRE (#5805)
3d618bdbfd [wpiutil] Fix Java struct array unpacking (#5801)
1fa7445667 [ntcore] Check for valid client in incoming text and binary (#5799)
269b9647da [ci] Update JDK for combine step (#5794)
bee32f080e [docs] Add wpiunits to JavaDocs (#5793)
25dad5a531 [wpinet] TCPConnector_parallel: Don't use thread_local (#5791)
4a93581f1a [build] cmake: use default library type for libglassnt, libglass, wpigui, and imgui (#5797)
abb2857e03 [wpilib] Counter: Fix default distance per pulse, add distance and rate to C++ (#5796)
b14a61e1c0 [readme] Add link to QuickBuffers release page (#5795)
cf54d9ccb7 [wpiutil, ntcore] Add structured data support (#5391)
ecb7cfa9ef [wpimath] Add Exponential motion profile (#5720)
7c6fe56cf2 [ntcore] Fix crash on disconnect (#5788)
85147bf69e [wpinet] WebSocketSerializer: Fix UB (#5787)
244163acad [wpinet] uv::Stream::TryWrite(): Return 0 on EAGAIN (#5784)
820728503d [hal] Remove extra semicolon in RoboRioData (#5786)
45f307d87e [upstream_utils] Upgrade to LLVM 17.0.3 (#5785)
4ce4d63efc [wpilibj] Fix RobotBase.isSimulation() (#5783)
579007ceb3 [commands] Add requirements parameter to Commands.idle() (#5774)
3f3a169149 [wpilib] Make physics sim setState() functions public (#5779)
7501e4ac88 [wpilib] Close sim device in ADIS IMUs (#5776)
99630d2e78 [wpimath] Upgrade to EJML 0.43.1 (#5778)
02cbbc997d [wpimath] Make Vector-Vector binary operators return Vector (#5772)
ed93889e17 [examples] Fix typo in TimesliceRobot example name (#5773)
da70e4c262 [docs] Add jinja2 to CMake prerequisites (#5771)
e814595ea7 [wpimath] Add ChassisSpeeds.fromRobotRelativeSpeeds() (#5744)
f98c943445 [wpimath] LinearSystemId: Add DCMotorSystem overload (#5770)
b3eb64b0f7 [wpiutil] ct_string: Use inline namespace for literals (#5767)
7d9ba256c2 Revert "[build] Add CMake option to build Java source jars (#5756)" (#5766)
1f6492e3d8 [sysid] Update JSON library usage (#5765)
638f04f626 [wpiutil] Add protobuf to thirdparty sources (#5746)
210255bfff [wpiutil] Update json to 3.11.2 (#5680)
896772c750 [wpimath] Add DCMotor functions for Kraken X60 and Neo Vortex (#5759)
fd427f6c82 [wpimath] Fix hardcoded module count in SwerveDriveKinematics.resetHeading() (#5762)
c0b4c6cce6 [wpimath] Add overloads for Transform2d and Transform3d (#5757)
9a0aafd8ab [examples] Make swerve examples multiply desired module speeds by cosine of heading error (#5758)
1c724884ca [build] Add CMake option to build Java source jars (#5756)
5b0db6b93e [ci] Forward CI as well (#5755)
f8cbbbac12 [ci] Take 2 on passing GITHUB_REF (#5754)
b9944be09c [ci] Pass GITHUB_REF to docker container (#5753)
de5e4eda6c [build] Update apriltag, libssh, googletest for 2024 (#5752)
227e660e20 [upstream_utils] Upgrade to LLVM 17.0.2 (#5750)
36f94c9f21 [commands,romi,xrp] Add frcYear to vendordep (#5747)
741d166457 [glass] NT view: enhance array support (#5732)
1d23513945 [ntcore] Fix string array value comparison (#5745)
ff1849052e [commands] Make command scheduling order consistent (#5470)
58e8474368 [build] Disable armsimulation unit test (#5739)
fb07b0da49 [examples] Add XRP C++ Examples and Templates (#5743)
81893ad73d Run wpiformat with clang-format 17 (#5740)
faa1e665ba [wpimath] Add ElevatorFeedforward.calculate(currentV, nextV) overload (#5715)
a789632052 [build] Update to native utils 2024.3.1 (#5738)
8f60ab5182 [build] Update OpenCV to 2024-4.8.0-1 (#5737)
33243f982b [wpimath] Expand Quaternion class with additional operators (#5600)
420f2f7c80 [ntcore] Add RTT-only subprotocol (#5731)
2b63e35ded [ntcore] Fix moving outgoing queue to new period (#5735)
be939cb636 [ntcore] Fix notification of SetDefaultEntryValue (#5733)
69a54de202 [build] Update enterprise plugin (#5730)
fef03a3ff5 [commands] Clean up C++ includes after Requirements was added (#5719)
8b7c6852cf [ntcore] Networking improvements (#5659)
1d19e09ca9 [wpiutil] Set WPI_{UN}IGNORE_DEPRECATED to empty when all else fails (#5728)
58141d6eb5 [wpilib] Make BooleanEvent more consistent (#5436)
6576d9b474 [wpilib] SendableChooser: implement Sendable instead of NTSendable (#5718)
a4030c670f [build] Update to gradle 8.4, enable win arm builds (#5727)
0960f11eba [wpinet] Revert removal of uv_clock_gettime() (#5723)
cb1bd0a3be [wpiutil] Get more precise system time on Windows (#5722)
4831277ffe [wpigui] Fix loading a maximized window on second monitor (#5721)
3eb372c25a [wpiutil] SendableBuilder: Add PublishConst methods (#5158)
1fec8596a4 [ci] Fix -dirty version (#5716)
f7e47d03f3 [build] Remove unnecessary CMake config installs (#5714)
a331ed2374 [sysid] Add SysId (#5672)
8d2cbfce16 [wpiutil] DataLog: Stop logging if insufficient free space (#5699)
48facb9cef [ntcoreffi] Add DataLogManager (#5702)
aecbcb08fc [ntcore] Correctly start DataLog for existing publishers (#5703)
5e295dfbda [wpiutil] DataLog: Limit total buffer allocation (#5700)
c7c7e05d9d [ci] Unbreak combiner (#5698)
c92bad52cb [wpilib] DataLogManager: Use system time valid function (#5697)
d404af5f24 [wpilib] RobotController: Add isSystemTimeValid() (#5696)
e56f1a3632 [ci] Run combine but skip all steps (#5695)
8f5bcad244 [ci] Use sccache for cmake builds (#5692)
703dedc4a6 [ci] Upgrade get-cmake action to fix node12 deprecation warning (#5694)
c69a0d7504 [ci] Don't run example unit test that segfaults (#5693)
66358d103e Add menu items for online docs to GUI tools (#5689)
4be8384a76 [ci] Disable combine on PR builds (#5691)
90288f06a6 [ci] Fix Gradle disk space issues (#5688)
9e9583412e [wpigui] Make wpi::gui::OpenURL() fork the process first (#5687)
d4fcd80b7b [ci] Gradle: Use container only for build step (#5684)
7b70e66772 [outlineviewer] Fix thirdparty library include sorting (#5683)
5f651df5d5 [build] Clean up Gradle configs (#5685)
65b26738d5 Add CMakeSettings.json to gitignore (#5682)
d0305951ad Fix GitHub inline warnings (#5681)
e8d4a20331 [build][cmake] Fix windows tests and re-enable CI tests (#5674)
2b58bbde0b [xrp] Add Reflectance sensor and rangefinder classes (#5673)
dd5612fbee [json] Add forward definition header (#5676)
eab44534c3 [wpimath] Remove unused SmallString include (#5677)
5ab54ff760 Replace wpi::raw_istream with wpi::MemoryBuffer (#5675)
1b6ec5a95d [wpiutil] Upgrade to LLVM 17.0.1 (#5482)
07a0d22fe6 [build] Build examples in CMake CI (#5667)
97021f074a [build] Upgrade imgui and implot (#5668)
87ce1e3761 [build] Fix wpilibNewCommands CMake install (#5671)
6ef94de9b5 [wpimath] Add tests for ArmFeedforward and ElevatorFeedforward (#5663)
c395b29fb4 [wpinet] Add WebSocket::TrySendFrames() (#5607)
c4643ba047 [romi/xrp] Fix version typo in vendordep json (#5664)
51dcb8b55a [examples] Make Romi/XRP Examples use appropriate vendordeps (#5665)
daf7702007 [build] Test each example in a new environment (#5662)
e67df8c180 [wpilib] Const-qualify EncoderSim getters (#5660)
7be290147c [wpiutil] Refactor SpanMatcher and TestPrinters from ntcore (#5658)
9fe258427a [commands] Add proxy factory to Commands (#5603)
633c5a8a22 [commands] Add C++ Requirements struct (#5504)
b265a68eea [commands] Add interruptor parameter to onCommandInterrupt callbacks (#5461)
e93c233d60 [ntcore] Compute Value memory size when creating value (#5657)
5383589f99 [wpinet] uv::Request: Return shared_ptr from Release() (#5656)
40b552be4a [wpinet] uv::Stream: Return error from TryWrite() (#5655)
202a75fe08 [wpinet] RequestImpl: Avoid infinite loop in shared_from_this() (#5654)
8896515eb7 [wpinet] uv::Buffer: Add bytes() accessor (#5653)
ae59a2fba2 [wpinet] uv::Error: Change default error to 0 (#5652)
3b51ecc35b [wpiutil] SpanExtras: Add take_back and take_front (#5651)
17f1062885 Replace std::snprintf() with wpi::format_to_n_c_str() (#5645)
bb39900353 [romi/xrp] Add Romi and XRP Vendordeps (#5644)
cb99517838 [build] cmake: Use default install location on windows for dlls (#5580)
25b0622d4c [build] Add Windows CMake CI (#5516)
34e7849605 Add warning to development builds instructions (NFC) (#5646)
e9e611c9d8 [cameraserver] Remove CameraServer.SetSize() (#5650)
94f58cc536 [wpilib] Remove Compressor.Enabled() (#5649)
4da5aee88a [wpimath] Remove SlewRateLimiter 2 argument constructor (#5648)
2e3ddf5502 Update versions in development builds instructions to 2024 (#5647)
19a8850fb1 [examples] Add TimesliceRobot templates (#3683)
9047682202 [sim] Add XRP-specific plugin (#5631)
575348b81c [wpilib] Use IsSimulation() consistently (#3534)
12e2043b77 [wpilib] Clean up Notifier (#5630)
4bac4dd0f4 [wpimath] Move PIDController from frc2 to frc namespace (#5640)
494cfd78c1 [wpiutil] Fix deprecation warning in LLVM for C++23 (#5642)
43a727e868 [apriltag] Make loadAprilTagFieldLayout throw an unchecked exception instead (#5629)
ad4b017321 [ci] Use Ninja for faster builds (#5626)
4f2114d6f5 Fix warnings from GCC 13 release build (#5637)
e7e927fe26 [build] Also compress debug info for CMake RelWithDebInfo build type (#5638)
205a40c895 [build] Specify zlib for debug info compression (#5636)
707444f000 [apriltag] Suppress -Wtype-limits warning in asserts from GCC 13 (#5635)
3b79cb6ed3 [commands] Revert SubsystemBase deprecation/removal (#5634)
bc7f23a632 [build] Compress Linux debug info (#5633)
57b2d6f254 [build] Update to image 2024 v1.0 (#5625)
339ef1ea39 [wpilib] DataLogManager: Warn user if logging to RoboRIO 1 internal storage (#5617)
7a9a901a73 [build] Fix cmake config files (#5624)
298f8a6e33 [wpilib] Add Mechanism2d tests and make Java impl match C++ (#5527)
d7ef817bae [apriltag] Update apriltag library (#5619)
c3fb31fd0e [docs] Switch to Java 17 api docs (#5613)
bd64f81cf9 [build] Run Google tests in release mode in CI (#5615)
66e6bd81ea [wpimath] Cleanup wpimath/algorithms.md (NFC) (#5621)
4fa56fd884 [build] Add missing find_dependency call (#5623)
f63d958995 [build] Update to native utils 2024.2.0 (#5601)
a9ab08f48b [wpimath] Rename ChassisSpeeds.fromDiscreteSpeeds() to discretize() (#5616)
8e05983a4a [wpimath] Add math docs to plant inversion feedforward internals (NFC) (#5618)
3a33ce918b [ntcore] Add missing StringMap include (#5620)
a6157f184d [wpiutil] timestamp: Add ShutdownNowRio (#5610)
e9f612f581 [build] Guard policy setting for CMake versions below 3.24 (#5612)
1a6df6fec6 [wpimath] Fix DARE Q decomposition (#5611)
9b3f7fb548 [build] Exclude IntelliJ folders from spotless XML (#5602)
814f18c7f5 [wpimath] Fix computation of C for DARE (A, C) detectability check (#5609)
ac23f92451 [hal] Add GetTeamNumber (#5596)
a750bee54d [wpimath] Use std::norm() in IsStabilizable() (#5599)
8e2465f8a0 [wpimath] Add arithmetic functions to wheel speeds classes (#5465)
10d4f5b5df [wpimath] Clean up notation in DARE precondition docs (#5595)
b2dd59450b [hal] Fix unfinished/incorrect GetCPUTemp functions (#5598)
99f66b1e24 [wpimath] Replace frc/EigenCore.h typedefs with Eigen's where possible (#5597)
383289bc4b [build] Make custom CMake macros use lowercase (#5594)
45e7720ec1 [build] Add error message when downloading files in CMake (#5593)
4e0d785356 [wpimath] ChassisSpeeds: document that values aren't relative to the robot (NFC) (#5551)
3c04580a57 [commands] ProxyCommand: Use inner command name in unique_ptr constructor (#5570)
cf19102c4a [commands] SelectCommand: Fix leakage and multiple composition bug (#5571)
171375f440 [ntcoreffi] Link to NI libraries (#5589)
89add5d05b Disable flaky tests (#5591)
a8d4b162ab [ntcore] Remove RPC manual tests (#5590)
39a73b5b58 [commands] C++: Add CommandPtr supplier constructor to ProxyCommand (#5572)
36d514eae7 [commands] Refactor C++ ScheduleCommand to use SmallSet (#5568)
52297ffe29 [commands] Add idle command (#5555)
67043a8eeb [wpimath] Add angular jerk unit (#5582)
51b0fb1492 [wpimath] Fix incorrect header inclusion in angular_acceleration.h (#5587)
b7657a8e28 [wpimath] Split WPIMathJNI into logical chunks (#5552)
ea17f90f87 [build] Fix tool builds with multiple arm platforms installed (#5586)
f1d7b05723 [wpimath] Clean up unit formatter (#5584)
d7264ff597 Replace wpi::errs() usage with fmtlib (#5560)
ab3bf39e0e [wpiutil] Upgrade to fmt 10.1.1 (#5585)
165ebe4c79 Upgrade to fmt 10.1.0 (#5326)
8e2a7fd306 Include thirdparty libraries with angle brackets (#5578)
e322ab8e46 [wpimath] Fix docs for DARE ABQRN stabilizability check (NFC) (#5579)
360fb835f4 [upstream_utils] Handle edge case in filename matches (#5576)
9d86624c00 [build] Fix CMake configure warnings (#5577)
969979d6c7 [wpiutil] Update to foonathan memory 0.7-3 (#5573)
0d2d989e84 [wpimath] Update to gcem 1.17.0 (#5575)
cf86af7166 [wpiutil] Update to mpack 1.1.1 (#5574)
a0c029a35b [commands] Fix dangling SelectCommand documentation (NFC) (#5567)
349141b91b [upstream_utils] Document adding a patch (NFC) (#5432)
7889b35b67 [wpimath] Add RamseteController comparison to LTV controller docs (NFC) (#5559)
b3ef536677 [build] Ignore nt/sim json files in spotless (#5565)
ed895815b5 [build] Compile Java with UTF-8 encoding (#5564)
2e4ad35e36 [wpiutil] jni_util: Add JSpan and CriticalJSpan (#5554)
8f3d6a1d4b [wpimath] Remove discretizeAQTaylor() (#5562)
7c20fa1b18 [wpimath] Refactor DARE tests to reduce RAM usage at compile time (#5557)
89e738262c [ntcore] Limit buffer pool size to 64KB per connection (#5485)
96f7fa662e Upgrade Maven dependencies (#5553)
7a2d336d52 [wpinet] Leak multicast handles during windows shutdown (#5550)
f9e2757d8f [wpimath] Use JDoubleArrayRef in all JNI functions (#5546)
0cf6e37dc1 [wpimath] Make LTV controller constructors use faster DARE solver (#5543)
6953a303b3 [build] Fix the windows build with fmt (#5544)
7a37e3a496 [wpimath] Correct Rotation3d::RotateBy doc comment (NFC) (#5541)
186b409e16 [wpimath] Remove internal Eigen header include (#5539)
03764dfe93 [wpimath] Add static matrix support to DARE solver (#5536)
394cfeadbd [wpimath] Use SDA algorithm instead of SSCA for DARE solver (#5526)
a4b7fde767 [wpilib] Add mechanism specific SetState overloads to physics sims (#5534)
8121566258 [wpimath] Fix CoordinateSystem.convert() Transform3d overload (#5532)
b542e01a0b [glass] Fix array crash when clearing existing workspace (#5535)
e2e1b763b2 [wpigui] Fix PFD file dialogs not closing after window closing (#5530)
86d7bbc4e4 [examples] Add Java Examples and Templates for the XRP (#5529)
e8b5d44752 [wpimath] Make Java Quaternion use doubles instead of Vector (#5525)
38c198fa64 [myRobot] Add apriltags to myRobot build (#5528)
00450c3548 [wpimath] Upgrade to EJML 0.42 (#5531)
faf3cecd83 [wpimath] Don't copy Matrix and underlying storage in VecBuilder (#5524)
6b896a38dc [build] Don't enforce WITH_FLAT_INSTALL with MSVC (part 2) (#5517)
c01814b80e [wpiutil] Add C API for DataLog (#5509)
b5bd0771eb [wpimath] Document extrinsic vs intrinsic rotations (NFC) (#5508)
84ed8aec05 [build] Don't enforce WITH_FLAT_INSTALL with MSVC (#5515)
999f677d8c [ntcoreffi] Add WPI_Impl_SetupNowRio to exported symbols (#5510)
338f37d302 Fix header sorting of libssh (#5507)
75cbd9d6d0 [glass] Add background color selector to glass plots (#5506)
e2c190487b [examples] Add flywheel bang-bang controller example (#4071)
c52dad609e [wpinet] WebSocket: Send pong in response to ping (#5498)
e2d17a24a6 [hal] Expose power rail disable and cpu temp functionality (#5477)
3ad5d2e42d [hal,wpiutil] Use HMB for FPGA Timestamps (#5499)
b46a872494 [ntcore] Remove pImpl from implementation (#5480)
d8c59ccc71 [wpimath] Add tests for MathUtil clamp() and interpolate() (#5501)
0552c8621d [glass,ov] Improve Glass and OutlineViewer title bar message (#5502)
90e37a129f [wpiutil,wpimath] Add generic InterpolatingTreeMap (#5372)
d83a6edc20 [wpilib] Update GetMatchTime docs and units (#5232)
6db2c42966 [wpimath] Trajectory: Throw on empty lists of States (#5497)
21439b606c [wpimath] Disallow LTV controller max velocities above 15 m/s (#5495)
7496e0d208 [ntcore] Value: More efficiently store arrays (#5484)
0c93aded8a [wpimath] Change kinematics.ToTwist2d(end - start) to kinematics.ToTwist2d(start, end) (#5493)
815a8403e5 [wpimath] Give infeasible trajectory constraints a better exception message (#5492)
35a8b129d9 [wpimath] Add RotateBy() function to pose classes (#5491)
26d6e68c8f [upstream_utils] Add GCEM to CI (#5483)
6aa469ae45 [wpilib] Document how to create LinearSystem object for physics sim classes (NFC) (#5488)
a01b6467d3 [wpimath] Link to docs on LQR and KF tolerances (#5486)
d814f1d123 [wpimath] Fix copy-paste error from Pose2d docs (NFC) (#5490)
98f074b072 [wpimath] Add folder prefix to geometry includes (#5489)
e9858c10e9 [glass] Add tooltips for NT settings (#5476)
12dda24f06 [examples] Fix C robot template not correctly looping (#5474)
fc75d31755 [apriltag] Update apriltaglib (#5475)
a95994fff6 [wpiutil] timestamp: Call FPGA functions directly (#5235)
2ba8fbb6f4 [wpimath] Improve documentation for SwerveModulePosition::operator- (#5468)
b8cdf97621 [build] Prepare for Windows arm64 builds (#5390)
552f4b76b5 [wpimath] Add FOC-enabled Falcon constants to the DCMotor class (#5469)
1938251436 [examples] Add Feedforward to ElevatorProfiledPid (#5300)
873c2a6c10 [examples] Update ElevatorTrapezoidProfile example (#5466)
99b88be4f3 [wpilib] Reduce usage of NTSendable (#5434)
d125711023 [hal] Fix Java REVPH faults bitfield (take 2) (#5464)
c3fab7f1f2 [ntcore] Don't update timestamp when value is unchanged (#5356)
5ec7f18bdc [wpilib] EventLoop docs: Remove BooleanEvent references (NFC) (#5463)
c065ae1fcf [wpiunits] Add subproject for a Java typesafe unit system (#5371)
44acca7c00 [wpiutil] Add ClassPreloader (#5365)
88b11832ec [hal] Fix Java REVPH faults bitfield (#5148)
fb57d82e52 [ntcore] Enhance Java raw value support
3a6e40a44b [wpiutil] Enhance DataLog Java raw value support
8dae5af271 [wpiutil] Add compile-time string utilities (ct_string) (#5462)
fc56f8049a [wpilib] DriverStation: Change alliance station to use optional (#5229)
ef155438bd [build] Consume libuv via cmake config instead of via pkg-config (#5438)
86e91e6724 [wpimath] Refactor TrapezoidProfile API (#5457)
72a4543493 [wpilib] DutyCycleEncoderSim: Expand API (#5443)
657338715d [wpimath] Add ChassisSpeeds method to fix drifting during compound swerve drive maneuvers (#5425)
1af224c21b Add missing <functional> includes (#5459)
0b91ca6d5a [wpilib] SendableChooser: Add onChange listener (#5458)
6f7cdd460e [wpimath] Pose3d: Switch to JNI for exp and log (#5444)
c69e34c80c [wpimath] ChassisSpeeds: Add arithmetic functions (#5293)
335e7dd89d [wpilib] Simulation: Add ctor parameter to set starting state of mechanism sims (#5288)
14f30752ab [wpilib] Deprecate Accelerometer and Gyro interfaces (#5445)
70b60e3a74 [commands] Trigger: Fix method names in requireNonNullParam (#5454)
593767c8c7 [wpimath] Improve Euler angle calculations in gimbal lock (#5437)
daf022d3da [build] Make devImplementation inherit from implementation (#5450)
9b8d90b852 [examples] Convert the unitless joystick inputs to actual physical units (#5451)
1f6428ab63 [ntcore] Fix undefined comparison behavior when array is empty (#5448)
17eb9161cd Update code owners for removal of old commands (#5447)
3c4b58ae1e [wpinet] Upgrade to libuv 1.46.0 (#5446)
aaea85ff16 [commands] Merge CommandBase into Command and SubsystemBase into Subsystem (#5392)
7ac932996a [ci] Use PAT for workflow dispatch (#5442)
efe1987e8b [ci] Trigger pages repo workflow (#5441)
828bc5276f [wpiutil] Upgrade to LLVM 16.0.6 (#5435)
701df9eb87 [ci] Change documentation publish to single-commit (#5440)
e5452e3f69 [wpiutil] Add WPICleaner and an example how to use it (#4850)
7a099cb02a [commands] Remove deprecated classes and functions (#5409)
b250a03944 [wpilib] Add function to wait for DS Connection (#5230)
a6463ed761 [wpiutil] Fix unused variable warning in release build (#5430)
f031513470 [ntcore] NetworkTable::GetSubTables(): Remove duplicates (#5076)
f8e74e2f7c [hal] Unify PWM simulation Speed, Position, and Raw (#5277)
fd5699b240 Remove references to Drake (#5427)
e2d385d80a [build] cmake: Respect USE_SYSTEM_FMTLIB (#5429)
d37f990ce3 [hal] Fix HAL Relay/Main doc module (NFC) (#5422)
a7a8b874ac [docs] Expand HAL_ENUM in doxygen docs (#5421)
3a61deedde [wpimath] Rotation2d: Only use gcem::hypot when constexpr evaluated (#5419)
96145de7db [examples] Fix formatting (NFC) (#5420)
fffe6a7b9a [examples] Improve Pneumatics example coverage in Solenoid and RapidReactCmdBot examples (#4998)
6b5817836d [wpimath] Add tolerance for some tests (#5416)
3233883f3e [cscore] Fix warnings on macos arm (#5415)
c4fc21838f [commands] Add ConditionalCommand getInterruptionBehavior (#5161)
89fc51f0d4 Add tests for SendableChooser and Command Sendable functionality (#5179)
663bf25aaf [docs] Generate docs for symbols in __cplusplus (#5412)
fe32127ea8 [command] Clean up Command doc comments (NFC) (#5321)
c1a01569b4 [wpilib][hal] PWM Raw using microseconds (#5283)
1fca519fb4 [wpiutil] Remove remnants of ghc fs and tcb_span libraries (#5411)
90602cc135 [github] Update issue template to collect more project info (#5090)
34412ac57e [build] Exclude files in bin from Spotless (#5410)
61aa60f0e3 [wpilib] Add robot callback that is called when the DS is initially connected (#5231)
ebae341a91 [commands] Add test for subsystem registration and periodic (#5408)
5d3a133f9f Remove spaces in NOLINT comments (#5407)
3a0e484691 [wpimath] Fix clang-tidy warnings (#5403)
eb3810c765 [wpiutil] Fix clang-tidy warnings (#5406)
c4dc697192 [hal] WS Simulation: Add message filtering capability (#5395)
0eccc3f247 [ntcore] Fix clang-tidy warnings (#5405)
f4dda4bac0 [hal] Add javadocs for JNI (NFC) (#5298)
1c20c69793 [cscore] Fix clang-tidy warnings (#5404)
1501607e48 [commands] Fix clang-tidy warnings (#5402)
991f4b0f62 [wpimath] PIDController: Add IZone (#5315)
f5b0d1484b [wpimath] Add isNear method to MathUtil (#5353)
2ce248f66c [hal] Fix clang-tidy warnings (#5401)
5fc4aee2d2 [wpimath] SwerveDriveKinematics: Rename currentChassisSpeed to desiredChassisSpeed (#5393)
50b90ceb54 [wpimath] SwerveDriveKinematics: Add reset method (#5398)
316cd2a453 [commands] Notify DriverStationSim in CommandTestBaseWithParam (#5400)
d4ea5fa902 [cscore] VideoMode: Add equals override (Java) (#5397)
d6bd72d738 [wpimath] ProfiledPIDController: Add getConstraints (#5399)
25ad5017a9 [wpimath] Refactor kinematics, odometry, and pose estimator (#5355)
5c2addda0f [doc] Add missing pneumatics docs (NFC) (#5389)
c3e04a6ea2 Fix loading tests on macos 12 (#5388)
d5ed9fb859 [wpimath] Create separate archive with just units headers (#5383)
901ab693d4 [wpimath] Use UtilityClassTest for more utility classes (#5384)
9d53231b01 [wpilib] DataLogManager: Add warning for low storage space (#5364)
d466933963 [wpiutil] Group doxygen into MPack module (#5380)
652d1c44e3 [wpiutil] Upgrade to macOS 12 to remove concept shims (#5379)
6414be0e5d [wpimath] Group units doxygen modules (#5382)
7ab5800487 [wpiutil] Fix docs typo in SmallVector (#5381)
59905ea721 Replace WPI_DEPRECATED() macro with [[deprecated]] attribute (#5373)
753cb49a5e [ntcore] Fix doxygen module in generated C types (NFC) (#5374)
1c00a52b67 [hal] Expose CAN timestamp base clock (#5357)
91cbcea841 Replace SFINAE with concepts (#5361)
d57d1a4598 [wpimath] Remove unnecessary template argument from unit formatter (#5367)
5acc5e22aa [wpimath] Only compute eigenvalues with EigenSolvers (#5369)
d3c9316a97 extend shuffleboard test timeout (#5377)
1ea868081a [ci] Fix /format command (#5376)
5fac18ff4a Update formatting to clang-format 16 (#5370)
a94a998002 [wpimath] Generalize Eigen formatter (#5360)
125f6ea101 [wpimath] Make SwerveDriveKinematics::ToChassisSpeeds() take const-ref argument (#5363)
51066a5a8a [wpimath] Move unit formatters into units library (#5358)
282c032b60 [wpilibc] Add unit-aware Joystick.GetDirection() (#5319)
073d19cb69 [build] Fix CMake warning (#5359)
01490fc77b [wpiutil] DataLog: Add documentation for append methods (NFC) (#5348)
c9b612c986 [wpilibcExamples] Make C++ state-space elevator KF and LQR match Java (#5346)
eed1e6e3cb [wpimath] Replace DiscretizeAQTaylor() with DiscretizeAQ() (#5344)
c976f40364 [readme] Document how to run examples in simulation (#5340)
4d28bdc19e [ci] Update Github Pages deploy action parameters (#5343)
e0f851871f [ci] Fix github pages deploy version (#5342)
063c8cbedc Run wpiformat (NFC) (#5341)
96e41c0447 [ci] Update deploy and sshagent actions (#5338)
fd294bdd71 [build] Fix compilation with GCC 13 (#5322)
d223e4040b [dlt] Add delete without download functionality (#5329)
abc19bcb43 [upstream_utils] Zero out commit hashes and show 40 digits in index hashes (#5336)
e909f2e687 [build] Update gradle cache repo name (#5334)
52bd5b972d [wpimath] Rewrite DARE solver (#5328)
3876a2523a [wpimath] Remove unused MatrixImpl() function (#5330)
c82fcb1975 [wpiutil] Add reflection based cleanup helper (#4919)
15ba95df7e [wpiutil] Use std::filesystem (#4941)
77c2124fc5 [wpimath] Remove Eigen's custom STL types (#4945)
27fb47ab10 [glass] Field2D: Embed standard field images (#5159)
102e4f2566 [wpilib] Remove deprecated and broken SPI methods (#5249)
463a90f1df [wpilib, hal] Add function to read the RSL state (#5312)
7a90475eec [wpilib] Update RobotBase documentation (NFC) (#5320)
218cfea16b [wpilib] DutyCycleEncoder: Fix reset behavior (#5287)
91392823ff [build] Update to gradle 8.1 (#5303)
258b7cc48b [wpilibj] Filesystem.getDeployDirectory(): Strip JNI path from user.dir (#5317)
26cc43bee1 [wpilib] Add documentation to SPI mode enum (NFC) (#5324)
ac4da9b1cb [hal] Add HAL docs for Addressable LED (NFC) (#5304)
21d4244cf7 [wpimath] Fix DCMotor docs (NFC) (#5309)
1dff81bea7 [hal] Miscellaneous HAL doc fixes (NFC) (#5306)
7ce75574bf [wpimath] Upgrade to Drake v1.15.0 (#5310)
576bd646ae [hal] Add CANManufacturer for Redux Robotics (#5305)
ee3b4621e5 [commands] Add onlyWhile and onlyIf (#5291)
40ca094686 [commands] Fix RepeatCommand calling end() twice (#5261)
9cbeb841f5 [rtns] Match imaging tool capitalization (#5265)
a63d06ff77 [examples] Add constants to java gearsbot example (#5248)
b6c43322a3 [wpilibc] XboxController: Add return tag to docs (NFC) (#5246)
5162d0001c [hal] Fix and document addressable LED timings (#5272)
90fabe9651 [wpilibj] Use method references in drive class initSendable() (#5251)
24828afd11 [wpimath] Fix desaturateWheelSpeeds to account for negative speeds (#5269)
e099948a77 [wpimath] Clean up rank notation in docs (NFC) (#5274)
fd2d8cb9c1 [hal] Use std::log2() for base-2 logarithm (#5278)
ba8c64bcff [wpimath] Fix misspelled Javadoc parameters in pose estimators (NFC) (#5292)
f53c6813d5 [wpimath] Patch Eigen warnings (#5290)
663703d370 [gitattributes] Mark json files as lf text files (#5256)
aa34aacf6e [wpilib] Shuffleboard: Keep duplicates on SelectTab() (#5198)
63512bbbb8 [wpimath] Fix potential divide-by-zero in RKDP (#5242)
9227b2166e [wpilibj] DriverStation: Fix joystick data logs (#5240)
fbf92e9190 [wpinet] ParallelTcpConnector: don't connect to duplicate addresses (#5169)
2108a61362 [ntcore] NT4 client: close timed-out connections (#5175)
0a66479693 [ntcore] Optimize scan of outgoing messages (#5227)
b510c17ef6 [hal] Fix RobotController.getComments() mishandling quotes inside the comments string (#5197)
e7a7eb2e93 [commands] WaitCommand: Remove subclass doc note (NFC) (#5200)
a465f2d8f0 [examples] Shuffleboard: Correct parameter order (#5204)
a3364422fa LICENSE.md: Bump year to 2023 (#5195)
df3242a40a [wpimath] Fix NaN in C++ MakeCostMatrix() that takes an array (#5194)
00abb8c1e0 [commands] RamseteCommand: default-initialize m_prevSpeeds (#5188)
c886273fd7 [wpilibj] DutyCycleEncoder.setDistancePerRotation(): fix simulation (#5147)
53b5fd2ace [ntcore] Use int64 for datalog type string (#5186)
56b758320f [wpilib] DataLogManager: increase time for datetime to be valid (#5185)
08f298e4cd [wpimath] Fix Pose3d log returning Twist3d NaN for theta between 1E-8 and 1E-7 (#5168)
6d0c5b19db [commands] CommandScheduler.isComposed: Remove incorrect throws clause (NFC) (#5183)
0d22cf5ff7 [wpilib] Fix enableLiveWindowInTest crashing in disabled (#5173)
32ec5b3f75 [wpilib] Add isTestEnabled and minor docs cleanup (#5172)
e5c4c6b1a7 [wpimath] Fix invalid iterator access in TimeInterpolatableBuffer (#5138)
099d048d9e [wpimath] Fix Pose3d log returning Twist3d NaN for theta between 1E-9 and 1E-8 (#5143)
4af84a1c12 Fix Typos (NFC) (#5137)
ce3686b80d [wpimath] Check LTV controller max velocity precondition (#5142)
4b0eecaee0 [commands] Subsystem: Add default command removal method (#5064)
edf4ded412 [wpilib] PH: Revert to 5V rail being fixed 5V (#5122)
4c46b6aff9 [wpilibc] Fix DataLogManager crash on exit in sim (#5125)
490ca4a68a [wpilibc] Fix XboxController::GetBackButton doc (NFC) (#5131)
cbb5b0b802 [hal] Simulation: Fix REV PH solenoids 8+ (#5132)
bb7053d9ee [hal] Fix HAL_GetRuntimeType being slow on the roboRIO (#5130)
9efed9a533 Update .clang-format to c++20 (#5121)
dbbfe1aed2 [wpilib] Use PH voltage to calc Analog pressure switch threshold (#5115)
de65a135c3 [wpilib] DutyCycleEncoderSim: Add channel number constructor (#5118)
3e9788cdff [docs] Strip path from generated NT docs (#5119)
ecb072724d [ntcore] Client::Disconnect(): actually close connection (#5113)
0d462a4561 [glass] NT view: Change string/string array to quoted (#5111)
ba37986561 [ntcore] NetworkClient::Disconnect: Add null check (#5112)
25ab9cda92 [glass,ov] Provide menu item to create topic from root (#5110)
2f6251d4a6 [glass] Set default value when publishing new topic (#5109)
e9a7bed988 [wpimath] Add timestamp getter to MathShared (#5091)
9cc14bbb43 [ntcore] Add stress test to dev executable (#5107)
8068369542 [wpinet] uv: Stop creating handles when closing loop (#5102)
805c837a42 [ntcore] Fix use-after-free in server (#5101)
fd18577ba0 [commands] Improve documentation of addRequirements (NFC) (#5103)
74dea9f05e [wpimath] Fix exception for empty pose buffer in pose estimators (#5106)
9eef79d638 [wpilib] PneumaticHub: Document range of enableCompressorAnalog (NFC) (#5099)
843574a810 [ntcore] Use wpi::Now instead of loop time for transmit time
226ef35212 [wpinet] WebSocket: Reduce server send frame overhead
b30664d630 [ntcore] Reduce initial connection overhead
804e5ce236 [examples] MecanumDrive: Fix axis comment in C++ example (NFC) (#5096)
49af88f2bb [examples] ArmSimulation: Fix flaky test (#5093)
d56314f866 [wpiutil] Disable mock time on the Rio (#5092)
43975ac7cc [examples] ArmSimulation, ElevatorSimulation: Extract mechanism to class (#5052)
5483464158 [examples, templates] Improve descriptions (NFC) (#5051)
785e7dd85c [wpilibc] SendableChooser: static_assert copy- and default-constructibility (#5078)
e57ded8c39 [ntcore] Improve disconnect error reporting (#5085)
01f0394419 [wpinet] Revert WebSocket: When Close() is called, call closed immediately (#5084)
59be120982 [wpimath] Fix Pose3d exp()/log() and add rotation vector constructor to Rotation3d (#5072)
37f065032f [wpilib] Refactor TimedRobot tests (#5068)
22a170bee7 [wpilib] Add Notifier test (#5070)
2f310a748c [wpimath] Fix DCMotor.getSpeed() (#5061)
b43ec87f57 [wpilib] ElevatorSim: Fix WouldHitLimit methods (#5057)
19267bef0c [ntcore] Output warning on property set on unpublished topic (#5059)
84cbd48d84 [ntcore] Handle excludeSelf on SetDefault (#5058)
1f35750865 [cameraserver] Add GetInstance() to all functions (#5054)
8230fc631d [wpilib] Revert throw on nonexistent SimDevice name in SimDeviceSim (#5053)
b879a6f8c6 [wpinet] WebSocket: When Close() is called, call closed immediately (#5047)
49459d3e45 [ntcore] Change wire timeout to fixed 1 second (#5048)
4079eabe9b [wpimath] Discard stale pose estimates (#5045)
fe5d226a19 [glass] Fix option for debug-level NT logging (#5049)
b7535252c2 [ntcore] Don't leak buffers in rare WS shutdown case (#5046)
b61ac6db33 [ntcore] Add client disconnect function (#5022)
7b828ce84f [wpimath] Add nearest to Pose2d and Translation2d (#4882)
08a536291b [examples] Improvements to Elevator Simulation Example (#4937)
193a10d020 [wpigui] Limit frame rate to 120 fps by default (#5030)
7867bbde0e [wpilib] Clarify DS functions provided by FMS (NFC) (#5043)
fa7c01b598 [glass] Add option for debug-level NT logging (#5007)
2b81610248 [wpiutil] Add msgpack to datalog Python example (#5032)
a4a369b8da CONTRIBUTING.md: Add unicodeit CLI to math docs guidelines (#5031)
d991f6e435 [wpilib] Throw on nonexistent SimDevice name in SimDeviceSim constructor (#5041)
a27a047ae8 [hal] Check for null in getSimDeviceName JNI (#5038)
2f96cae31a [examples] Hatchbots: Add telemetry (#5011)
83ef8f9658 [simulation] GUI: Fix buffer overflow in joystick axes copy (#5036)
4054893669 [commands] Fix C++ Select() factory (#5024)
f75acd11ce [commands] Use Timer.restart() (#5023)
8bf67b1b33 [wpimath] PIDController::Calculate(double, double): update setpoint flag (#5021)
49bb1358d8 [wpiutil] MemoryBuffer: Fix GetMemoryBufferForStream (#5017)
9c4c07c0f9 [wpiutil] Remove NDEBUG check for debug-level logging (#5018)
1a47cc2e86 [ntcore] Use full handle when subscribing (#5013)
7cd30cffbc Ignore networktables.json (#5006)
92aecab2ef [commands] Command controllers are not subclasses (NFC) (#5000)
8785bba080 [ntcore] Special-case default timestamps (#5003)
9e5b7b8040 [ntcore] Handle topicsonly followed by value subscribe (#4991)
917906530a [wpilib] Add Timer::Restart() (#4963)
00aa66e4fd [wpimath] Remove extraneous assignments from DiscretizeAB() (#4967)
893320544a [examples] C++ RamseteCommand: Fix units (#4954)
b95d0e060d [wpilib] XboxController: Fix docs discrepancy (NFC) (#4993)
008232b43c [ntcore] Write empty persistent file if none found (#4996)
522be348f4 [examples] Rewrite tags (NFC) (#4961)
d48a83dee2 [wpimath] Update Wikipedia links for quaternion to Euler angle conversion (NFC) (#4995)
504fa22143 [wpimath] Workaround intellisense Eigen issue (#4992)
b2b25bf09f [commands] Fix docs inconsistency for toggleOnFalse(Command) (NFC) (#4978)
ce3dc4eb3b [hal] Properly use control word that is in sync with DS data (#4989)
1ea48caa7d [wpilib] Fix C++ ADXRS450 and Java SPI gyro defs (#4988)
fb101925a7 [build] Include wpimathjni in commands binaries (#4981)
657951f6dd [starter] Add a process starter for use by the installer for launching tools (#4931)
a60ca9d71c [examples] Update AprilTag field load API usage (#4975)
f8a45f1558 [wpimath] Remove print statements from tests (#4977)
ecba8b99a8 [examples] Fix swapped arguments in MecanumControllerCommand example (#4976)
e95e88fdf9 [examples] Add comment to drivedistanceoffboard example (#4877)
371d15dec3 [examples] Add Computer Vision Pose Estimation and Latency Compensation Example (#4901)
cb9b8938af [sim] Enable docking in the GUI (#4960)
3b084ecbe0 [apriltag] AprilTagFieldLayout: Improve API shape for loading builtin JSONs (#4949)
27ba096ea1 [wpilib] Fix MOI calculation error in SingleJointedArmSim (#4968)
42c997a3c4 [wpimath] Fix Pose3d exponential and clean up Pose3d logarithm (#4970)
5f1a025f27 [wpilibj] Fix typo in MecanumDrive docs (NFC) (#4969)
0ebf79b54c [wpimath] Fix typo in Pose3d::Exp() docs (NFC) (#4966)
a8c465f3fb [wpimath] HolonomicDriveController: Add getters for the controllers (#4948)
a7b1ab683d [wpilibc] Add unit test for fast deconstruction of GenericHID (#4953)
bd6479dc29 [build] Add Spotless for JSON (#4956)
5cb0340a8c [hal, wpilib] Load joystick values upon code initialization (#4950)
ab0e8c37a7 [readme] Update build requirements (NFC) (#4947)
b74ac1c645 [build] Add apriltag to C++ cmake example builds (#4944)
cf1a411acf [examples] Add example programs for AprilTags detection (#4932)
1e05b21ab5 [wpimath] Fix PID atSetpoint to not return true prematurely (#4906)
e5a6197633 [wpimath] Fix SwerveDriveKinematics not initializing a new array each time (#4942)
039edcc23f [ntcore] Queue current value on subscriber creation (#4938)
f7f19207e0 [wpimath] Allow multiple vision measurements from same timestamp (#4917)
befd12911c [commands] Delete UB-causing rvalue variants of CommandPtr methods (#4923)
34519de60a [commands] Fix spacing in command composition exception (#4924)
dc4355c031 [hal] Add handle constructor and name getters for sim devices (#4925)
53d8d33bca [hal, wpilibj] Add missing distance per pulse functions to EncoderSim (#4928)
530ae40614 [apriltag] Explain what April tag poses represent (NFC) (#4930)
79f565191e [examples] DigitalCommunication, I2CCommunication: Add tests (#4865)
2cd9be413f [wpilib, examples] Cleanup PotentiometerPID, Ultrasonic, UltrasonicPID examples (#4893)
babb0c1fcf [apriltag] Add 2023 field layout JSON (#4912)
330ba45f9c [wpimath] Fix swerve kinematics util classes equals function (#4907)
51272ef6b3 [fieldImages] Add 2023 field (#4915)
0d105ab771 [commands] Deduplicate command test utils (#4897)
cf4235ea36 [wpiutil] Guard MSVC pragma in SymbolExports.h (#4911)
2d4b7b9147 [build] Update opencv version in opencv.gradle (#4909)
aec6f3d506 [ntcore] Fix client flush behavior (#4903)
bfe346c76a [build] Fix cmake java resources (#4898)
Change-Id: Ia1dd90fe42c6cd5df281b8a5b710e136f54355f4
git-subtree-dir: third_party/allwpilib
git-subtree-split: f1a82828fed8950f9a3f1586c44327027627a0c8
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/hal/src/main/native/athena/AddressableLED.cpp b/hal/src/main/native/athena/AddressableLED.cpp
index 5e55c93..57f37cb 100644
--- a/hal/src/main/native/athena/AddressableLED.cpp
+++ b/hal/src/main/native/athena/AddressableLED.cpp
@@ -206,10 +206,10 @@
}
void HAL_SetAddressableLEDBitTiming(HAL_AddressableLEDHandle handle,
- int32_t lowTime0NanoSeconds,
int32_t highTime0NanoSeconds,
- int32_t lowTime1NanoSeconds,
+ int32_t lowTime0NanoSeconds,
int32_t highTime1NanoSeconds,
+ int32_t lowTime1NanoSeconds,
int32_t* status) {
auto led = addressableLEDHandles->Get(handle);
if (!led) {
@@ -217,10 +217,10 @@
return;
}
- led->led->writeLowBitTickTiming(1, highTime0NanoSeconds / 25, status);
- led->led->writeLowBitTickTiming(0, lowTime0NanoSeconds / 25, status);
- led->led->writeHighBitTickTiming(1, highTime1NanoSeconds / 25, status);
- led->led->writeHighBitTickTiming(0, lowTime1NanoSeconds / 25, status);
+ led->led->writeLowBitTickTiming(0, highTime0NanoSeconds / 25, status);
+ led->led->writeLowBitTickTiming(1, lowTime0NanoSeconds / 25, status);
+ led->led->writeHighBitTickTiming(0, highTime1NanoSeconds / 25, status);
+ led->led->writeHighBitTickTiming(1, lowTime1NanoSeconds / 25, status);
}
void HAL_SetAddressableLEDSyncTime(HAL_AddressableLEDHandle handle,
diff --git a/hal/src/main/native/athena/AnalogGyro.cpp b/hal/src/main/native/athena/AnalogGyro.cpp
index 19f26dd..1751ac0 100644
--- a/hal/src/main/native/athena/AnalogGyro.cpp
+++ b/hal/src/main/native/athena/AnalogGyro.cpp
@@ -4,6 +4,7 @@
#include "hal/AnalogGyro.h"
+#include <cmath>
#include <string>
#include <thread>
@@ -204,8 +205,8 @@
return;
}
- gyro->center = static_cast<int32_t>(
- static_cast<double>(value) / static_cast<double>(count) + 0.5);
+ gyro->center =
+ std::round(static_cast<double>(value) / static_cast<double>(count));
gyro->offset = static_cast<double>(value) / static_cast<double>(count) -
static_cast<double>(gyro->center);
diff --git a/hal/src/main/native/athena/AnalogInternal.h b/hal/src/main/native/athena/AnalogInternal.h
index 431c624..eb8116b 100644
--- a/hal/src/main/native/athena/AnalogInternal.h
+++ b/hal/src/main/native/athena/AnalogInternal.h
@@ -69,7 +69,7 @@
* number of active channels and the sample rate.
*
* When the number of channels changes, use the new value. Otherwise,
- * return the curent value.
+ * return the current value.
*
* @return Value to write to the active channels field.
*/
diff --git a/hal/src/main/native/athena/CANAPI.cpp b/hal/src/main/native/athena/CANAPI.cpp
index a3e4904..70f09e0 100644
--- a/hal/src/main/native/athena/CANAPI.cpp
+++ b/hal/src/main/native/athena/CANAPI.cpp
@@ -35,15 +35,6 @@
static UnlimitedHandleResource<HAL_CANHandle, CANStorage, HAL_HandleEnum::CAN>*
canHandles;
-static uint32_t GetPacketBaseTime() {
- timespec t;
- clock_gettime(CLOCK_MONOTONIC, &t);
-
- // Convert t to milliseconds
- uint64_t ms = t.tv_sec * 1000ull + t.tv_nsec / 1000000ull;
- return ms & 0xFFFFFFFF;
-}
-
namespace hal::init {
void InitializeCANAPI() {
static UnlimitedHandleResource<HAL_CANHandle, CANStorage, HAL_HandleEnum::CAN>
@@ -63,6 +54,15 @@
extern "C" {
+uint32_t HAL_GetCANPacketBaseTime(void) {
+ timespec t;
+ clock_gettime(CLOCK_MONOTONIC, &t);
+
+ // Convert t to milliseconds
+ uint64_t ms = t.tv_sec * 1000ull + t.tv_nsec / 1000000ull;
+ return ms & 0xFFFFFFFF;
+}
+
HAL_CANHandle HAL_InitializeCAN(HAL_CANManufacturer manufacturer,
int32_t deviceId, HAL_CANDeviceType deviceType,
int32_t* status) {
@@ -267,7 +267,7 @@
auto i = can->receives.find(messageId);
if (i != can->receives.end()) {
// Found, check if new enough
- uint32_t now = GetPacketBaseTime();
+ uint32_t now = HAL_GetCANPacketBaseTime();
if (now - i->second.lastTimeStamp > static_cast<uint32_t>(timeoutMs)) {
// Timeout, return bad status
*status = HAL_CAN_TIMEOUT;
diff --git a/hal/src/main/native/athena/DIO.cpp b/hal/src/main/native/athena/DIO.cpp
index e6308fb..d75f32b 100644
--- a/hal/src/main/native/athena/DIO.cpp
+++ b/hal/src/main/native/athena/DIO.cpp
@@ -200,8 +200,7 @@
if (*status != 0) {
return;
}
- uint16_t pwmPeriodPower =
- std::lround(std::log(1.0 / (16 * 1.0E-6 * rate)) / std::log(2.0));
+ uint16_t pwmPeriodPower = std::lround(std::log2(1.0 / (16 * 1.0E-6 * rate)));
digitalSystem->writePWMPeriodPower(pwmPeriodPower, status);
}
@@ -231,12 +230,13 @@
// frequencies.
rawDutyCycle = rawDutyCycle / std::pow(2.0, 4 - pwmPeriodPower);
}
- if (id < 4)
+ if (id < 4) {
digitalSystem->writePWMDutyCycleA(id, static_cast<uint8_t>(rawDutyCycle),
status);
- else
+ } else {
digitalSystem->writePWMDutyCycleB(
id - 4, static_cast<uint8_t>(rawDutyCycle), status);
+ }
}
}
@@ -255,12 +255,13 @@
}
{
std::scoped_lock lock(digitalPwmMutex);
- if (id < 4)
+ if (id < 4) {
digitalSystem->writePWMDutyCycleA(id, static_cast<uint8_t>(rawDutyCycle),
status);
- else
+ } else {
digitalSystem->writePWMDutyCycleB(
id - 4, static_cast<uint8_t>(rawDutyCycle), status);
+ }
}
}
diff --git a/hal/src/main/native/athena/DigitalInternal.cpp b/hal/src/main/native/athena/DigitalInternal.cpp
index b9339ee..fb0cf98 100644
--- a/hal/src/main/native/athena/DigitalInternal.cpp
+++ b/hal/src/main/native/athena/DigitalInternal.cpp
@@ -112,9 +112,7 @@
pwmSystem->writeConfig_Period(std::lround(kDefaultPwmPeriod / loopTime),
status);
- uint16_t minHigh = std::lround(
- (kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime);
- pwmSystem->writeConfig_MinHigh(minHigh, status);
+ pwmSystem->writeConfig_MinHigh(0, status);
// Ensure that PWM output values are set to OFF
for (uint8_t pwmIndex = 0; pwmIndex < kNumPWMChannels; pwmIndex++) {
// Copy of SetPWM
diff --git a/hal/src/main/native/athena/DigitalInternal.h b/hal/src/main/native/athena/DigitalInternal.h
index 685987a..5b73a39 100644
--- a/hal/src/main/native/athena/DigitalInternal.h
+++ b/hal/src/main/native/athena/DigitalInternal.h
@@ -47,15 +47,8 @@
* devices.
*/
constexpr double kDefaultPwmPeriod = 5.05;
-/**
- * kDefaultPwmCenter is the PWM range center in ms
- */
-constexpr double kDefaultPwmCenter = 1.5;
-/**
- * kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
- */
-constexpr int32_t kDefaultPwmStepsDown = 1000;
constexpr int32_t kPwmDisabled = 0;
+constexpr int32_t kPwmAlwaysHigh = 0xFFFF;
extern std::unique_ptr<tDIO> digitalSystem;
extern std::unique_ptr<tRelay> relaySystem;
diff --git a/hal/src/main/native/athena/FPGACalls.h b/hal/src/main/native/athena/FPGACalls.h
index 46e8ac4..3ef9004 100644
--- a/hal/src/main/native/athena/FPGACalls.h
+++ b/hal/src/main/native/athena/FPGACalls.h
@@ -8,7 +8,8 @@
namespace hal {
namespace init {
-[[nodiscard]] int InitializeFPGA();
+[[nodiscard]]
+int InitializeFPGA();
} // namespace init
using HAL_NiFpga_ReserveIrqContextFunc =
diff --git a/hal/src/main/native/athena/FPGAEncoder.h b/hal/src/main/native/athena/FPGAEncoder.h
index b401ccd..a819d96 100644
--- a/hal/src/main/native/athena/FPGAEncoder.h
+++ b/hal/src/main/native/athena/FPGAEncoder.h
@@ -37,7 +37,7 @@
/**
* Returns the period of the most recent pulse.
* Returns the period of the most recent Encoder pulse in seconds.
- * This method compenstates for the decoding type.
+ * This method compensates for the decoding type.
*
* @deprecated Use GetRate() in favor of this method. This returns unscaled
* periods and GetRate() scales using value from SetDistancePerPulse().
diff --git a/hal/src/main/native/athena/FRCDriverStation.cpp b/hal/src/main/native/athena/FRCDriverStation.cpp
index e8db9a5..12739c8 100644
--- a/hal/src/main/native/athena/FRCDriverStation.cpp
+++ b/hal/src/main/native/athena/FRCDriverStation.cpp
@@ -43,6 +43,7 @@
HAL_JoystickButtons buttons[HAL_kMaxJoysticks];
HAL_AllianceStationID allianceStation;
float matchTime;
+ HAL_ControlWord controlWord;
};
static_assert(std::is_standard_layout_v<JoystickDataCache>);
// static_assert(std::is_trivial_v<JoystickDataCache>);
@@ -101,9 +102,14 @@
HAL_GetJoystickPOVsInternal(i, &povs[i]);
HAL_GetJoystickButtonsInternal(i, &buttons[i]);
}
- FRC_NetworkCommunication_getAllianceStation(
- reinterpret_cast<AllianceStationID_t*>(&allianceStation));
+ AllianceStationID_t alliance = kAllianceStationID_red1;
+ FRC_NetworkCommunication_getAllianceStation(&alliance);
+ int allianceInt = alliance;
+ allianceInt += 1;
+ allianceStation = static_cast<HAL_AllianceStationID>(allianceInt);
FRC_NetworkCommunication_getMatchTime(&matchTime);
+ FRC_NetworkCommunication_getControlWord(
+ reinterpret_cast<ControlWord_t*>(&controlWord));
}
#define CHECK_JOYSTICK_NUMBER(stickNum) \
@@ -114,7 +120,7 @@
static JoystickDataCache caches[3];
static JoystickDataCache* currentRead = &caches[0];
static JoystickDataCache* currentReadLocal = &caches[0];
-static std::atomic<JoystickDataCache*> currentCache{&caches[1]};
+static std::atomic<JoystickDataCache*> currentCache{nullptr};
static JoystickDataCache* lastGiven = &caches[1];
static JoystickDataCache* cacheToUpdate = &caches[2];
@@ -508,17 +514,27 @@
}
}
-void HAL_RefreshDSData(void) {
+HAL_Bool HAL_RefreshDSData(void) {
HAL_ControlWord controlWord;
std::memset(&controlWord, 0, sizeof(controlWord));
FRC_NetworkCommunication_getControlWord(
reinterpret_cast<ControlWord_t*>(&controlWord));
- std::scoped_lock lock{cacheMutex};
- JoystickDataCache* prev = currentCache.exchange(nullptr);
- if (prev != nullptr) {
- currentRead = prev;
+ JoystickDataCache* prev;
+ {
+ std::scoped_lock lock{cacheMutex};
+ prev = currentCache.exchange(nullptr);
+ if (prev != nullptr) {
+ currentRead = prev;
+ }
+ // If newest state shows we have a DS attached, just use the
+ // control word out of the cache, As it will be the one in sync
+ // with the data. Otherwise use the state that shows disconnected.
+ if (controlWord.dsAttached) {
+ newestControlWord = currentRead->controlWord;
+ } else {
+ newestControlWord = controlWord;
+ }
}
- newestControlWord = controlWord;
uint32_t mask = tcpMask.exchange(0);
if (mask != 0) {
@@ -526,6 +542,7 @@
std::scoped_lock tcpLock(tcpCacheMutex);
tcpCache.CloneTo(&tcpCurrent);
}
+ return prev != nullptr;
}
void HAL_ProvideNewDataEventHandle(WPI_EventHandle handle) {
@@ -551,4 +568,13 @@
setNewDataOccurRef(refNumber);
FRC_NetworkCommunication_setNewTcpDataOccurRef(tcpRefNumber);
}
+
+void WaitForInitialPacket() {
+ wpi::Event waitForInitEvent;
+ driverStation->newDataEvents.Add(waitForInitEvent.GetHandle());
+ bool timed_out = false;
+ wpi::WaitForObject(waitForInitEvent.GetHandle(), 0.1, &timed_out);
+ // Don't care what the result is, just want to give it a chance.
+ driverStation->newDataEvents.Remove(waitForInitEvent.GetHandle());
+}
} // namespace hal
diff --git a/hal/src/main/native/athena/HAL.cpp b/hal/src/main/native/athena/HAL.cpp
index 3a8cefd..d00bf9f 100644
--- a/hal/src/main/native/athena/HAL.cpp
+++ b/hal/src/main/native/athena/HAL.cpp
@@ -33,6 +33,7 @@
#include "hal/Errors.h"
#include "hal/Notifier.h"
#include "hal/handles/HandlesInternal.h"
+#include "hal/roborio/HMB.h"
#include "hal/roborio/InterruptManager.h"
#include "visa/visa.h"
@@ -46,10 +47,16 @@
static size_t roboRioCommentsStringSize;
static bool roboRioCommentsStringInitialized;
+static int32_t teamNumber = -1;
+
+static const volatile HAL_HMBData* hmbBuffer;
+#define HAL_HMB_TIMESTAMP_OFFSET 5
+
using namespace hal;
namespace hal {
void InitializeDriverStation();
+void WaitForInitialPacket();
namespace init {
void InitializeHAL() {
InitializeCTREPCM();
@@ -252,12 +259,10 @@
}
}
+static HAL_RuntimeType runtimeType = HAL_Runtime_RoboRIO;
+
HAL_RuntimeType HAL_GetRuntimeType(void) {
- nLoadOut::tTargetClass targetClass = nLoadOut::getTargetClass();
- if (targetClass == nLoadOut::kTargetClass_RoboRIO2) {
- return HAL_Runtime_RoboRIO2;
- }
- return HAL_Runtime_RoboRIO;
+ return runtimeType;
}
int32_t HAL_GetFPGAVersion(int32_t* status) {
@@ -317,11 +322,8 @@
return;
}
start += searchString.size();
- size_t end = fileContents.find("\"", start);
- if (end == std::string_view::npos) {
- end = fileContents.size();
- }
- std::string_view escapedComments = wpi::slice(fileContents, start, end);
+ std::string_view escapedComments =
+ wpi::slice(fileContents, start, fileContents.size());
wpi::SmallString<64> buf;
auto [unescapedComments, rem] = wpi::UnescapeCString(escapedComments, buf);
unescapedComments.copy(roboRioCommentsString,
@@ -353,27 +355,61 @@
return toCopy;
}
+void InitializeTeamNumber(void) {
+ char hostnameBuf[25];
+ auto status = gethostname(hostnameBuf, sizeof(hostnameBuf));
+ if (status != 0) {
+ teamNumber = 0;
+ return;
+ }
+
+ std::string_view hostname{hostnameBuf, sizeof(hostnameBuf)};
+
+ // hostname is frc-{TEAM}-roborio
+ // Split string around '-' (max of 2 splits), take the second element of the
+ // resulting array.
+ wpi::SmallVector<std::string_view> elements;
+ wpi::split(hostname, elements, "-", 2);
+ if (elements.size() < 3) {
+ teamNumber = 0;
+ return;
+ }
+
+ teamNumber = wpi::parse_integer<int32_t>(elements[1], 10).value_or(0);
+}
+
+int32_t HAL_GetTeamNumber(void) {
+ if (teamNumber == -1) {
+ InitializeTeamNumber();
+ }
+ return teamNumber;
+}
+
uint64_t HAL_GetFPGATime(int32_t* status) {
hal::init::CheckInit();
- if (!global) {
+ if (!hmbBuffer) {
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
}
- *status = 0;
- uint64_t upper1 = global->readLocalTimeUpper(status);
- uint32_t lower = global->readLocalTime(status);
- uint64_t upper2 = global->readLocalTimeUpper(status);
- if (*status != 0) {
- return 0;
- }
+
+ asm("dmb");
+ uint64_t upper1 = hmbBuffer->Timestamp.Upper;
+ asm("dmb");
+ uint32_t lower = hmbBuffer->Timestamp.Lower;
+ asm("dmb");
+ uint64_t upper2 = hmbBuffer->Timestamp.Upper;
+
if (upper1 != upper2) {
// Rolled over between the lower call, reread lower
- lower = global->readLocalTime(status);
- if (*status != 0) {
- return 0;
- }
+ asm("dmb");
+ lower = hmbBuffer->Timestamp.Lower;
}
- return (upper2 << 32) + lower;
+ // 5 is added here because the time to write from the FPGA
+ // to the HMB buffer is longer then the time to read
+ // from the time register. This would cause register based
+ // timestamps to be ahead of HMB timestamps, which could
+ // be very bad.
+ return (upper2 << 32) + lower + HAL_HMB_TIMESTAMP_OFFSET;
}
uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, int32_t* status) {
@@ -427,6 +463,21 @@
return !(watchdog->readStatus_PowerAlive(status));
}
+HAL_Bool HAL_GetRSLState(int32_t* status) {
+ hal::init::CheckInit();
+ if (!global) {
+ *status = NiFpga_Status_ResourceNotInitialized;
+ return false;
+ }
+ return global->readLEDs_RSL(status);
+}
+
+HAL_Bool HAL_GetSystemTimeValid(int32_t* status) {
+ uint8_t timeWasSet = 0;
+ *status = FRC_NetworkCommunication_getTimeWasSet(&timeWasSet);
+ return timeWasSet != 0;
+}
+
static bool killExistingProgram(int timeout, int mode) {
// Kill any previous robot programs
std::fstream fs;
@@ -511,10 +562,18 @@
setNewDataSem(nullptr);
});
- nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
- nLoadOut::getTargetClass();
+ // Setup WPI_Now to use FPGA timestamp
+ // this also sets nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass
+ wpi::impl::SetupNowRio();
int32_t status = 0;
+
+ HAL_InitializeHMB(&status);
+ if (status != 0) {
+ return false;
+ }
+ hmbBuffer = HAL_GetHMBBuffer();
+
global.reset(tGlobal::create(&status));
watchdog.reset(tSysWatchdog::create(&status));
@@ -522,6 +581,13 @@
return false;
}
+ nLoadOut::tTargetClass targetClass = nLoadOut::getTargetClass();
+ if (targetClass == nLoadOut::kTargetClass_RoboRIO2) {
+ runtimeType = HAL_Runtime_RoboRIO2;
+ } else {
+ runtimeType = HAL_Runtime_RoboRIO;
+ }
+
InterruptManager::Initialize(global->getSystemInterface());
hal::InitializeDriverStation();
@@ -531,20 +597,7 @@
return false;
}
- // Set WPI_Now to use FPGA timestamp
- wpi::SetNowImpl([]() -> uint64_t {
- int32_t status = 0;
- uint64_t rv = HAL_GetFPGATime(&status);
- if (status != 0) {
- fmt::print(stderr,
- "Call to HAL_GetFPGATime failed in wpi::Now() with status {}. "
- "Initialization might have failed. Time will not be correct\n",
- status);
- std::fflush(stderr);
- return 0u;
- }
- return rv;
- });
+ hal::WaitForInitialPacket();
initialized = true;
return true;
diff --git a/hal/src/main/native/athena/HMB.cpp b/hal/src/main/native/athena/HMB.cpp
new file mode 100644
index 0000000..d22fcda
--- /dev/null
+++ b/hal/src/main/native/athena/HMB.cpp
@@ -0,0 +1,82 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "hal/roborio/HMB.h"
+
+#include <memory>
+
+#include "FPGACalls.h"
+#include "hal/ChipObject.h"
+
+using namespace hal;
+
+// 16 classes of data, each takes up 16 uint16_t's
+static_assert(sizeof(HAL_HMBData) == 0x10 * 16 * sizeof(uint32_t));
+// Timestamp is the last class, and should be offset correctly
+static_assert(offsetof(HAL_HMBData, Timestamp) == 0x10 * 15 * sizeof(uint32_t));
+
+static volatile HAL_HMBData* hmbBuffer;
+static size_t hmbBufferSize;
+static constexpr const char hmbName[] = "HMB_0_RAM";
+static std::unique_ptr<tHMB> hmb;
+
+namespace {
+struct HMBHolder {
+ ~HMBHolder() {
+ if (hmbBuffer) {
+ hal::HAL_NiFpga_CloseHmb(hmb->getSystemInterface()->getHandle(), hmbName);
+ }
+ }
+};
+} // namespace
+
+extern "C" {
+
+void HAL_InitializeHMB(int32_t* status) {
+ static HMBHolder holder;
+
+ hmb.reset(tHMB::create(status));
+ if (*status != 0) {
+ return;
+ }
+
+ *status = hal::HAL_NiFpga_OpenHmb(
+ hmb->getSystemInterface()->getHandle(), hmbName, &hmbBufferSize,
+ reinterpret_cast<void**>(const_cast<HAL_HMBData**>(&hmbBuffer)));
+
+ if (*status != 0) {
+ return;
+ }
+
+ auto cfg = hmb->readConfig(status);
+ cfg.Enables_AI0_Low = 1;
+ cfg.Enables_AI0_High = 1;
+ cfg.Enables_AIAveraged0_Low = 1;
+ cfg.Enables_AIAveraged0_High = 1;
+ cfg.Enables_Accumulator0 = 1;
+ cfg.Enables_Accumulator1 = 1;
+ cfg.Enables_DI = 1;
+ cfg.Enables_AnalogTriggers = 1;
+ cfg.Enables_Counters_Low = 1;
+ cfg.Enables_Counters_High = 1;
+ cfg.Enables_CounterTimers_Low = 1;
+ cfg.Enables_CounterTimers_High = 1;
+ cfg.Enables_Encoders_Low = 1;
+ cfg.Enables_Encoders_High = 1;
+ cfg.Enables_EncoderTimers_Low = 1;
+ cfg.Enables_EncoderTimers_High = 1;
+ cfg.Enables_DutyCycle_Low = 1;
+ cfg.Enables_DutyCycle_High = 1;
+ cfg.Enables_Interrupts = 1;
+ cfg.Enables_PWM = 1;
+ cfg.Enables_PWM_MXP = 1;
+ cfg.Enables_Relay_DO_AO = 1;
+ cfg.Enables_Timestamp = 1;
+ hmb->writeConfig(cfg, status);
+}
+
+const volatile HAL_HMBData* HAL_GetHMBBuffer(void) {
+ return hmbBuffer;
+}
+} // extern "C"
diff --git a/hal/src/main/native/athena/Notifier.cpp b/hal/src/main/native/athena/Notifier.cpp
index 9c818d8..bed998d 100644
--- a/hal/src/main/native/athena/Notifier.cpp
+++ b/hal/src/main/native/athena/Notifier.cpp
@@ -128,8 +128,9 @@
static void cleanupNotifierAtExit() {
int32_t status = 0;
- if (notifierAlarm)
+ if (notifierAlarm) {
notifierAlarm->writeEnable(false, &status);
+ }
notifierAlarm = nullptr;
notifierRunning = false;
hal::ReleaseFPGAInterrupt(kTimerInterruptNumber);
@@ -236,8 +237,9 @@
// here (the atomic fetch_sub will prevent multiple parallel entries
// into this function)
- if (notifierAlarm)
+ if (notifierAlarm) {
notifierAlarm->writeEnable(false, status);
+ }
notifierRunning = false;
hal::ReleaseFPGAInterrupt(kTimerInterruptNumber);
if (notifierThread.joinable()) {
@@ -272,8 +274,9 @@
notifierAlarm->writeTriggerTime(static_cast<uint32_t>(closestTrigger),
status);
// Enable the alarm.
- if (!wasActive)
+ if (!wasActive) {
notifierAlarm->writeEnable(true, status);
+ }
}
}
diff --git a/hal/src/main/native/athena/PWM.cpp b/hal/src/main/native/athena/PWM.cpp
index 19a3b83..bb6f7dd 100644
--- a/hal/src/main/native/athena/PWM.cpp
+++ b/hal/src/main/native/athena/PWM.cpp
@@ -9,6 +9,8 @@
#include <cstdio>
#include <thread>
+#include <fmt/format.h>
+
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "HALInitializer.h"
@@ -118,7 +120,7 @@
}
// Defaults to allow an always valid config.
- HAL_SetPWMConfig(handle, 2.0, 1.501, 1.5, 1.499, 1.0, status);
+ HAL_SetPWMConfigMicroseconds(handle, 2000, 1501, 1500, 1499, 1000, status);
port->previousAllocation = allocationLocation ? allocationLocation : "";
@@ -158,62 +160,28 @@
return channel < kNumPWMChannels && channel >= 0;
}
-void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double max,
- double deadbandMax, double center, double deadbandMin,
- double min, int32_t* status) {
+void HAL_SetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle, int32_t max,
+ int32_t deadbandMax, int32_t center,
+ int32_t deadbandMin, int32_t min,
+ int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
- // calculate the loop time in milliseconds
- double loopTime =
- HAL_GetPWMLoopTiming(status) / (kSystemClockTicksPerMicrosecond * 1e3);
- if (*status != 0) {
- return;
- }
-
- int32_t maxPwm = static_cast<int32_t>((max - kDefaultPwmCenter) / loopTime +
- kDefaultPwmStepsDown - 1);
- int32_t deadbandMaxPwm = static_cast<int32_t>(
- (deadbandMax - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
- int32_t centerPwm = static_cast<int32_t>(
- (center - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
- int32_t deadbandMinPwm = static_cast<int32_t>(
- (deadbandMin - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
- int32_t minPwm = static_cast<int32_t>((min - kDefaultPwmCenter) / loopTime +
- kDefaultPwmStepsDown - 1);
-
- port->maxPwm = maxPwm;
- port->deadbandMaxPwm = deadbandMaxPwm;
- port->deadbandMinPwm = deadbandMinPwm;
- port->centerPwm = centerPwm;
- port->minPwm = minPwm;
+ port->maxPwm = max;
+ port->deadbandMaxPwm = deadbandMax;
+ port->deadbandMinPwm = deadbandMin;
+ port->centerPwm = center;
+ port->minPwm = min;
port->configSet = true;
}
-void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm,
- int32_t deadbandMaxPwm, int32_t centerPwm,
- int32_t deadbandMinPwm, int32_t minPwm,
- int32_t* status) {
- auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
- if (port == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- port->maxPwm = maxPwm;
- port->deadbandMaxPwm = deadbandMaxPwm;
- port->deadbandMinPwm = deadbandMinPwm;
- port->centerPwm = centerPwm;
- port->minPwm = minPwm;
-}
-
-void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
- int32_t* deadbandMaxPwm, int32_t* centerPwm,
- int32_t* deadbandMinPwm, int32_t* minPwm,
- int32_t* status) {
+void HAL_GetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle,
+ int32_t* maxPwm, int32_t* deadbandMaxPwm,
+ int32_t* centerPwm, int32_t* deadbandMinPwm,
+ int32_t* minPwm, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -246,18 +214,30 @@
return port->eliminateDeadband;
}
-void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
- int32_t* status) {
+void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
+ int32_t microsecondPulseTime,
+ int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
+ if (microsecondPulseTime < 0 ||
+ (microsecondPulseTime != 0xFFFF && microsecondPulseTime >= 4096)) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status,
+ fmt::format("Pulse time {} out of range. Expect [0-4096) or 0xFFFF",
+ microsecondPulseTime));
+ return;
+ }
+
if (port->channel < tPWM::kNumHdrRegisters) {
- pwmSystem->writeHdr(port->channel, value, status);
+ pwmSystem->writeHdr(port->channel, microsecondPulseTime, status);
} else {
- pwmSystem->writeMXP(port->channel - tPWM::kNumHdrRegisters, value, status);
+ pwmSystem->writeMXP(port->channel - tPWM::kNumHdrRegisters,
+ microsecondPulseTime, status);
}
}
@@ -302,7 +282,7 @@
return;
}
- HAL_SetPWMRaw(pwmPortHandle, rawValue, status);
+ HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status);
}
void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
@@ -335,14 +315,15 @@
return;
}
- HAL_SetPWMRaw(pwmPortHandle, rawValue, status);
+ HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status);
}
void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
- HAL_SetPWMRaw(pwmPortHandle, kPwmDisabled, status);
+ HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, kPwmDisabled, status);
}
-int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
+int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
+ int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -367,12 +348,11 @@
return 0;
}
- int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
+ int32_t value = HAL_GetPWMPulseTimeMicroseconds(pwmPortHandle, status);
if (*status != 0) {
return 0;
}
DigitalPort* dPort = port.get();
-
if (value == kPwmDisabled) {
return 0.0;
} else if (value > GetMaxPositivePwm(dPort)) {
@@ -401,7 +381,7 @@
return 0;
}
- int32_t value = HAL_GetPWMRaw(pwmPortHandle, status);
+ int32_t value = HAL_GetPWMPulseTimeMicroseconds(pwmPortHandle, status);
if (*status != 0) {
return 0;
}
@@ -444,6 +424,11 @@
}
}
+void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle,
+ int32_t* status) {
+ HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, kPwmAlwaysHigh, status);
+}
+
int32_t HAL_GetPWMLoopTiming(int32_t* status) {
initializeDigital(status);
if (*status != 0) {
diff --git a/hal/src/main/native/athena/Power.cpp b/hal/src/main/native/athena/Power.cpp
index e911d5d..249ab98 100644
--- a/hal/src/main/native/athena/Power.cpp
+++ b/hal/src/main/native/athena/Power.cpp
@@ -61,6 +61,11 @@
power->readFaultCounts_OverCurrentFaultCount6V(status));
}
+void HAL_SetUserRailEnabled6V(HAL_Bool enabled, int32_t* status) {
+ initializePower(status);
+ power->writeDisable_User6V(!enabled, status);
+}
+
double HAL_GetUserVoltage5V(int32_t* status) {
initializePower(status);
return power->readUserVoltage5V(status) / 4.096 * 0.005962 - 0.013;
@@ -82,6 +87,11 @@
power->readFaultCounts_OverCurrentFaultCount5V(status));
}
+void HAL_SetUserRailEnabled5V(HAL_Bool enabled, int32_t* status) {
+ initializePower(status);
+ power->writeDisable_User5V(!enabled, status);
+}
+
double HAL_GetUserVoltage3V3(int32_t* status) {
initializePower(status);
return power->readUserVoltage3V3(status) / 4.096 * 0.004902 - 0.01;
@@ -103,6 +113,11 @@
power->readFaultCounts_OverCurrentFaultCount3V3(status));
}
+void HAL_SetUserRailEnabled3V3(HAL_Bool enabled, int32_t* status) {
+ initializePower(status);
+ power->writeDisable_User3V3(!enabled, status);
+}
+
void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
initializePower(status);
if (voltage < 0) {
@@ -121,4 +136,9 @@
return brownout / 4.0;
}
+double HAL_GetCPUTemp(int32_t* status) {
+ initializePower(status);
+ return power->readOnChipTemperature(status) / 4096.0 * 503.975 - 273.15;
+}
+
} // extern "C"
diff --git a/hal/src/main/native/athena/SPI.cpp b/hal/src/main/native/athena/SPI.cpp
index 9d3335e..309813e 100644
--- a/hal/src/main/native/athena/SPI.cpp
+++ b/hal/src/main/native/athena/SPI.cpp
@@ -643,8 +643,9 @@
}
// set tx data registers
- for (int32_t i = 0; i < dataSize; ++i)
+ for (int32_t i = 0; i < dataSize; ++i) {
spiSystem->writeAutoTx(i >> 2, i & 3, dataToSend[i], status);
+ }
// set byte counts
tSPI::tAutoByteCount config;
diff --git a/hal/src/main/native/athena/SimDevice.cpp b/hal/src/main/native/athena/SimDevice.cpp
index 3a15f46..03b35f7 100644
--- a/hal/src/main/native/athena/SimDevice.cpp
+++ b/hal/src/main/native/athena/SimDevice.cpp
@@ -12,6 +12,10 @@
void HAL_FreeSimDevice(HAL_SimDeviceHandle handle) {}
+const char* HAL_GetSimDeviceName(HAL_SimDeviceHandle handle) {
+ return "";
+}
+
HAL_SimValueHandle HAL_CreateSimValue(HAL_SimDeviceHandle device,
const char* name, int32_t direction,
const struct HAL_Value* initialValue) {
diff --git a/hal/src/main/native/athena/cpp/SerialHelper.cpp b/hal/src/main/native/athena/cpp/SerialHelper.cpp
index fef92d4..71e747c 100644
--- a/hal/src/main/native/athena/cpp/SerialHelper.cpp
+++ b/hal/src/main/native/athena/cpp/SerialHelper.cpp
@@ -192,45 +192,54 @@
// Open the resource, grab its interface name, and close it.
ViSession vSession;
*status = viOpen(m_resourceHandle, desc, VI_NULL, VI_NULL, &vSession);
- if (*status < 0)
+ if (*status < 0) {
continue;
+ }
*status = 0;
*status = viGetAttribute(vSession, VI_ATTR_INTF_INST_NAME, &osName);
// Ignore an error here, as we want to close the session on an error
// Use a separate close variable so we can check
ViStatus closeStatus = viClose(vSession);
- if (*status < 0)
+ if (*status < 0) {
continue;
- if (closeStatus < 0)
+ }
+ if (closeStatus < 0) {
continue;
+ }
*status = 0;
// split until (/dev/
std::string_view devNameRef = wpi::split(osName, "(/dev/").second;
// String not found, continue
- if (wpi::equals(devNameRef, ""))
+ if (wpi::equals(devNameRef, "")) {
continue;
+ }
// Split at )
std::string_view matchString = wpi::split(devNameRef, ')').first;
- if (wpi::equals(matchString, devNameRef))
+ if (wpi::equals(matchString, devNameRef)) {
continue;
+ }
// Search directories to get a list of system accessors
// The directories we need are not symbolic, so we can safely
// disable symbolic links.
std::error_code ec;
for (auto& p : fs::recursive_directory_iterator("/sys/devices/soc0", ec)) {
- if (ec)
+ if (ec) {
break;
+ }
std::string path = p.path();
- if (path.find("amba") == std::string::npos)
+ if (path.find("amba") == std::string::npos) {
continue;
- if (path.find("usb") == std::string::npos)
+ }
+ if (path.find("usb") == std::string::npos) {
continue;
- if (path.find(matchString) == std::string::npos)
+ }
+ if (path.find(matchString) == std::string::npos) {
continue;
+ }
wpi::SmallVector<std::string_view, 16> pathSplitVec;
// Split path into individual directories
@@ -254,13 +263,15 @@
// Get the index for our device
int hubIndex = findtty;
- if (findtty == -1)
+ if (findtty == -1) {
hubIndex = findregex;
+ }
int devStart = findusb + 1;
- if (hubIndex < devStart)
+ if (hubIndex < devStart) {
continue;
+ }
// Add our devices to our list
m_unsortedHubPath.emplace_back(
diff --git a/hal/src/main/native/athena/frccansae/CANDeviceInterface.h b/hal/src/main/native/athena/frccansae/CANDeviceInterface.h
index 8fe4235..d9c9a0c 100644
--- a/hal/src/main/native/athena/frccansae/CANDeviceInterface.h
+++ b/hal/src/main/native/athena/frccansae/CANDeviceInterface.h
@@ -51,7 +51,7 @@
// Bootloader version. Will not change for the life of the product, but additional
// field upgrade features could be added in newer hardware.
char bootloaderRev[MAX_STRING_LEN];
- // Manufacture Date. Could be a calender date or just the FRC season year.
+ // Manufacture Date. Could be a calendar date or just the FRC season year.
// Also helps troubleshooting "old ones" vs "new ones".
char manufactureDate[MAX_STRING_LEN];
// General status of the hardware. For example if the device is in bootloader
diff --git a/hal/src/main/native/athena/mockdata/PWMData.cpp b/hal/src/main/native/athena/mockdata/PWMData.cpp
index 3e12398..4fb6bcf 100644
--- a/hal/src/main/native/athena/mockdata/PWMData.cpp
+++ b/hal/src/main/native/athena/mockdata/PWMData.cpp
@@ -13,7 +13,7 @@
HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, PWM##CAPINAME, RETURN)
DEFINE_CAPI(HAL_Bool, Initialized, false)
-DEFINE_CAPI(int32_t, RawValue, 0)
+DEFINE_CAPI(int32_t, PulseMicrosecond, 0)
DEFINE_CAPI(double, Speed, 0)
DEFINE_CAPI(double, Position, 0)
DEFINE_CAPI(int32_t, PeriodScale, 0)
diff --git a/hal/src/main/native/athena/mockdata/RoboRioData.cpp b/hal/src/main/native/athena/mockdata/RoboRioData.cpp
index 9392fcb..8559394 100644
--- a/hal/src/main/native/athena/mockdata/RoboRioData.cpp
+++ b/hal/src/main/native/athena/mockdata/RoboRioData.cpp
@@ -28,6 +28,8 @@
DEFINE_CAPI(int32_t, UserFaults5V, 0)
DEFINE_CAPI(int32_t, UserFaults3V3, 0)
DEFINE_CAPI(double, BrownoutVoltage, 6.75)
+DEFINE_CAPI(double, CPUTemp, 45.0)
+DEFINE_CAPI(int32_t, TeamNumber, 0)
int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {
diff --git a/hal/src/main/native/athena/rev/PHFrames.h b/hal/src/main/native/athena/rev/PHFrames.h
index 20411a8..a1849e1 100644
--- a/hal/src/main/native/athena/rev/PHFrames.h
+++ b/hal/src/main/native/athena/rev/PHFrames.h
@@ -79,7 +79,7 @@
/**
* Signals in message Compressor_Config.
*
- * Configures compressor to use digitial/analog sensors
+ * Configures compressor to use digital/analog sensors
*
* All signal values are as on the CAN bus.
*/
diff --git a/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp b/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
index 75da176..66e3ed0 100644
--- a/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
+++ b/hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp
@@ -69,12 +69,11 @@
(JNIEnv* env, jclass, jint handle, jbyteArray arr)
{
int32_t status = 0;
- JByteArrayRef jArrRef{env, arr};
- auto arrRef = jArrRef.array();
+ JSpan<const jbyte> jArrRef{env, arr};
HAL_WriteAddressableLEDData(
static_cast<HAL_AddressableLEDHandle>(handle),
- reinterpret_cast<const HAL_AddressableLEDData*>(arrRef.data()),
- arrRef.size() / 4, &status);
+ reinterpret_cast<const HAL_AddressableLEDData*>(jArrRef.data()),
+ jArrRef.size() / 4, &status);
CheckStatus(env, status);
}
@@ -85,12 +84,12 @@
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_AddressableLEDJNI_setBitTiming
- (JNIEnv* env, jclass, jint handle, jint lowTime0, jint highTime0,
- jint lowTime1, jint highTime1)
+ (JNIEnv* env, jclass, jint handle, jint highTime0, jint lowTime0,
+ jint highTime1, jint lowTime1)
{
int32_t status = 0;
HAL_SetAddressableLEDBitTiming(static_cast<HAL_AddressableLEDHandle>(handle),
- lowTime0, highTime0, lowTime1, highTime1,
+ highTime0, lowTime0, highTime1, lowTime1,
&status);
CheckStatus(env, status);
}
diff --git a/hal/src/main/native/cpp/jni/CANAPIJNI.cpp b/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
index 106167a..929f7da 100644
--- a/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
@@ -18,6 +18,18 @@
using namespace wpi::java;
extern "C" {
+
+/*
+ * Class: edu_wpi_first_hal_CANAPIJNI
+ * Method: getCANPacketBaseTime
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_first_hal_CANAPIJNI_getCANPacketBaseTime
+ (JNIEnv*, jclass)
+{
+ return HAL_GetCANPacketBaseTime();
+}
/*
* Class: edu_wpi_first_hal_CANAPIJNI
* Method: initializeCAN
@@ -59,11 +71,10 @@
(JNIEnv* env, jclass, jint handle, jbyteArray data, jint apiId)
{
auto halHandle = static_cast<HAL_CANHandle>(handle);
- JByteArrayRef arr{env, data};
- auto arrRef = arr.array();
+ JSpan<const jbyte> arr{env, data};
int32_t status = 0;
- HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arrRef.data()),
- arrRef.size(), apiId, &status);
+ HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arr.data()),
+ arr.size(), apiId, &status);
CheckStatus(env, status);
}
@@ -78,12 +89,11 @@
jint timeoutMs)
{
auto halHandle = static_cast<HAL_CANHandle>(handle);
- JByteArrayRef arr{env, data};
- auto arrRef = arr.array();
+ JSpan<const jbyte> arr{env, data};
int32_t status = 0;
HAL_WriteCANPacketRepeating(halHandle,
- reinterpret_cast<const uint8_t*>(arrRef.data()),
- arrRef.size(), apiId, timeoutMs, &status);
+ reinterpret_cast<const uint8_t*>(arr.data()),
+ arr.size(), apiId, timeoutMs, &status);
CheckStatus(env, status);
}
@@ -112,11 +122,10 @@
(JNIEnv* env, jclass, jint handle, jbyteArray data, jint apiId)
{
auto halHandle = static_cast<HAL_CANHandle>(handle);
- JByteArrayRef arr{env, data};
- auto arrRef = arr.array();
+ JSpan<const jbyte> arr{env, data};
int32_t status = 0;
- HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arrRef.data()),
- arrRef.size(), apiId, &status);
+ HAL_WriteCANPacket(halHandle, reinterpret_cast<const uint8_t*>(arr.data()),
+ arr.size(), apiId, &status);
return status;
}
@@ -131,12 +140,11 @@
jint timeoutMs)
{
auto halHandle = static_cast<HAL_CANHandle>(handle);
- JByteArrayRef arr{env, data};
- auto arrRef = arr.array();
+ JSpan<const jbyte> arr{env, data};
int32_t status = 0;
HAL_WriteCANPacketRepeating(halHandle,
- reinterpret_cast<const uint8_t*>(arrRef.data()),
- arrRef.size(), apiId, timeoutMs, &status);
+ reinterpret_cast<const uint8_t*>(arr.data()),
+ arr.size(), apiId, timeoutMs, &status);
return status;
}
diff --git a/hal/src/main/native/cpp/jni/CANJNI.cpp b/hal/src/main/native/cpp/jni/CANJNI.cpp
index 4ad2a74..9375a06 100644
--- a/hal/src/main/native/cpp/jni/CANJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CANJNI.cpp
@@ -26,11 +26,11 @@
Java_edu_wpi_first_hal_can_CANJNI_FRCNetCommCANSessionMuxSendMessage
(JNIEnv* env, jclass, jint messageID, jbyteArray data, jint periodMs)
{
- JByteArrayRef dataArray{env, data};
+ JSpan<const jbyte> dataArray{env, data};
const uint8_t* dataBuffer =
- reinterpret_cast<const uint8_t*>(dataArray.array().data());
- uint8_t dataSize = dataArray.array().size();
+ reinterpret_cast<const uint8_t*>(dataArray.data());
+ uint8_t dataSize = dataArray.size();
int32_t status = 0;
HAL_CAN_SendMessage(messageID, dataBuffer, dataSize, periodMs, &status);
diff --git a/hal/src/main/native/cpp/jni/DMAJNI.cpp b/hal/src/main/native/cpp/jni/DMAJNI.cpp
index 3e95c7b..79dc14b 100644
--- a/hal/src/main/native/cpp/jni/DMAJNI.cpp
+++ b/hal/src/main/native/cpp/jni/DMAJNI.cpp
@@ -5,12 +5,15 @@
#include <algorithm>
#include <cstring>
+#include <wpi/jni_util.h>
+
#include "HALUtil.h"
#include "edu_wpi_first_hal_DMAJNI.h"
#include "hal/DMA.h"
#include "hal/handles/HandlesInternal.h"
using namespace hal;
+using namespace wpi::java;
namespace hal {
bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
@@ -312,20 +315,17 @@
env->SetIntArrayRegion(buf, 0, dmaSample.captureSize,
reinterpret_cast<jint*>(dmaSample.readBuffer));
- int32_t* nativeArr =
- static_cast<int32_t*>(env->GetPrimitiveArrayCritical(store, nullptr));
+ CriticalJSpan<jint> nativeArr{env, store};
std::copy_n(
dmaSample.channelOffsets,
sizeof(dmaSample.channelOffsets) / sizeof(dmaSample.channelOffsets[0]),
- nativeArr);
+ nativeArr.data());
nativeArr[22] = static_cast<int32_t>(dmaSample.captureSize);
nativeArr[23] = static_cast<int32_t>(dmaSample.triggerChannels);
nativeArr[24] = remaining;
nativeArr[25] = readStatus;
- env->ReleasePrimitiveArrayCritical(store, nativeArr, JNI_ABORT);
-
return dmaSample.timeStamp;
}
diff --git a/hal/src/main/native/cpp/jni/DriverStationJNI.cpp b/hal/src/main/native/cpp/jni/DriverStationJNI.cpp
index f050f02..5e3e97f 100644
--- a/hal/src/main/native/cpp/jni/DriverStationJNI.cpp
+++ b/hal/src/main/native/cpp/jni/DriverStationJNI.cpp
@@ -15,7 +15,27 @@
#include "hal/FRCUsageReporting.h"
#include "hal/HALBase.h"
-// TODO Static asserts
+static_assert(edu_wpi_first_hal_DriverStationJNI_kUnknownAllianceStation ==
+ HAL_AllianceStationID_kUnknown);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kRed1AllianceStation ==
+ HAL_AllianceStationID_kRed1);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kRed2AllianceStation ==
+ HAL_AllianceStationID_kRed2);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kRed3AllianceStation ==
+ HAL_AllianceStationID_kRed3);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kBlue1AllianceStation ==
+ HAL_AllianceStationID_kBlue1);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kBlue2AllianceStation ==
+ HAL_AllianceStationID_kBlue2);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kBlue3AllianceStation ==
+ HAL_AllianceStationID_kBlue3);
+
+static_assert(edu_wpi_first_hal_DriverStationJNI_kMaxJoystickAxes ==
+ HAL_kMaxJoystickAxes);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kMaxJoystickPOVs ==
+ HAL_kMaxJoystickPOVs);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kMaxJoysticks ==
+ HAL_kMaxJoysticks);
using namespace hal;
using namespace wpi::java;
@@ -231,10 +251,10 @@
HAL_GetAllJoystickData(axes, povs, buttons);
- CriticalJFloatArrayRef jAxes(env, axesArray);
- CriticalJByteArrayRef jRawAxes(env, rawAxesArray);
- CriticalJShortArrayRef jPovs(env, povsArray);
- CriticalJLongArrayRef jButtons(env, buttonsAndMetadataArray);
+ CriticalJSpan<jfloat> jAxes(env, axesArray);
+ CriticalJSpan<jbyte> jRawAxes(env, rawAxesArray);
+ CriticalJSpan<jshort> jPovs(env, povsArray);
+ CriticalJSpan<jlong> jButtons(env, buttonsAndMetadataArray);
static_assert(sizeof(jAxes[0]) == sizeof(axes[0].axes[0]));
static_assert(sizeof(jRawAxes[0]) == sizeof(axes[0].raw[0]));
@@ -403,13 +423,13 @@
/*
* Class: edu_wpi_first_hal_DriverStationJNI
* Method: refreshDSData
- * Signature: ()V
+ * Signature: ()Z
*/
-JNIEXPORT void JNICALL
+JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_hal_DriverStationJNI_refreshDSData
(JNIEnv*, jclass)
{
- HAL_RefreshDSData();
+ return HAL_RefreshDSData();
}
/*
diff --git a/hal/src/main/native/cpp/jni/HAL.cpp b/hal/src/main/native/cpp/jni/HAL.cpp
index b603a76..6f486e5 100644
--- a/hal/src/main/native/cpp/jni/HAL.cpp
+++ b/hal/src/main/native/cpp/jni/HAL.cpp
@@ -138,6 +138,36 @@
/*
* Class: edu_wpi_first_hal_HAL
+ * Method: getRSLState
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_HAL_getRSLState
+ (JNIEnv* env, jclass)
+{
+ int32_t status = 0;
+ bool val = HAL_GetRSLState(&status);
+ CheckStatus(env, status);
+ return val;
+}
+
+/*
+ * Class: edu_wpi_first_hal_HAL
+ * Method: getSystemTimeValid
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_HAL_getSystemTimeValid
+ (JNIEnv* env, jclass)
+{
+ int32_t status = 0;
+ bool val = HAL_GetSystemTimeValid(&status);
+ CheckStatus(env, status);
+ return val;
+}
+
+/*
+ * Class: edu_wpi_first_hal_HAL
* Method: getPortWithModule
* Signature: (BB)I
*/
diff --git a/hal/src/main/native/cpp/jni/HALUtil.cpp b/hal/src/main/native/cpp/jni/HALUtil.cpp
index 76c05f8..6316a8c 100644
--- a/hal/src/main/native/cpp/jni/HALUtil.cpp
+++ b/hal/src/main/native/cpp/jni/HALUtil.cpp
@@ -486,6 +486,18 @@
/*
* Class: edu_wpi_first_hal_HALUtil
+ * Method: getTeamNumber
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_HALUtil_getTeamNumber
+ (JNIEnv* env, jclass)
+{
+ return HAL_GetTeamNumber();
+}
+
+/*
+ * Class: edu_wpi_first_hal_HALUtil
* Method: getFPGATime
* Signature: ()J
*/
diff --git a/hal/src/main/native/cpp/jni/I2CJNI.cpp b/hal/src/main/native/cpp/jni/I2CJNI.cpp
index 68b8442..6e06bb8 100644
--- a/hal/src/main/native/cpp/jni/I2CJNI.cpp
+++ b/hal/src/main/native/cpp/jni/I2CJNI.cpp
@@ -79,7 +79,7 @@
jint returnValue =
HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address,
reinterpret_cast<const uint8_t*>(
- JByteArrayRef(env, dataToSend).array().data()),
+ JSpan<const jbyte>(env, dataToSend).data()),
sendSize, recvBuf.data(), receiveSize);
env->SetByteArrayRegion(dataReceived, 0, receiveSize,
reinterpret_cast<const jbyte*>(recvBuf.data()));
@@ -120,7 +120,7 @@
jint returnValue =
HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address,
reinterpret_cast<const uint8_t*>(
- JByteArrayRef(env, dataToSend).array().data()),
+ JSpan<const jbyte>(env, dataToSend).data()),
sendSize);
return returnValue;
}
diff --git a/hal/src/main/native/cpp/jni/PWMJNI.cpp b/hal/src/main/native/cpp/jni/PWMJNI.cpp
index e83f11b..2f90ded 100644
--- a/hal/src/main/native/cpp/jni/PWMJNI.cpp
+++ b/hal/src/main/native/cpp/jni/PWMJNI.cpp
@@ -63,43 +63,27 @@
/*
* Class: edu_wpi_first_hal_PWMJNI
- * Method: setPWMConfigRaw
+ * Method: setPWMConfigMicroseconds
* Signature: (IIIIII)V
*/
JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_PWMJNI_setPWMConfigRaw
+Java_edu_wpi_first_hal_PWMJNI_setPWMConfigMicroseconds
(JNIEnv* env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm,
jint centerPwm, jint deadbandMinPwm, jint minPwm)
{
int32_t status = 0;
- HAL_SetPWMConfigRaw((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
- deadbandMinPwm, minPwm, &status);
+ HAL_SetPWMConfigMicroseconds((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm,
+ centerPwm, deadbandMinPwm, minPwm, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
- * Method: setPWMConfig
- * Signature: (IDDDDD)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_PWMJNI_setPWMConfig
- (JNIEnv* env, jclass, jint id, jdouble maxPwm, jdouble deadbandMaxPwm,
- jdouble centerPwm, jdouble deadbandMinPwm, jdouble minPwm)
-{
- int32_t status = 0;
- HAL_SetPWMConfig((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
- deadbandMinPwm, minPwm, &status);
- CheckStatus(env, status);
-}
-
-/*
- * Class: edu_wpi_first_hal_PWMJNI
- * Method: getPWMConfigRaw
+ * Method: getPWMConfigMicroseconds
* Signature: (I)Ljava/lang/Object;
*/
JNIEXPORT jobject JNICALL
-Java_edu_wpi_first_hal_PWMJNI_getPWMConfigRaw
+Java_edu_wpi_first_hal_PWMJNI_getPWMConfigMicroseconds
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
@@ -108,8 +92,8 @@
int32_t centerPwm = 0;
int32_t deadbandMinPwm = 0;
int32_t minPwm = 0;
- HAL_GetPWMConfigRaw((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm,
- ¢erPwm, &deadbandMinPwm, &minPwm, &status);
+ HAL_GetPWMConfigMicroseconds((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm,
+ ¢erPwm, &deadbandMinPwm, &minPwm, &status);
CheckStatus(env, status);
return CreatePWMConfigDataResult(env, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm);
@@ -146,15 +130,15 @@
/*
* Class: edu_wpi_first_hal_PWMJNI
- * Method: setPWMRaw
- * Signature: (IS)V
+ * Method: setPulseTimeMicroseconds
+ * Signature: (II)V
*/
JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_PWMJNI_setPWMRaw
- (JNIEnv* env, jclass, jint id, jshort value)
+Java_edu_wpi_first_hal_PWMJNI_setPulseTimeMicroseconds
+ (JNIEnv* env, jclass, jint id, jint value)
{
int32_t status = 0;
- HAL_SetPWMRaw((HAL_DigitalHandle)id, value, &status);
+ HAL_SetPWMPulseTimeMicroseconds((HAL_DigitalHandle)id, value, &status);
CheckStatus(env, status);
}
@@ -188,15 +172,16 @@
/*
* Class: edu_wpi_first_hal_PWMJNI
- * Method: getPWMRaw
- * Signature: (I)S
+ * Method: getPulseTimeMicroseconds
+ * Signature: (I)I
*/
-JNIEXPORT jshort JNICALL
-Java_edu_wpi_first_hal_PWMJNI_getPWMRaw
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PWMJNI_getPulseTimeMicroseconds
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
- jshort returnValue = HAL_GetPWMRaw((HAL_DigitalHandle)id, &status);
+ int32_t returnValue =
+ HAL_GetPWMPulseTimeMicroseconds((HAL_DigitalHandle)id, &status);
CheckStatus(env, status);
return returnValue;
}
@@ -261,6 +246,20 @@
/*
* Class: edu_wpi_first_hal_PWMJNI
+ * Method: setAlwaysHighMode
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PWMJNI_setAlwaysHighMode
+ (JNIEnv* env, jclass, jint id)
+{
+ int32_t status = 0;
+ HAL_SetPWMAlwaysHighMode((HAL_DigitalHandle)id, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_PWMJNI
* Method: setPWMPeriodScale
* Signature: (II)V
*/
diff --git a/hal/src/main/native/cpp/jni/PowerJNI.cpp b/hal/src/main/native/cpp/jni/PowerJNI.cpp
index 92b174d..2096205 100644
--- a/hal/src/main/native/cpp/jni/PowerJNI.cpp
+++ b/hal/src/main/native/cpp/jni/PowerJNI.cpp
@@ -74,6 +74,20 @@
/*
* Class: edu_wpi_first_hal_PowerJNI
+ * Method: setUserEnabled6V
+ * Signature: (Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerJNI_setUserEnabled6V
+ (JNIEnv* env, jclass, jboolean enabled)
+{
+ int32_t status = 0;
+ HAL_SetUserRailEnabled6V(enabled, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerJNI
* Method: getUserActive6V
* Signature: ()Z
*/
@@ -134,6 +148,20 @@
/*
* Class: edu_wpi_first_hal_PowerJNI
+ * Method: setUserEnabled5V
+ * Signature: (Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerJNI_setUserEnabled5V
+ (JNIEnv* env, jclass, jboolean enabled)
+{
+ int32_t status = 0;
+ HAL_SetUserRailEnabled5V(enabled, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerJNI
* Method: getUserActive5V
* Signature: ()Z
*/
@@ -194,6 +222,20 @@
/*
* Class: edu_wpi_first_hal_PowerJNI
+ * Method: setUserEnabled3V3
+ * Signature: (Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerJNI_setUserEnabled3V3
+ (JNIEnv* env, jclass, jboolean enabled)
+{
+ int32_t status = 0;
+ HAL_SetUserRailEnabled3V3(enabled, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerJNI
* Method: getUserActive3V3
* Signature: ()Z
*/
@@ -251,4 +293,19 @@
return val;
}
+/*
+ * Class: edu_wpi_first_hal_PowerJNI
+ * Method: getCPUTemp
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerJNI_getCPUTemp
+ (JNIEnv* env, jclass)
+{
+ int32_t status = 0;
+ double val = HAL_GetCPUTemp(&status);
+ CheckStatus(env, status);
+ return val;
+}
+
} // extern "C"
diff --git a/hal/src/main/native/cpp/jni/SPIJNI.cpp b/hal/src/main/native/cpp/jni/SPIJNI.cpp
index 4f1e556..f8c5f7e 100644
--- a/hal/src/main/native/cpp/jni/SPIJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SPIJNI.cpp
@@ -94,7 +94,7 @@
jint retVal =
HAL_TransactionSPI(static_cast<HAL_SPIPort>(port),
reinterpret_cast<const uint8_t*>(
- JByteArrayRef(env, dataToSend).array().data()),
+ JSpan<const jbyte>(env, dataToSend).data()),
recvBuf.data(), size);
env->SetByteArrayRegion(dataReceived, 0, size,
reinterpret_cast<const jbyte*>(recvBuf.data()));
@@ -131,7 +131,7 @@
{
jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port),
reinterpret_cast<const uint8_t*>(
- JByteArrayRef(env, dataToSend).array().data()),
+ JSpan<const jbyte>(env, dataToSend).data()),
size);
return retVal;
}
@@ -356,12 +356,11 @@
Java_edu_wpi_first_hal_SPIJNI_spiSetAutoTransmitData
(JNIEnv* env, jclass, jint port, jbyteArray dataToSend, jint zeroSize)
{
- JByteArrayRef jarr(env, dataToSend);
+ JSpan<const jbyte> jarr(env, dataToSend);
int32_t status = 0;
- HAL_SetSPIAutoTransmitData(
- static_cast<HAL_SPIPort>(port),
- reinterpret_cast<const uint8_t*>(jarr.array().data()),
- jarr.array().size(), zeroSize, &status);
+ HAL_SetSPIAutoTransmitData(static_cast<HAL_SPIPort>(port),
+ reinterpret_cast<const uint8_t*>(jarr.data()),
+ jarr.size(), zeroSize, &status);
CheckStatus(env, status);
}
diff --git a/hal/src/main/native/cpp/jni/SerialPortJNI.cpp b/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
index e7f81aa..281e8ef 100644
--- a/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
@@ -261,11 +261,10 @@
(JNIEnv* env, jclass, jint handle, jbyteArray dataToSend, jint size)
{
int32_t status = 0;
- jint retVal =
- HAL_WriteSerial(static_cast<HAL_SerialPortHandle>(handle),
- reinterpret_cast<const char*>(
- JByteArrayRef(env, dataToSend).array().data()),
- size, &status);
+ jint retVal = HAL_WriteSerial(
+ static_cast<HAL_SerialPortHandle>(handle),
+ reinterpret_cast<const char*>(JSpan<const jbyte>(env, dataToSend).data()),
+ size, &status);
CheckStatus(env, status);
return retVal;
}
diff --git a/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp b/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
index f681e71..2cb6c9c 100644
--- a/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
@@ -65,6 +65,18 @@
/*
* Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: getSimDeviceName
+ * Signature: (I)Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_getSimDeviceName
+ (JNIEnv* env, jclass, jint handle)
+{
+ return MakeJString(env, HAL_GetSimDeviceName(handle));
+}
+
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
* Method: createSimValueNative
* Signature: (ILjava/lang/String;IIJD)I
*/
@@ -138,7 +150,7 @@
}
return HAL_CreateSimValueEnumDouble(
device, JStringRef{env, name}.c_str(), direction, len, carr.data(),
- JDoubleArrayRef{env, optionValues}.array().data(), initialValue);
+ JSpan<const jdouble>{env, optionValues}.data(), initialValue);
}
/*
diff --git a/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
index 70b31ab..38d9ce7 100644
--- a/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
@@ -269,7 +269,7 @@
Java_edu_wpi_first_hal_simulation_AddressableLEDDataJNI_setData
(JNIEnv* env, jclass, jint index, jbyteArray arr)
{
- JByteArrayRef jArrRef{env, arr};
+ JSpan<const jbyte> jArrRef{env, arr};
auto arrRef = jArrRef.array();
HALSIM_SetAddressableLEDData(
index, reinterpret_cast<const HAL_AddressableLEDData*>(arrRef.data()),
diff --git a/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
index c50b8e3..8b1ba4f 100644
--- a/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/DriverStationDataJNI.cpp
@@ -4,8 +4,7 @@
#include <jni.h>
-#include <cstring>
-
+#include <wpi/StringExtras.h>
#include <wpi/jni_util.h>
#include "CallbackStore.h"
@@ -436,7 +435,7 @@
{
HAL_JoystickAxes axes;
{
- wpi::java::JFloatArrayRef jArrayRef(env, axesArray);
+ JSpan<const jfloat> jArrayRef(env, axesArray);
auto arrayRef = jArrayRef.array();
auto arraySize = arrayRef.size();
int maxCount =
@@ -461,7 +460,7 @@
{
HAL_JoystickPOVs povs;
{
- wpi::java::JShortArrayRef jArrayRef(env, povsArray);
+ JSpan<const jshort> jArrayRef(env, povsArray);
auto arrayRef = jArrayRef.array();
auto arraySize = arrayRef.size();
int maxCount =
@@ -539,11 +538,12 @@
JStringRef gameSpecificMessageRef{env, gameSpecificMessage};
HAL_MatchInfo halMatchInfo;
- std::snprintf(halMatchInfo.eventName, sizeof(halMatchInfo.eventName), "%s",
- eventNameRef.c_str());
- std::snprintf(reinterpret_cast<char*>(halMatchInfo.gameSpecificMessage),
- sizeof(halMatchInfo.gameSpecificMessage), "%s",
- gameSpecificMessageRef.c_str());
+ wpi::format_to_n_c_str(halMatchInfo.eventName, sizeof(halMatchInfo.eventName),
+ "{}", eventNameRef.str());
+ wpi::format_to_n_c_str(
+ reinterpret_cast<char*>(halMatchInfo.gameSpecificMessage),
+ sizeof(halMatchInfo.gameSpecificMessage), "{}",
+ gameSpecificMessageRef.str());
halMatchInfo.gameSpecificMessageSize = gameSpecificMessageRef.size();
halMatchInfo.matchType = (HAL_MatchType)matchType;
halMatchInfo.matchNumber = matchNumber;
diff --git a/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
index 69549a1..a33458f 100644
--- a/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/EncoderDataJNI.cpp
@@ -414,6 +414,56 @@
/*
* Class: edu_wpi_first_hal_simulation_EncoderDataJNI
+ * Method: registerDistancePerPulseCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_EncoderDataJNI_registerDistancePerPulseCallback
+ (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallback(env, index, callback, initialNotify,
+ &HALSIM_RegisterEncoderDistancePerPulseCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_EncoderDataJNI
+ * Method: cancelDistancePerPulseCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_EncoderDataJNI_cancelDistancePerPulseCallback
+ (JNIEnv* env, jclass, jint index, jint handle)
+{
+ return sim::FreeCallback(env, handle, index,
+ &HALSIM_CancelEncoderDistancePerPulseCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_EncoderDataJNI
+ * Method: getDistancePerPulse
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_EncoderDataJNI_getDistancePerPulse
+ (JNIEnv*, jclass, jint index)
+{
+ return HALSIM_GetEncoderDistancePerPulse(index);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_EncoderDataJNI
+ * Method: setDistancePerPulse
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_EncoderDataJNI_setDistancePerPulse
+ (JNIEnv*, jclass, jint index, jdouble value)
+{
+ HALSIM_SetEncoderDistancePerPulse(index, value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_EncoderDataJNI
* Method: setDistance
* Signature: (ID)V
*/
diff --git a/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
index 31c79a7..ea52728 100644
--- a/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
@@ -64,52 +64,52 @@
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
- * Method: registerRawValueCallback
+ * Method: registerPulseMicrosecondCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerRawValueCallback
+Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerPulseMicrosecondCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
- &HALSIM_RegisterPWMRawValueCallback);
+ &HALSIM_RegisterPWMPulseMicrosecondCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
- * Method: cancelRawValueCallback
+ * Method: cancelPulseMicrosecondCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelRawValueCallback
+Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelPulseMicrosecondCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
- &HALSIM_CancelPWMRawValueCallback);
+ &HALSIM_CancelPWMPulseMicrosecondCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
- * Method: getRawValue
+ * Method: getPulseMicrosecond
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_PWMDataJNI_getRawValue
+Java_edu_wpi_first_hal_simulation_PWMDataJNI_getPulseMicrosecond
(JNIEnv*, jclass, jint index)
{
- return HALSIM_GetPWMRawValue(index);
+ return HALSIM_GetPWMPulseMicrosecond(index);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
- * Method: setRawValue
+ * Method: setPulseMicrosecond
* Signature: (II)V
*/
JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_PWMDataJNI_setRawValue
+Java_edu_wpi_first_hal_simulation_PWMDataJNI_setPulseMicrosecond
(JNIEnv*, jclass, jint index, jint value)
{
- HALSIM_SetPWMRawValue(index, value);
+ HALSIM_SetPWMPulseMicrosecond(index, value);
}
/*
diff --git a/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp
index 5bcd114..9555f59 100644
--- a/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/RoboRioDataJNI.cpp
@@ -830,6 +830,106 @@
/*
* Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method: registerCPUTempCallback
+ * Signature: (Ljava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_registerCPUTempCallback
+ (JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallbackNoIndex(env, callback, initialNotify,
+ &HALSIM_RegisterRoboRioCPUTempCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method: cancelCPUTempCallback
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_cancelCPUTempCallback
+ (JNIEnv* env, jclass, jint handle)
+{
+ return sim::FreeCallbackNoIndex(env, handle,
+ &HALSIM_CancelRoboRioCPUTempCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method: getCPUTemp
+ * Signature: ()D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_getCPUTemp
+ (JNIEnv*, jclass)
+{
+ return HALSIM_GetRoboRioCPUTemp();
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method: setCPUTemp
+ * Signature: (D)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setCPUTemp
+ (JNIEnv*, jclass, jdouble cpuTemp)
+{
+ HALSIM_SetRoboRioCPUTemp(cpuTemp);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method: registerTeamNumberCallback
+ * Signature: (Ljava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_registerTeamNumberCallback
+ (JNIEnv* env, jclass, jobject callback, jboolean initialNotify)
+{
+ return sim::AllocateCallbackNoIndex(
+ env, callback, initialNotify, &HALSIM_RegisterRoboRioTeamNumberCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method: cancelTeamNumberCallback
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_cancelTeamNumberCallback
+ (JNIEnv* env, jclass, jint handle)
+{
+ return sim::FreeCallbackNoIndex(env, handle,
+ &HALSIM_CancelRoboRioTeamNumberCallback);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method: getTeamNumber
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_getTeamNumber
+ (JNIEnv*, jclass)
+{
+ return HALSIM_GetRoboRioTeamNumber();
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
+ * Method: setTeamNumber
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_RoboRioDataJNI_setTeamNumber
+ (JNIEnv*, jclass, jint value)
+{
+ HALSIM_SetRoboRioTeamNumber(value);
+}
+
+/*
+ * Class: edu_wpi_first_hal_simulation_RoboRioDataJNI
* Method: getSerialNumber
* Signature: ()Ljava/lang/String;
*/
diff --git a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
index c7c2a19..98dab72 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
@@ -468,7 +468,11 @@
Java_edu_wpi_first_hal_simulation_SimDeviceDataJNI_getSimDeviceName
(JNIEnv* env, jclass, jint handle)
{
- return MakeJString(env, HALSIM_GetSimDeviceName(handle));
+ const char* name = HALSIM_GetSimDeviceName(handle);
+ if (!name) {
+ return nullptr;
+ }
+ return MakeJString(env, name);
}
/*
diff --git a/hal/src/main/native/include/hal/AddressableLED.h b/hal/src/main/native/include/hal/AddressableLED.h
index 7674979..1fba59c 100644
--- a/hal/src/main/native/include/hal/AddressableLED.h
+++ b/hal/src/main/native/include/hal/AddressableLED.h
@@ -19,36 +19,112 @@
extern "C" {
#endif
+/**
+ * Initialize Addressable LED using a PWM Digital handle.
+ *
+ * @param[in] outputPort handle of the digital port for PWM
+ * @param[out] status the error code, or 0 for success
+ * @return Addressable LED handle
+ */
HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
HAL_DigitalHandle outputPort, int32_t* status);
+/**
+ * Free the Addressable LED Handle.
+ *
+ * @param[in] handle the Addressable LED handle to free
+ */
void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle);
+/**
+ * Set the Addressable LED PWM Digital port.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[in] outputPort The digital handle of the PWM port
+ * @param[out] status the error code, or 0 for success
+ */
void HAL_SetAddressableLEDOutputPort(HAL_AddressableLEDHandle handle,
HAL_DigitalHandle outputPort,
int32_t* status);
+/**
+ * Sets the length of the LED strip.
+ *
+ * <p>The max length is 5460 LEDs.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[in] length the strip length
+ * @param[out] status the error code, or 0 for success
+ */
void HAL_SetAddressableLEDLength(HAL_AddressableLEDHandle handle,
int32_t length, int32_t* status);
+/**
+ * Sets the led output data.
+ *
+ * <p>If the output is enabled, this will start writing the next data cycle.
+ * It is safe to call, even while output is enabled.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[in] data the buffer to write
+ * @param[in] length the strip length
+ * @param[out] status the error code, or 0 for success
+ */
void HAL_WriteAddressableLEDData(HAL_AddressableLEDHandle handle,
const struct HAL_AddressableLEDData* data,
int32_t length, int32_t* status);
+/**
+ * Sets the bit timing.
+ *
+ * <p>By default, the driver is set up to drive WS2812Bs, so nothing needs to
+ * be set for those.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[in] highTime0NanoSeconds high time for 0 bit (default 400ns)
+ * @param[in] lowTime0NanoSeconds low time for 0 bit (default 900ns)
+ * @param[in] highTime1NanoSeconds high time for 1 bit (default 900ns)
+ * @param[in] lowTime1NanoSeconds low time for 1 bit (default 600ns)
+ * @param[out] status the error code, or 0 for success
+ */
void HAL_SetAddressableLEDBitTiming(HAL_AddressableLEDHandle handle,
- int32_t lowTime0NanoSeconds,
int32_t highTime0NanoSeconds,
- int32_t lowTime1NanoSeconds,
+ int32_t lowTime0NanoSeconds,
int32_t highTime1NanoSeconds,
+ int32_t lowTime1NanoSeconds,
int32_t* status);
+/**
+ * Sets the sync time.
+ *
+ * <p>The sync time is the time to hold output so LEDs enable. Default set for
+ * WS2812B.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[in] syncTimeMicroSeconds the sync time (default 280us)
+ * @param[out] status the error code, or 0 for success
+ */
void HAL_SetAddressableLEDSyncTime(HAL_AddressableLEDHandle handle,
int32_t syncTimeMicroSeconds,
int32_t* status);
+/**
+ * Starts the output.
+ *
+ * <p>The output writes continuously.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[out] status the error code, or 0 for success
+ */
void HAL_StartAddressableLEDOutput(HAL_AddressableLEDHandle handle,
int32_t* status);
+/**
+ * Stops the output.
+ *
+ * @param[in] handle the Addressable LED handle
+ * @param[out] status the error code, or 0 for success
+ */
void HAL_StopAddressableLEDOutput(HAL_AddressableLEDHandle handle,
int32_t* status);
diff --git a/hal/src/main/native/include/hal/AddressableLEDTypes.h b/hal/src/main/native/include/hal/AddressableLEDTypes.h
index dbaa776..48918f4 100644
--- a/hal/src/main/native/include/hal/AddressableLEDTypes.h
+++ b/hal/src/main/native/include/hal/AddressableLEDTypes.h
@@ -6,11 +6,13 @@
#include <stdint.h>
+/** max length of LED strip supported by FPGA. */
#define HAL_kAddressableLEDMaxLength 5460
+/** structure for holding one LED's color data. */
struct HAL_AddressableLEDData {
- uint8_t b;
- uint8_t g;
- uint8_t r;
+ uint8_t b; ///< blue value
+ uint8_t g; ///< green value
+ uint8_t r; ///< red value
uint8_t padding;
};
diff --git a/hal/src/main/native/include/hal/AnalogGyro.h b/hal/src/main/native/include/hal/AnalogGyro.h
index ed7c308..6dd948a 100644
--- a/hal/src/main/native/include/hal/AnalogGyro.h
+++ b/hal/src/main/native/include/hal/AnalogGyro.h
@@ -21,7 +21,7 @@
/**
* Initializes an analog gyro.
*
- * @param[in] handle handle to the analog port
+ * @param[in] handle handle to the analog input port
* @param[in] allocationLocation the location where the allocation is occurring
* (can be null)
* @param[out] status the error code, or 0 for success
@@ -43,7 +43,7 @@
/**
* Frees an analog gyro.
*
- * @param handle the gyro handle
+ * @param[in,out] handle the gyro handle
*/
void HAL_FreeAnalogGyro(HAL_GyroHandle handle);
diff --git a/hal/src/main/native/include/hal/AnalogInput.h b/hal/src/main/native/include/hal/AnalogInput.h
index 0a1a3c5..462103a 100644
--- a/hal/src/main/native/include/hal/AnalogInput.h
+++ b/hal/src/main/native/include/hal/AnalogInput.h
@@ -33,14 +33,14 @@
/**
* Frees an analog input port.
*
- * @param analogPortHandle Handle to the analog port.
+ * @param[in,out] analogPortHandle Handle to the analog port.
*/
void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle);
/**
* Checks that the analog module number is valid.
*
- * @param module The analog module number.
+ * @param[in] module The analog module number.
* @return Analog module is valid and present
*/
HAL_Bool HAL_CheckAnalogModule(int32_t module);
@@ -50,7 +50,7 @@
* Verifies that the analog channel number is one of the legal channel numbers.
* Channel numbers are 0-based.
*
- * @param channel The analog output channel number.
+ * @param[in] channel The analog output channel number.
* @return Analog channel is valid
*/
HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel);
@@ -162,9 +162,9 @@
* The sample is 12-bit + the value configured in SetOversampleBits().
* The value configured in SetAverageBits() will cause this value to be averaged
* 2**bits number of samples. This is not a sliding window. The sample will not
- * change until 2**(OversamplBits + AverageBits) samples have been acquired from
- * the module on this channel. Use GetAverageVoltage() to get the analog value
- * in calibrated units.
+ * change until 2**(OversampleBits + AverageBits) samples have been acquired
+ * from the module on this channel. Use GetAverageVoltage() to get the analog
+ * value in calibrated units.
*
* @param[in] analogPortHandle Handle to the analog port to use.
* @param[out] status the error code, or 0 for success
diff --git a/hal/src/main/native/include/hal/AnalogTrigger.h b/hal/src/main/native/include/hal/AnalogTrigger.h
index 72727a8..f4622e3 100644
--- a/hal/src/main/native/include/hal/AnalogTrigger.h
+++ b/hal/src/main/native/include/hal/AnalogTrigger.h
@@ -45,6 +45,7 @@
*
* @param[in] dutyCycleHandle the analog input to use for duty cycle
* @param[out] status Error status variable. 0 on success.
+ * @return tbe created analog trigger handle
*/
HAL_AnalogTriggerHandle HAL_InitializeAnalogTriggerDutyCycle(
HAL_DutyCycleHandle dutyCycleHandle, int32_t* status);
diff --git a/hal/src/main/native/include/hal/CANAPI.h b/hal/src/main/native/include/hal/CANAPI.h
index d5244b5..f515d60 100644
--- a/hal/src/main/native/include/hal/CANAPI.h
+++ b/hal/src/main/native/include/hal/CANAPI.h
@@ -20,6 +20,15 @@
#endif
/**
+ * Reads the current value of the millisecond-resolution timer that the CAN API
+ * functions use as a time base.
+ *
+ * @return Current value of timer used as a base time by the CAN API in
+ * milliseconds.
+ */
+uint32_t HAL_GetCANPacketBaseTime(void);
+
+/**
* Initializes a CAN device.
*
* These follow the FIRST standard CAN layout.
@@ -38,7 +47,7 @@
/**
* Frees a CAN device
*
- * @param handle the CAN handle
+ * @param[in,out] handle the CAN handle
*/
void HAL_CleanCAN(HAL_CANHandle handle);
@@ -111,8 +120,8 @@
* @param[in] apiId the ID to read (0-1023)
* @param[out] data the packet data (8 bytes)
* @param[out] length the received length (0-8 bytes)
- * @param[out] receivedTimestamp the packet received timestamp (based off of
- * CLOCK_MONOTONIC)
+ * @param[out] receivedTimestamp the packet received timestamp in ms (based off
+ * of CLOCK_MONOTONIC)
* @param[out] status Error status variable. 0 on success.
*/
void HAL_ReadCANPacketNew(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
@@ -127,8 +136,8 @@
* @param[in] apiId the ID to read (0-1023)
* @param[out] data the packet data (8 bytes)
* @param[out] length the received length (0-8 bytes)
- * @param[out] receivedTimestamp the packet received timestamp (based off of
- * CLOCK_MONOTONIC)
+ * @param[out] receivedTimestamp the packet received timestamp in ms (based off
+ * of CLOCK_MONOTONIC)
* @param[out] status Error status variable. 0 on success.
*/
void HAL_ReadCANPacketLatest(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
@@ -144,8 +153,8 @@
* @param[in] apiId the ID to read (0-1023)
* @param[out] data the packet data (8 bytes)
* @param[out] length the received length (0-8 bytes)
- * @param[out] receivedTimestamp the packet received timestamp (based off of
- * CLOCK_MONOTONIC)
+ * @param[out] receivedTimestamp the packet received timestamp in ms (based off
+ * of CLOCK_MONOTONIC)
* @param[out] timeoutMs the timeout time for the packet
* @param[out] status Error status variable. 0 on success.
*/
diff --git a/hal/src/main/native/include/hal/CANAPITypes.h b/hal/src/main/native/include/hal/CANAPITypes.h
index 404eecf..decaf86 100644
--- a/hal/src/main/native/include/hal/CANAPITypes.h
+++ b/hal/src/main/native/include/hal/CANAPITypes.h
@@ -55,7 +55,10 @@
HAL_CAN_Man_kCopperforge = 10,
HAL_CAN_Man_kPWF = 11,
HAL_CAN_Man_kStudica = 12,
- HAL_CAN_Man_kTheThriftyBot = 13
+ HAL_CAN_Man_kTheThriftyBot = 13,
+ HAL_CAN_Man_kReduxRobotics = 14,
+ HAL_CAN_Man_kAndyMark = 15,
+ HAL_CAN_Man_kVividHosting = 16
};
// clang-format on
/** @} */
diff --git a/hal/src/main/native/include/hal/CTREPCM.h b/hal/src/main/native/include/hal/CTREPCM.h
index 1bed928..932ed34 100644
--- a/hal/src/main/native/include/hal/CTREPCM.h
+++ b/hal/src/main/native/include/hal/CTREPCM.h
@@ -9,7 +9,7 @@
#include "hal/Types.h"
/**
- * @defgroup hal_ctre_pcm CTRE PCM Functions
+ * @defgroup hal_ctre_pcm CTRE Pneumatic Control Module (PCM) Functions
* @ingroup hal_capi
* @{
*/
@@ -18,51 +18,241 @@
extern "C" {
#endif
+/**
+ * Initializes a PCM.
+ *
+ * @param[in] module the CAN ID to initialize
+ * @param[in] allocationLocation the location where the allocation is occurring
+ * (can be null)
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created PH handle
+ */
HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t module,
const char* allocationLocation,
int32_t* status);
+
+/**
+ * Frees a PCM handle.
+ *
+ * @param[in] handle the PCMhandle
+ */
void HAL_FreeCTREPCM(HAL_CTREPCMHandle handle);
+/**
+ * Checks if a solenoid channel number is valid.
+ *
+ * @param[in] channel the channel to check
+ * @return true if the channel is valid, otherwise false
+ */
HAL_Bool HAL_CheckCTREPCMSolenoidChannel(int32_t channel);
+/**
+ * Get whether compressor is turned on.
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return true if the compressor is turned on
+ */
HAL_Bool HAL_GetCTREPCMCompressor(HAL_CTREPCMHandle handle, int32_t* status);
+
+/**
+ * Enables the compressor closed loop control using the digital pressure switch.
+ * The compressor will turn on when the pressure switch indicates that the
+ * system is not full, and will turn off when the pressure switch indicates that
+ * the system is full.
+ *
+ * @param[in] handle the PCM handle
+ * @param[in] enabled true to enable closed loop control
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_SetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle, HAL_Bool enabled,
int32_t* status);
+
+/**
+ * Get whether the PCM closed loop control is enabled.
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if closed loop control is enabled, otherwise false.
+ */
HAL_Bool HAL_GetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle,
int32_t* status);
+
+/**
+ * Returns the state of the pressure switch.
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if pressure switch indicates that the system is full,
+ * otherwise false.
+ */
HAL_Bool HAL_GetCTREPCMPressureSwitch(HAL_CTREPCMHandle handle,
int32_t* status);
+
+/**
+ * Returns the current drawn by the compressor.
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return The current drawn by the compressor in amps.
+ */
double HAL_GetCTREPCMCompressorCurrent(HAL_CTREPCMHandle handle,
int32_t* status);
+/**
+ * Return whether the compressor current is currently too high.
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if the compressor current is too high, otherwise false.
+ * @see HAL_GetCTREPCMCompressorShortedStickyFault
+ */
HAL_Bool HAL_GetCTREPCMCompressorCurrentTooHighFault(HAL_CTREPCMHandle handle,
int32_t* status);
+
+/**
+ * Returns whether the compressor current has been too high since sticky
+ * faults were last cleared. This fault is persistent and can be cleared by
+ * HAL_ClearAllCTREPCMStickyFaults()
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if the compressor current has been too high since sticky
+ * faults were last cleared.
+ * @see HAL_GetCTREPCMCompressorCurrentTooHighFault()
+ */
HAL_Bool HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(
HAL_CTREPCMHandle handle, int32_t* status);
+
+/**
+ * Returns whether the compressor has been shorted since sticky faults were
+ * last cleared. This fault is persistent and can be cleared by
+ * HAL_ClearAllCTREPCMStickyFaults()
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if the compressor has been shorted since sticky faults were
+ * last cleared, otherwise false.
+ * @see HAL_GetCTREPCMCompressorShortedFault()
+ */
HAL_Bool HAL_GetCTREPCMCompressorShortedStickyFault(HAL_CTREPCMHandle handle,
int32_t* status);
+
+/**
+ * Returns whether the compressor is currently shorted.
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if the compressor is currently shorted, otherwise false.
+ * @see HAL_GetCTREPCMCompressorShortedStickyFault
+ */
HAL_Bool HAL_GetCTREPCMCompressorShortedFault(HAL_CTREPCMHandle handle,
int32_t* status);
+
+/**
+ * Returns whether the compressor has been disconnected since sticky faults
+ * were last cleared. This fault is persistent and can be cleared by
+ * HAL_ClearAllCTREPCMStickyFaults()
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if the compressor has been disconnected since sticky faults
+ * were last cleared, otherwise false.
+ * @see HAL_GetCTREPCMCompressorShortedFault()
+ */
HAL_Bool HAL_GetCTREPCMCompressorNotConnectedStickyFault(
HAL_CTREPCMHandle handle, int32_t* status);
+
+/**
+ * Returns whether the compressor is currently disconnected.
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if compressor is currently disconnected, otherwise false.
+ * @see HAL_GetCTREPCMCompressorNotConnectedStickyFault()
+ */
HAL_Bool HAL_GetCTREPCMCompressorNotConnectedFault(HAL_CTREPCMHandle handle,
int32_t* status);
+/**
+ * Gets a bitmask of solenoid values.
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return solenoid values
+ */
int32_t HAL_GetCTREPCMSolenoids(HAL_CTREPCMHandle handle, int32_t* status);
+
+/**
+ * Sets solenoids on a pneumatics module.
+ *
+ * @param[in] handle the PCM handle
+ * @param[in] mask bitmask to set
+ * @param[in] values solenoid values
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_SetCTREPCMSolenoids(HAL_CTREPCMHandle handle, int32_t mask,
int32_t values, int32_t* status);
+/**
+ * Get a bitmask of disabled solenoids.
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return bitmask of disabled solenoids
+ */
int32_t HAL_GetCTREPCMSolenoidDisabledList(HAL_CTREPCMHandle handle,
int32_t* status);
+
+/**
+ * Returns whether the solenoid has reported a voltage fault since sticky faults
+ * were last cleared. This fault is persistent and can be cleared by
+ * HAL_ClearAllCTREPCMStickyFaults()
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if solenoid is reporting a fault, otherwise false.
+ * @see HAL_GetCTREPCMSolenoidVoltageFault()
+ */
HAL_Bool HAL_GetCTREPCMSolenoidVoltageStickyFault(HAL_CTREPCMHandle handle,
int32_t* status);
+/**
+ * Returns whether the solenoid is currently reporting a voltage fault.
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if solenoid is reporting a fault, otherwise false.
+ * @see HAL_GetCTREPCMSolenoidVoltageStickyFault()
+ */
HAL_Bool HAL_GetCTREPCMSolenoidVoltageFault(HAL_CTREPCMHandle handle,
int32_t* status);
+/**
+ * Clears all sticky faults on this device.
+ *
+ * @param[in] handle the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_ClearAllCTREPCMStickyFaults(HAL_CTREPCMHandle handle, int32_t* status);
+/**
+ * Fire a single solenoid shot.
+ *
+ * @param[in] handle the PCM handle
+ * @param[in] index solenoid index
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_FireCTREPCMOneShot(HAL_CTREPCMHandle handle, int32_t index,
int32_t* status);
+
+/**
+ * Set the duration for a single solenoid shot.
+ *
+ * @param[in] handle the PCM handle
+ * @param[in] index solenoid index
+ * @param[in] durMs shot duration in ms
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
int32_t durMs, int32_t* status);
diff --git a/hal/src/main/native/include/hal/Counter.h b/hal/src/main/native/include/hal/Counter.h
index cc2d776..0338cda 100644
--- a/hal/src/main/native/include/hal/Counter.h
+++ b/hal/src/main/native/include/hal/Counter.h
@@ -233,7 +233,7 @@
*/
int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status);
-/*
+/**
* Gets the Period of the most recent count.
*
* Returns the time interval of the most recent count. This can be used for
diff --git a/hal/src/main/native/include/hal/DIO.h b/hal/src/main/native/include/hal/DIO.h
index 6b922b5..f531384 100644
--- a/hal/src/main/native/include/hal/DIO.h
+++ b/hal/src/main/native/include/hal/DIO.h
@@ -37,7 +37,7 @@
* Checks if a DIO channel is valid.
*
* @param channel the channel number to check
- * @return true if the channel is correct, otherwise false
+ * @return true if the channel is valid, otherwise false
*/
HAL_Bool HAL_CheckDIOChannel(int32_t channel);
@@ -77,7 +77,7 @@
*
* The valid range is from 0.6 Hz to 19 kHz.
*
- * The frequency resolution is logarithmic.
+ * The frequency resolution is logarithmic.
*
* @param[in] rate the frequency to output all digital output PWM signals
* @param[out] status Error status variable. 0 on success.
@@ -227,7 +227,7 @@
*
* Sets the filter period in FPGA cycles. Even though there are 2 different
* filter index domains (MXP vs HDR), ignore that distinction for now since it
- * compilicates the interface. That can be changed later.
+ * complicates the interface. That can be changed later.
*
* @param[in] filterIndex the filter index, 0 - 2
* @param[in] value the number of cycles that the signal must not
@@ -241,11 +241,12 @@
*
* Gets the filter period in FPGA cycles. Even though there are 2 different
* filter index domains (MXP vs HDR), ignore that distinction for now since it
- * compilicates the interface. Set status to NiFpga_Status_SoftwareFault if the
- * filter values miss-match.
+ * complicates the interface. Set status to NiFpga_Status_SoftwareFault if the
+ * filter values mismatch.
*
* @param[in] filterIndex the filter index, 0 - 2
* @param[out] status Error status variable. 0 on success.
+ * @return The number of FPGA cycles of the filter period.
*/
int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status);
#ifdef __cplusplus
diff --git a/hal/src/main/native/include/hal/DMA.h b/hal/src/main/native/include/hal/DMA.h
index 7610d9b..b735b6d 100644
--- a/hal/src/main/native/include/hal/DMA.h
+++ b/hal/src/main/native/include/hal/DMA.h
@@ -40,7 +40,7 @@
#endif
/**
- * Initializes an object for peforming DMA transfers.
+ * Initializes an object for performing DMA transfers.
*
* @param[out] status Error status variable. 0 on success.
* @return the created dma handle
@@ -185,7 +185,7 @@
int32_t* status);
/**
- * Adds acuumulator data of an analog input to be collected by DMA.
+ * Adds accumulator data of an analog input to be collected by DMA.
*
* This can only be called if DMA is not started.
*
@@ -310,7 +310,7 @@
* timing out
* @param[in] remainingOut the number of samples remaining in the queue
* @param[out] status Error status variable. 0 on success.
- * @return the succes result of the sample read
+ * @return the success result of the sample read
*/
enum HAL_DMAReadStatus HAL_ReadDMA(HAL_DMAHandle handle,
HAL_DMASample* dmaSample,
diff --git a/hal/src/main/native/include/hal/DriverStation.h b/hal/src/main/native/include/hal/DriverStation.h
index ae68b65..5edacf5 100644
--- a/hal/src/main/native/include/hal/DriverStation.h
+++ b/hal/src/main/native/include/hal/DriverStation.h
@@ -28,10 +28,11 @@
* @param errorCode the error code
* @param isLVCode true for a LV error code, false for a standard error code
* @param details the details of the error
- * @param location the file location of the errror
+ * @param location the file location of the error
* @param callStack the callstack of the error
* @param printMsg true to print the error message to stdout as well as to the
* DS
+ * @return the error code, or 0 for success
*/
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
const char* details, const char* location,
@@ -48,13 +49,14 @@
* Sends a line to the driver station console.
*
* @param line the line to send (null terminated)
+ * @return the error code, or 0 for success
*/
int32_t HAL_SendConsoleLine(const char* line);
/**
* Gets the current control word of the driver station.
*
- * The control work contains the robot state.
+ * The control word contains the robot state.
*
* @param controlWord the control word (out)
* @return the error code, or 0 for success
@@ -117,7 +119,7 @@
HAL_JoystickDescriptor* desc);
/**
- * Gets is a specific joystick is considered to be an XBox controller.
+ * Gets whether a specific joystick is considered to be an XBox controller.
*
* @param joystickNum the joystick number
* @return true if xbox, false otherwise
@@ -179,25 +181,32 @@
int32_t leftRumble, int32_t rightRumble);
/**
- * Returns the approximate match time.
- *
- * The FMS does not send an official match time to the robots, but does send
- * an approximate match time. The value will count down the time remaining in
- * the current period (auto or teleop).
- *
+ * Return the approximate match time. The FMS does not send an official match
+ * time to the robots, but does send an approximate match time. The value will
+ * count down the time remaining in the current period (auto or teleop).
* Warning: This is not an official time (so it cannot be used to dispute ref
* calls or guarantee that a function will trigger before the match ends).
*
- * The Practice Match function of the DS approximates the behavior seen on
- * the field.
+ * <p>When connected to the real field, this number only changes in full integer
+ * increments, and always counts down.
+ *
+ * <p>When the DS is in practice mode, this number is a floating point number,
+ * and counts down.
+ *
+ * <p>When the DS is in teleop or autonomous mode, this number is a floating
+ * point number, and counts up.
+ *
+ * <p>Simulation matches DS behavior without an FMS connected.
*
* @param[out] status the error code, or 0 for success
- * @return time remaining in current match period (auto or teleop)
+ * @return Time remaining in current match period (auto or teleop) in seconds
*/
double HAL_GetMatchTime(int32_t* status);
/**
* Gets if outputs are enabled by the control system.
+ *
+ * @return true if outputs are enabled
*/
HAL_Bool HAL_GetOutputsEnabled(void);
@@ -209,7 +218,12 @@
*/
int32_t HAL_GetMatchInfo(HAL_MatchInfo* info);
-void HAL_RefreshDSData(void);
+/**
+ * Refresh the DS control word.
+ *
+ * @return true if updated
+ */
+HAL_Bool HAL_RefreshDSData(void);
void HAL_ProvideNewDataEventHandle(WPI_EventHandle handle);
void HAL_RemoveNewDataEventHandle(WPI_EventHandle handle);
diff --git a/hal/src/main/native/include/hal/DriverStationTypes.h b/hal/src/main/native/include/hal/DriverStationTypes.h
index 277c286..5917c51 100644
--- a/hal/src/main/native/include/hal/DriverStationTypes.h
+++ b/hal/src/main/native/include/hal/DriverStationTypes.h
@@ -42,6 +42,7 @@
// clang-format off
HAL_ENUM(HAL_AllianceStationID) {
+ HAL_AllianceStationID_kUnknown = 0,
HAL_AllianceStationID_kRed1,
HAL_AllianceStationID_kRed2,
HAL_AllianceStationID_kRed3,
@@ -51,7 +52,7 @@
};
HAL_ENUM(HAL_MatchType) {
- HAL_kMatchType_none,
+ HAL_kMatchType_none = 0,
HAL_kMatchType_practice,
HAL_kMatchType_qualification,
HAL_kMatchType_elimination,
diff --git a/hal/src/main/native/include/hal/DutyCycle.h b/hal/src/main/native/include/hal/DutyCycle.h
index 90266fd..d5e655b 100644
--- a/hal/src/main/native/include/hal/DutyCycle.h
+++ b/hal/src/main/native/include/hal/DutyCycle.h
@@ -26,7 +26,7 @@
* @param[in] triggerType the analog trigger type of the source if it is
* an analog trigger
* @param[out] status Error status variable. 0 on success.
- * @return thre created duty cycle handle
+ * @return the created duty cycle handle
*/
HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType triggerType,
diff --git a/hal/src/main/native/include/hal/Encoder.h b/hal/src/main/native/include/hal/Encoder.h
index a6bf4af..c6e16a6 100644
--- a/hal/src/main/native/include/hal/Encoder.h
+++ b/hal/src/main/native/include/hal/Encoder.h
@@ -83,7 +83,7 @@
/**
* Gets the current counts of the encoder after encoding type scaling.
*
- * This is scaled by the value passed duing initialization to encodingType.
+ * This is scaled by the value passed during initialization to encodingType.
*
* @param[in] encoderHandle the encoder handle
* @param[out] status Error status variable. 0 on success.
@@ -125,7 +125,7 @@
*/
void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
-/*
+/**
* Gets the Period of the most recent count.
*
* Returns the time interval of the most recent count. This can be used for
diff --git a/hal/src/main/native/include/hal/Extensions.h b/hal/src/main/native/include/hal/Extensions.h
index 6f64fdb..b39cc36 100644
--- a/hal/src/main/native/include/hal/Extensions.h
+++ b/hal/src/main/native/include/hal/Extensions.h
@@ -31,7 +31,7 @@
* Expected to be called internally, not by users.
*
* @param library the library path
- * @return the succes state of the initialization
+ * @return the success state of the initialization
*/
int HAL_LoadOneExtension(const char* library);
@@ -39,7 +39,7 @@
* Loads any extra halsim libraries provided in the HALSIM_EXTENSIONS
* environment variable.
*
- * @return the succes state of the initialization
+ * @return the success state of the initialization
*/
int HAL_LoadExtensions(void);
diff --git a/hal/src/main/native/include/hal/HALBase.h b/hal/src/main/native/include/hal/HALBase.h
index 1fe6b3a..fe8d1bf 100644
--- a/hal/src/main/native/include/hal/HALBase.h
+++ b/hal/src/main/native/include/hal/HALBase.h
@@ -18,7 +18,7 @@
/**
* @defgroup hal_capi WPILib HAL API
- * Hardware Abstraction Layer to hardware or simulator
+ * Hardware Abstraction Layer (HAL) to hardware or simulator
* @{
*/
@@ -75,9 +75,9 @@
int64_t HAL_GetFPGARevision(int32_t* status);
/**
- * Returns the serial number.
+ * Returns the roboRIO serial number.
*
- * @param[out] buffer The serial number.
+ * @param[out] buffer The roboRIO serial number.
* @param size The maximum characters to copy into buffer.
* @return Number of characters copied into buffer.
*/
@@ -93,6 +93,12 @@
size_t HAL_GetComments(char* buffer, size_t size);
/**
+ * Returns the team number configured for the robot controller.
+ * @return team number, or 0 if not found.
+ */
+int32_t HAL_GetTeamNumber(void);
+
+/**
* Returns the runtime type of the HAL.
*
* @return HAL Runtime Type
@@ -108,7 +114,7 @@
HAL_Bool HAL_GetFPGAButton(int32_t* status);
/**
- * Gets if the system outputs are currently active
+ * Gets if the system outputs are currently active.
*
* @param[out] status the error code, or 0 for success
* @return true if the system outputs are active, false if disabled
@@ -173,6 +179,22 @@
uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, int32_t* status);
/**
+ * Gets the current state of the Robot Signal Light (RSL).
+ *
+ * @param[out] status the error code, or 0 for success
+ * @return The current state of the RSL- true if on, false if off
+ */
+HAL_Bool HAL_GetRSLState(int32_t* status);
+
+/**
+ * Gets if the system time is valid.
+ *
+ * @param[out] status the error code, or 0 for success
+ * @return True if the system time is valid, false otherwise
+ */
+HAL_Bool HAL_GetSystemTimeValid(int32_t* status);
+
+/**
* Call this to start up HAL. This is required for robot programs.
*
* This must be called before any other HAL functions. Failure to do so will
diff --git a/hal/src/main/native/include/hal/Main.h b/hal/src/main/native/include/hal/Main.h
index 712ad01..9133135 100644
--- a/hal/src/main/native/include/hal/Main.h
+++ b/hal/src/main/native/include/hal/Main.h
@@ -7,7 +7,7 @@
#include "hal/Types.h"
/**
- * @defgroup hal_relay Main loop functions
+ * @defgroup hal_main Main loop functions
* @ingroup hal_capi
* @{
*/
diff --git a/hal/src/main/native/include/hal/Notifier.h b/hal/src/main/native/include/hal/Notifier.h
index 96452f4..9b451e4 100644
--- a/hal/src/main/native/include/hal/Notifier.h
+++ b/hal/src/main/native/include/hal/Notifier.h
@@ -63,7 +63,8 @@
/**
* Stops a notifier from running.
*
- * This will cause any call into HAL_WaitForNotifierAlarm to return.
+ * This will cause any call into HAL_WaitForNotifierAlarm to return with time =
+ * 0.
*
* @param[in] notifierHandle the notifier handle
* @param[out] status Error status variable. 0 on success.
diff --git a/hal/src/main/native/include/hal/PWM.h b/hal/src/main/native/include/hal/PWM.h
index df9020b..d308f8e 100644
--- a/hal/src/main/native/include/hal/PWM.h
+++ b/hal/src/main/native/include/hal/PWM.h
@@ -50,7 +50,7 @@
/**
* Sets the configuration settings for the PWM channel.
*
- * All values are in milliseconds.
+ * All values are in microseconds.
*
* @param[in] pwmPortHandle the PWM handle
* @param[in] maxPwm the maximum PWM value
@@ -60,17 +60,15 @@
* @param[in] minPwm the minimum PWM value
* @param[out] status Error status variable. 0 on success.
*/
-void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double maxPwm,
- double deadbandMaxPwm, double centerPwm,
- double deadbandMinPwm, double minPwm, int32_t* status);
+void HAL_SetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle,
+ int32_t maxPwm, int32_t deadbandMaxPwm,
+ int32_t centerPwm, int32_t deadbandMinPwm,
+ int32_t minPwm, int32_t* status);
/**
- * Sets the raw configuration settings for the PWM channel.
+ * Gets the pwm configuration settings for the PWM channel.
*
- * We recommend using HAL_SetPWMConfig() instead, as those values are properly
- * scaled. Usually used for values grabbed by HAL_GetPWMConfigRaw().
- *
- * Values are in raw FPGA units.
+ * Values are in microseconds.
*
* @param[in] pwmPortHandle the PWM handle
* @param[in] maxPwm the maximum PWM value
@@ -80,29 +78,10 @@
* @param[in] minPwm the minimum PWM value
* @param[out] status Error status variable. 0 on success.
*/
-void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm,
- int32_t deadbandMaxPwm, int32_t centerPwm,
- int32_t deadbandMinPwm, int32_t minPwm,
- int32_t* status);
-
-/**
- * Gets the raw pwm configuration settings for the PWM channel.
- *
- * Values are in raw FPGA units. These units have the potential to change for
- * any FPGA release.
- *
- * @param[in] pwmPortHandle the PWM handle
- * @param[in] maxPwm the maximum PWM value
- * @param[in] deadbandMaxPwm the high range of the center deadband
- * @param[in] centerPwm the center PWM value
- * @param[in] deadbandMinPwm the low range of the center deadband
- * @param[in] minPwm the minimum PWM value
- * @param[out] status Error status variable. 0 on success.
- */
-void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
- int32_t* deadbandMaxPwm, int32_t* centerPwm,
- int32_t* deadbandMinPwm, int32_t* minPwm,
- int32_t* status);
+void HAL_GetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle,
+ int32_t* maxPwm, int32_t* deadbandMaxPwm,
+ int32_t* centerPwm, int32_t* deadbandMinPwm,
+ int32_t* minPwm, int32_t* status);
/**
* Sets if the FPGA should output the center value if the input value is within
@@ -126,17 +105,16 @@
int32_t* status);
/**
- * Sets a PWM channel to the desired value.
+ * Sets a PWM channel to the desired pulse width in microseconds.
*
- * The values are in raw FPGA units, and have the potential to change with any
- * FPGA release.
*
* @param[in] pwmPortHandle the PWM handle
- * @param[in] value the PWM value to set
+ * @param[in] microsecondPulseTime the PWM value to set
* @param[out] status Error status variable. 0 on success.
*/
-void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
- int32_t* status);
+void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
+ int32_t microsecondPulseTime,
+ int32_t* status);
/**
* Sets a PWM channel to the desired scaled value.
@@ -177,16 +155,14 @@
void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status);
/**
- * Gets a value from a PWM channel.
- *
- * The values are in raw FPGA units, and have the potential to change with any
- * FPGA release.
+ * Gets the current microsecond pulse time from a PWM channel.
*
* @param[in] pwmPortHandle the PWM handle
* @param[out] status Error status variable. 0 on success.
- * @return the current raw PWM value
+ * @return the current PWM microsecond pulse time
*/
-int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status);
+int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
+ int32_t* status);
/**
* Gets a scaled value from a PWM channel.
@@ -229,6 +205,14 @@
int32_t* status);
/**
+ * Sets the PWM output to be a continuous high signal while enabled.
+ *
+ * @param[in] pwmPortHandle the PWM handle.
+ * @param[out] status Error status variable. 0 on success.
+ */
+void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle, int32_t* status);
+
+/**
* Gets the loop timing of the PWM system.
*
* @param[out] status Error status variable. 0 on success.
diff --git a/hal/src/main/native/include/hal/Ports.h b/hal/src/main/native/include/hal/Ports.h
index a212446..a6c610a 100644
--- a/hal/src/main/native/include/hal/Ports.h
+++ b/hal/src/main/native/include/hal/Ports.h
@@ -45,7 +45,7 @@
int32_t HAL_GetNumAnalogOutputs(void);
/**
- * Gets the number of analog counters in the current system.
+ * Gets the number of counters in the current system.
*
* @return the number of counters
*/
diff --git a/hal/src/main/native/include/hal/Power.h b/hal/src/main/native/include/hal/Power.h
index 2bd983a..b2a0169 100644
--- a/hal/src/main/native/include/hal/Power.h
+++ b/hal/src/main/native/include/hal/Power.h
@@ -67,6 +67,14 @@
int32_t HAL_GetUserCurrentFaults6V(int32_t* status);
/**
+ * Enables or disables the 6V rail.
+ *
+ * @param enabled whether the rail should be enabled
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetUserRailEnabled6V(HAL_Bool enabled, int32_t* status);
+
+/**
* Gets the 5V rail voltage.
*
* @param[out] status the error code, or 0 for success
@@ -99,6 +107,14 @@
int32_t HAL_GetUserCurrentFaults5V(int32_t* status);
/**
+ * Enables or disables the 5V rail.
+ *
+ * @param enabled whether the rail should be enabled
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetUserRailEnabled5V(HAL_Bool enabled, int32_t* status);
+
+/**
* Gets the 3V3 rail voltage.
*
* @param[out] status the error code, or 0 for success
@@ -131,6 +147,14 @@
int32_t HAL_GetUserCurrentFaults3V3(int32_t* status);
/**
+ * Enables or disables the 3V3 rail.
+ *
+ * @param enabled whether the rail should be enabled
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetUserRailEnabled3V3(HAL_Bool enabled, int32_t* status);
+
+/**
* Get the current brownout voltage setting.
*
* @param[out] status the error code, or 0 for success
@@ -149,6 +173,14 @@
*/
void HAL_SetBrownoutVoltage(double voltage, int32_t* status);
+/**
+ * Get the current CPU temperature in degrees Celsius
+ *
+ * @param[out] status the error code, or 0 for success
+ * @return current CPU temperature in degrees Celsius
+ */
+double HAL_GetCPUTemp(int32_t* status);
+
#ifdef __cplusplus
} // extern "C"
#endif
diff --git a/hal/src/main/native/include/hal/PowerDistribution.h b/hal/src/main/native/include/hal/PowerDistribution.h
index 7c2b582..47543bb 100644
--- a/hal/src/main/native/include/hal/PowerDistribution.h
+++ b/hal/src/main/native/include/hal/PowerDistribution.h
@@ -17,7 +17,7 @@
// clang-format off
/**
- * The acceptable accelerometer ranges.
+ * The types of power distribution devices.
*/
HAL_ENUM(HAL_PowerDistributionType) {
HAL_PowerDistributionType_kAutomatic = 0,
@@ -36,10 +36,10 @@
* Initializes a Power Distribution Panel.
*
* @param[in] moduleNumber the module number to initialize
- * @param[in] type the type of module to intialize
+ * @param[in] type the type of module to initialize
* @param[in] allocationLocation the location where the allocation is occurring
* @param[out] status Error status variable. 0 on success.
- * @return the created PowerDistribution
+ * @return the created PowerDistribution handle
*/
HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
int32_t moduleNumber, HAL_PowerDistributionType type,
@@ -134,7 +134,7 @@
HAL_PowerDistributionHandle handle, int32_t channel, int32_t* status);
/**
- * Gets the current of all 24 channels on the PowerDistribution.
+ * Gets the current of all channels on the PowerDistribution.
*
* The array must be large enough to hold all channels.
*
@@ -214,6 +214,7 @@
*
* @param[in] handle the module handle
* @param[out] status Error status variable. 0 on success.
+ * @return the state of the switchable channel
*/
HAL_Bool HAL_GetPowerDistributionSwitchableChannel(
HAL_PowerDistributionHandle handle, int32_t* status);
@@ -291,12 +292,34 @@
uint32_t hasReset : 1;
};
+/**
+ * Get the version of the PowerDistribution.
+ *
+ * @param[in] handle the module handle
+ * @param[out] version the HAL_PowerDistributionVersion to populate
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_GetPowerDistributionVersion(HAL_PowerDistributionHandle handle,
HAL_PowerDistributionVersion* version,
int32_t* status);
+/**
+ * Get the current faults of the PowerDistribution.
+ *
+ * @param[in] handle the module handle
+ * @param[out] faults the HAL_PowerDistributionFaults to populate
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_GetPowerDistributionFaults(HAL_PowerDistributionHandle handle,
HAL_PowerDistributionFaults* faults,
int32_t* status);
+
+/**
+ * Gets the sticky faults of the PowerDistribution.
+ *
+ * @param[in] handle the module handle
+ * @param[out] stickyFaults the HAL_PowerDistributionStickyFaults to populate
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_GetPowerDistributionStickyFaults(
HAL_PowerDistributionHandle handle,
HAL_PowerDistributionStickyFaults* stickyFaults, int32_t* status);
diff --git a/hal/src/main/native/include/hal/REVPH.h b/hal/src/main/native/include/hal/REVPH.h
index 430c53d..4476675 100644
--- a/hal/src/main/native/include/hal/REVPH.h
+++ b/hal/src/main/native/include/hal/REVPH.h
@@ -9,7 +9,7 @@
#include "hal/Types.h"
/**
- * @defgroup hal_rev_ph REV PH Functions
+ * @defgroup hal_rev_ph REV Pneumatic Hub (PH) Functions
* @ingroup hal_capi
* @{
*/
@@ -91,58 +91,279 @@
extern "C" {
#endif
+/**
+ * Initializes a PH.
+ *
+ * @param[in] module the CAN ID to initialize
+ * @param[in] allocationLocation the location where the allocation is occurring
+ * (can be null)
+ * @param[out] status Error status variable. 0 on success.
+ * @return the created PH handle
+ */
HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
const char* allocationLocation,
int32_t* status);
+/**
+ * Frees a PH handle.
+ *
+ * @param[in] handle the PH handle
+ */
void HAL_FreeREVPH(HAL_REVPHHandle handle);
+/**
+ * Checks if a solenoid channel number is valid.
+ *
+ * @param[in] channel the channel to check
+ * @return true if the channel is valid, otherwise false
+ */
HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel);
+
+/**
+ * Checks if a PH module (CAN ID) is valid.
+ *
+ * @param[in] module the module to check
+ * @return true if the module is valid, otherwise false
+ */
HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module);
+/**
+ * Get whether compressor is turned on.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return true if the compressor is turned on
+ */
HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Send compressor configuration to the PH.
+ *
+ * @param[in] handle the PH handle
+ * @param[in] config compressor configuration
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_SetREVPHCompressorConfig(HAL_REVPHHandle handle,
const HAL_REVPHCompressorConfig* config,
int32_t* status);
+
+/**
+ * Disable Compressor.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_SetREVPHClosedLoopControlDisabled(HAL_REVPHHandle handle,
int32_t* status);
+
+/**
+ * Enables the compressor in digital mode using the digital pressure switch. The
+ * compressor will turn on when the pressure switch indicates that the system is
+ * not full, and will turn off when the pressure switch indicates that the
+ * system is full.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_SetREVPHClosedLoopControlDigital(HAL_REVPHHandle handle,
int32_t* status);
+
+/**
+ * Enables the compressor in analog mode. This mode uses an analog
+ * pressure sensor connected to analog channel 0 to cycle the compressor. The
+ * compressor will turn on when the pressure drops below minAnalogVoltage and
+ * will turn off when the pressure reaches maxAnalogVoltage. This mode is only
+ * supported by the REV PH with the REV Analog Pressure Sensor connected to
+ * analog channel 0.
+ * @param[in] handle the PH handle
+ * @param[in] minAnalogVoltage The compressor will turn on when the analog
+ * pressure sensor voltage drops below this value
+ * @param[in] maxAnalogVoltage The compressor will turn off when the analog
+ * pressure sensor reaches this value.
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_SetREVPHClosedLoopControlAnalog(HAL_REVPHHandle handle,
double minAnalogVoltage,
double maxAnalogVoltage,
int32_t* status);
+
+/**
+ * Enables the compressor in hybrid mode. This mode uses both a digital
+ * pressure switch and an analog pressure sensor connected to analog channel 0
+ * to cycle the compressor.
+ *
+ * The compressor will turn on when \a both:
+ *
+ * - The digital pressure switch indicates the system is not full AND
+ * - The analog pressure sensor indicates that the pressure in the system is
+ * below the specified minimum pressure.
+ *
+ * The compressor will turn off when \a either:
+ *
+ * - The digital pressure switch is disconnected or indicates that the system
+ * is full OR
+ * - The pressure detected by the analog sensor is greater than the specified
+ * maximum pressure.
+ *
+ * @param[in] handle the PH handle
+ * @param[in] minAnalogVoltage The compressor will turn on when the analog
+ * pressure sensor voltage drops below this value and the pressure switch
+ * indicates that the system is not full.
+ * @param[in] maxAnalogVoltage The compressor will turn off when the analog
+ * pressure sensor reaches this value or the pressure switch is disconnected or
+ * indicates that the system is full.
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_SetREVPHClosedLoopControlHybrid(HAL_REVPHHandle handle,
double minAnalogVoltage,
double maxAnalogVoltage,
int32_t* status);
+
+/**
+ * Get compressor configuration from the PH.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return compressor configuration
+ */
HAL_REVPHCompressorConfigType HAL_GetREVPHCompressorConfig(
HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the state of the digital pressure switch.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if pressure switch indicates that the system is full,
+ * otherwise false.
+ */
HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the current drawn by the compressor.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return The current drawn by the compressor in amps.
+ */
double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the raw voltage of the specified analog
+ * input channel.
+ *
+ * @param[in] handle the PH handle
+ * @param[in] channel The analog input channel to read voltage from.
+ * @param[out] status Error status variable. 0 on success.
+ * @return The voltage of the specified analog input channel in volts.
+ */
double HAL_GetREVPHAnalogVoltage(HAL_REVPHHandle handle, int32_t channel,
int32_t* status);
+
+/**
+ * Returns the current input voltage for the PH.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return The input voltage in volts.
+ */
double HAL_GetREVPHVoltage(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the current voltage of the regulated 5v supply.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return The current voltage of the 5v supply in volts.
+ */
double HAL_GetREVPH5VVoltage(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the total current drawn by all solenoids.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return Total current drawn by all solenoids in amps.
+ */
double HAL_GetREVPHSolenoidCurrent(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the current voltage of the solenoid power supply.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return The current voltage of the solenoid power supply in volts.
+ */
double HAL_GetREVPHSolenoidVoltage(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the hardware and firmware versions of the PH.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] version The hardware and firmware versions.
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_GetREVPHVersion(HAL_REVPHHandle handle, HAL_REVPHVersion* version,
int32_t* status);
+/**
+ * Gets a bitmask of solenoid values.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return solenoid values
+ */
int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Sets solenoids on a PH.
+ *
+ * @param[in] handle the PH handle
+ * @param[in] mask bitmask to set
+ * @param[in] values solenoid values
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
int32_t* status);
+/**
+ * Fire a single solenoid shot for the specified duration.
+ *
+ * @param[in] handle the PH handle
+ * @param[in] index solenoid index
+ * @param[in] durMs shot duration in ms
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
int32_t* status);
+/**
+ * Returns the faults currently active on the PH.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] faults The faults.
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_GetREVPHFaults(HAL_REVPHHandle handle, HAL_REVPHFaults* faults,
int32_t* status);
+/**
+ * Returns the sticky faults currently active on this device.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] stickyFaults The sticky faults.
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
HAL_REVPHStickyFaults* stickyFaults,
int32_t* status);
+/**
+ * Clears the sticky faults.
+ *
+ * @param[in] handle the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ */
void HAL_ClearREVPHStickyFaults(HAL_REVPHHandle handle, int32_t* status);
#ifdef __cplusplus
diff --git a/hal/src/main/native/include/hal/SPI.h b/hal/src/main/native/include/hal/SPI.h
index f3c7fdc..32644b6 100644
--- a/hal/src/main/native/include/hal/SPI.h
+++ b/hal/src/main/native/include/hal/SPI.h
@@ -108,7 +108,7 @@
*
* @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
* MXP
- * @returns The SPI mode currently set
+ * @return The SPI mode currently set
*/
HAL_SPIMode HAL_GetSPIMode(HAL_SPIPort port);
@@ -172,7 +172,7 @@
*
* @param[in] port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
* for MXP.
- * @param[in] period The accumlation period (seconds).
+ * @param[in] period The accumulation period (seconds).
* @param[out] status the error code, or 0 for success
*/
void HAL_StartSPIAutoRate(HAL_SPIPort port, double period, int32_t* status);
@@ -199,7 +199,7 @@
int32_t* status);
/**
- * Stops an automatic SPI accumlation.
+ * Stops an automatic SPI accumulation.
*
* @param[in] port The number of the port to use. 0-3 for Onboard CS0-CS2, 4
* for MXP.
diff --git a/hal/src/main/native/include/hal/SerialPort.h b/hal/src/main/native/include/hal/SerialPort.h
index cd6140e..f4a357e 100644
--- a/hal/src/main/native/include/hal/SerialPort.h
+++ b/hal/src/main/native/include/hal/SerialPort.h
@@ -30,11 +30,12 @@
/**
* Initializes a serial port.
*
- * The channels are either the onboard RS232, the mxp uart, or 2 USB ports. The
+ * The channels are either the onboard RS232, the MXP UART, or 2 USB ports. The
* top port is USB1, the bottom port is USB2.
*
* @param[in] port the serial port to initialize
* @param[out] status the error code, or 0 for success
+ * @return Serial Port Handle
*/
HAL_SerialPortHandle HAL_InitializeSerialPort(HAL_SerialPort port,
int32_t* status);
@@ -48,6 +49,7 @@
* @param[in] port the serial port to initialize
* @param[in] portName the dev port name
* @param[out] status the error code, or 0 for success
+ * @return Serial Port Handle
*/
HAL_SerialPortHandle HAL_InitializeSerialPortDirect(HAL_SerialPort port,
const char* portName,
diff --git a/hal/src/main/native/include/hal/SimDevice.h b/hal/src/main/native/include/hal/SimDevice.h
index f90cb9b..0e75cea 100644
--- a/hal/src/main/native/include/hal/SimDevice.h
+++ b/hal/src/main/native/include/hal/SimDevice.h
@@ -9,6 +9,7 @@
#ifdef __cplusplus
#include <initializer_list>
#include <span>
+#include <string>
#endif
#include "hal/Types.h"
@@ -46,7 +47,7 @@
*
* The device name must be unique. 0 is returned if the device name already
* exists. If multiple instances of the same device are desired, recommend
- * appending the instance/unique identifer in brackets to the base name,
+ * appending the instance/unique identifier in brackets to the base name,
* e.g. "device[1]".
*
* 0 is returned if not in simulation.
@@ -67,6 +68,14 @@
void HAL_FreeSimDevice(HAL_SimDeviceHandle handle);
/**
+ * Get the name of a simulated device
+ *
+ * @param handle simulated device handle
+ * @return name of the simulated device
+ */
+const char* HAL_GetSimDeviceName(HAL_SimDeviceHandle handle);
+
+/**
* Creates a value on a simulated device.
*
* Returns 0 if not in simulation; this can be used to avoid calls
@@ -400,7 +409,7 @@
/**
* Wraps a simulated value handle as returned by HAL_CreateSimValue().
*
- * @param handle simulated value handle
+ * @param val simulated value handle
*/
/*implicit*/ SimValue(HAL_SimValueHandle val) // NOLINT
: m_handle(val) {}
@@ -452,7 +461,7 @@
/**
* Wraps a simulated value handle as returned by HAL_CreateSimValueInt().
*
- * @param handle simulated value handle
+ * @param val simulated value handle
*/
/*implicit*/ SimInt(HAL_SimValueHandle val) // NOLINT
: SimValue(val) {}
@@ -493,7 +502,7 @@
/**
* Wraps a simulated value handle as returned by HAL_CreateSimValueLong().
*
- * @param handle simulated value handle
+ * @param val simulated value handle
*/
/*implicit*/ SimLong(HAL_SimValueHandle val) // NOLINT
: SimValue(val) {}
@@ -534,7 +543,7 @@
/**
* Wraps a simulated value handle as returned by HAL_CreateSimValueDouble().
*
- * @param handle simulated value handle
+ * @param val simulated value handle
*/
/*implicit*/ SimDouble(HAL_SimValueHandle val) // NOLINT
: SimValue(val) {}
@@ -575,7 +584,7 @@
/**
* Wraps a simulated value handle as returned by HAL_CreateSimValueEnum().
*
- * @param handle simulated value handle
+ * @param val simulated value handle
*/
/*implicit*/ SimEnum(HAL_SimValueHandle val) // NOLINT
: SimValue(val) {}
@@ -609,7 +618,7 @@
/**
* Wraps a simulated value handle as returned by HAL_CreateSimValueBoolean().
*
- * @param handle simulated value handle
+ * @param val simulated value handle
*/
/*implicit*/ SimBoolean(HAL_SimValueHandle val) // NOLINT
: SimValue(val) {}
@@ -654,7 +663,7 @@
*
* The device name must be unique. Returns null if the device name
* already exists. If multiple instances of the same device are desired,
- * recommend appending the instance/unique identifer in brackets to the base
+ * recommend appending the instance/unique identifier in brackets to the base
* name, e.g. "device[1]".
*
* If not in simulation, results in an "empty" object that evaluates to false
@@ -732,6 +741,15 @@
operator HAL_SimDeviceHandle() const { return m_handle; } // NOLINT
/**
+ * Get the name of the simulated device.
+ *
+ * @return name
+ */
+ std::string GetName() const {
+ return std::string(HAL_GetSimDeviceName(m_handle));
+ }
+
+ /**
* Creates a value on the simulated device.
*
* If not in simulation, results in an "empty" object that evaluates to false
diff --git a/hal/src/main/native/include/hal/cpp/UnsafeDIO.h b/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
index c849fd0..e7f286b 100644
--- a/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
+++ b/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
@@ -63,8 +63,8 @@
/**
* Unsafe digital output set function
- * This function can be used to perform fast and determinstically set digital
- * outputs. This function holds the DIO lock, so calling anyting other then
+ * This function can be used to perform fast and deterministically set digital
+ * outputs. This function holds the DIO lock, so calling anything other then
* functions on the Proxy object passed as a parameter can deadlock your
* program.
*
diff --git a/hal/src/main/native/include/hal/handles/UnlimitedHandleResource.h b/hal/src/main/native/include/hal/handles/UnlimitedHandleResource.h
index 09510ac..2048f62 100644
--- a/hal/src/main/native/include/hal/handles/UnlimitedHandleResource.h
+++ b/hal/src/main/native/include/hal/handles/UnlimitedHandleResource.h
@@ -19,7 +19,7 @@
/**
* The UnlimitedHandleResource class is a way to track handles. This version
- * allows an unlimted number of handles that are allocated sequentially. When
+ * allows an unlimited number of handles that are allocated sequentially. When
* possible, indices are reused to save memory usage and keep the array length
* down.
* However, automatic array management has not been implemented, but might be in
diff --git a/hal/src/main/native/include/hal/roborio/HMB.h b/hal/src/main/native/include/hal/roborio/HMB.h
new file mode 100644
index 0000000..fc7381b
--- /dev/null
+++ b/hal/src/main/native/include/hal/roborio/HMB.h
@@ -0,0 +1,112 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+struct HAL_HMBData {
+ struct AnalogInputs {
+ uint32_t Values[8];
+ uint32_t Reserved[8];
+ } AnalogInputs;
+ struct AveragedAnalogInputs {
+ uint32_t Values[8];
+ uint32_t Reserved[8];
+ } AveragedAnalogInputs;
+ struct Accumulator0 {
+ uint32_t Count;
+ uint32_t Value0;
+ uint32_t Value1;
+ uint32_t Reserved[13];
+ } Accumulator0;
+ struct Accumulator1 {
+ uint32_t Count;
+ uint32_t Value0;
+ uint32_t Value1;
+ uint32_t Reserved[13];
+ } Accumulator1;
+ struct DI {
+ uint32_t Values;
+ uint32_t FilteredValues;
+ uint32_t Reserved[14];
+ } DI;
+ struct AnalogTriggers {
+ struct Trigger {
+ uint8_t InHysteresis0 : 1;
+ uint8_t OverLimit0 : 1;
+ uint8_t Rising0 : 1;
+ uint8_t Falling0 : 1;
+ uint8_t InHysteresis1 : 1;
+ uint8_t OverLimit1 : 1;
+ uint8_t Rising1 : 1;
+ uint8_t Falling1 : 1;
+ } Trigger[4];
+ uint32_t Reserved[15];
+ } AnalogTriggers;
+ struct Counters {
+ struct Counter {
+ uint32_t Direction : 1;
+ int32_t Value : 31;
+ } Counter[8];
+ uint32_t Reserved[8];
+ } Counters;
+ struct CounterTimers {
+ struct Timer {
+ uint32_t Period : 23;
+ int32_t Count : 8;
+ uint32_t Stalled : 1;
+ } Timer[8];
+ uint32_t Reserved[8];
+ } CounterTimers;
+ struct Encoders {
+ struct Encoder {
+ uint32_t Direction : 1;
+ int32_t Value : 31;
+ } Encoder[8];
+ uint32_t Reserved[8];
+ } Encoders;
+ struct EncoderTimers {
+ struct Timer {
+ uint32_t Period : 23;
+ int32_t Count : 8;
+ uint32_t Stalled : 1;
+ } Timer[8];
+ uint32_t Reserved[8];
+ } EncoderTimers;
+ struct DutyCycle {
+ uint32_t Output[8];
+ uint32_t Reserved[8];
+ } DutyCycle;
+ struct Interrupts {
+ struct Interrupt {
+ uint32_t FallingTimestamp;
+ uint32_t RisingTimestamp;
+ } Interrupt[8];
+ } Interrupts;
+ struct PWM {
+ uint32_t Headers[10];
+ uint32_t Reserved[6];
+ uint32_t MXP[10];
+ uint32_t Reserved2[6];
+ } PWM;
+ struct RelayDOAO {
+ uint32_t Relays;
+ uint32_t Reserved;
+ uint32_t AO[2];
+ uint32_t Reserved2[12];
+ } RelayDOAO;
+ struct Timestamp {
+ uint32_t Lower;
+ uint32_t Upper;
+ uint32_t Reserved[14];
+ } Timestamp;
+};
+
+extern "C" {
+
+void HAL_InitializeHMB(int32_t* status);
+
+const volatile HAL_HMBData* HAL_GetHMBBuffer(void);
+} // extern "C"
diff --git a/hal/src/main/native/include/hal/simulation/PWMData.h b/hal/src/main/native/include/hal/simulation/PWMData.h
index 91d22df..8357fa2 100644
--- a/hal/src/main/native/include/hal/simulation/PWMData.h
+++ b/hal/src/main/native/include/hal/simulation/PWMData.h
@@ -20,12 +20,13 @@
HAL_Bool HALSIM_GetPWMInitialized(int32_t index);
void HALSIM_SetPWMInitialized(int32_t index, HAL_Bool initialized);
-int32_t HALSIM_RegisterPWMRawValueCallback(int32_t index,
- HAL_NotifyCallback callback,
- void* param, HAL_Bool initialNotify);
-void HALSIM_CancelPWMRawValueCallback(int32_t index, int32_t uid);
-int32_t HALSIM_GetPWMRawValue(int32_t index);
-void HALSIM_SetPWMRawValue(int32_t index, int32_t rawValue);
+int32_t HALSIM_RegisterPWMPulseMicrosecondCallback(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelPWMPulseMicrosecondCallback(int32_t index, int32_t uid);
+int32_t HALSIM_GetPWMPulseMicrosecond(int32_t index);
+void HALSIM_SetPWMPulseMicrosecond(int32_t index, int32_t microsecondPulseTime);
int32_t HALSIM_RegisterPWMSpeedCallback(int32_t index,
HAL_NotifyCallback callback,
diff --git a/hal/src/main/native/include/hal/simulation/RoboRioData.h b/hal/src/main/native/include/hal/simulation/RoboRioData.h
index 864be5c..d191fcb 100644
--- a/hal/src/main/native/include/hal/simulation/RoboRioData.h
+++ b/hal/src/main/native/include/hal/simulation/RoboRioData.h
@@ -126,6 +126,13 @@
double HALSIM_GetRoboRioBrownoutVoltage(void);
void HALSIM_SetRoboRioBrownoutVoltage(double brownoutVoltage);
+int32_t HALSIM_RegisterRoboRioTeamNumberCallback(HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelRoboRioTeamNumberCallback(int32_t uid);
+int32_t HALSIM_GetRoboRioTeamNumber(void);
+void HALSIM_SetRoboRioTeamNumber(int32_t teamNumber);
+
int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify);
void HALSIM_CancelRoboRioSerialNumberCallback(int32_t uid);
@@ -141,6 +148,13 @@
void HALSIM_RegisterRoboRioAllCallbacks(HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);
+int32_t HALSIM_RegisterRoboRioCPUTempCallback(HAL_NotifyCallback callback,
+ void* param,
+ HAL_Bool initialNotify);
+void HALSIM_CancelRoboRioCPUTempCallback(int32_t uid);
+double HALSIM_GetRoboRioCPUTemp(void);
+void HALSIM_SetRoboRioCPUTemp(double cpuTemp);
+
#ifdef __cplusplus
} // extern "C"
#endif
diff --git a/hal/src/main/native/sim/AddressableLED.cpp b/hal/src/main/native/sim/AddressableLED.cpp
index 75a09fb..bce3f1d 100644
--- a/hal/src/main/native/sim/AddressableLED.cpp
+++ b/hal/src/main/native/sim/AddressableLED.cpp
@@ -139,17 +139,17 @@
status,
fmt::format(
"Data length must be less than or equal to {}. {} was requested",
- SimAddressableLEDData[led->index].length, length));
+ SimAddressableLEDData[led->index].length.Get(), length));
return;
}
SimAddressableLEDData[led->index].SetData(data, length);
}
void HAL_SetAddressableLEDBitTiming(HAL_AddressableLEDHandle handle,
- int32_t lowTime0NanoSeconds,
int32_t highTime0NanoSeconds,
- int32_t lowTime1NanoSeconds,
+ int32_t lowTime0NanoSeconds,
int32_t highTime1NanoSeconds,
+ int32_t lowTime1NanoSeconds,
int32_t* status) {}
void HAL_SetAddressableLEDSyncTime(HAL_AddressableLEDHandle handle,
diff --git a/hal/src/main/native/sim/CANAPI.cpp b/hal/src/main/native/sim/CANAPI.cpp
index 38014bd..0eae18a 100644
--- a/hal/src/main/native/sim/CANAPI.cpp
+++ b/hal/src/main/native/sim/CANAPI.cpp
@@ -35,13 +35,6 @@
static UnlimitedHandleResource<HAL_CANHandle, CANStorage, HAL_HandleEnum::CAN>*
canHandles;
-static uint32_t GetPacketBaseTime() {
- int status = 0;
- auto basetime = HAL_GetFPGATime(&status);
- // us to ms
- return (basetime / 1000ull) & 0xFFFFFFFF;
-}
-
namespace hal {
namespace init {
void InitializeCANAPI() {
@@ -71,6 +64,13 @@
return createdId;
}
+uint32_t HAL_GetCANPacketBaseTime() {
+ int status = 0;
+ auto basetime = HAL_GetFPGATime(&status);
+ // us to ms
+ return (basetime / 1000ull) & 0xFFFFFFFF;
+}
+
HAL_CANHandle HAL_InitializeCAN(HAL_CANManufacturer manufacturer,
int32_t deviceId, HAL_CANDeviceType deviceType,
int32_t* status) {
@@ -275,7 +275,7 @@
auto i = can->receives.find(messageId);
if (i != can->receives.end()) {
// Found, check if new enough
- uint32_t now = GetPacketBaseTime();
+ uint32_t now = HAL_GetCANPacketBaseTime();
if (now - i->second.lastTimeStamp > static_cast<uint32_t>(timeoutMs)) {
// Timeout, return bad status
*status = HAL_CAN_TIMEOUT;
@@ -307,7 +307,7 @@
auto i = can->receives.find(messageId);
if (i != can->receives.end()) {
// Found, check if new enough
- uint32_t now = GetPacketBaseTime();
+ uint32_t now = HAL_GetCANPacketBaseTime();
if (now - i->second.lastTimeStamp < static_cast<uint32_t>(periodMs)) {
*status = 0;
// Read the data from the stored message into the output
@@ -337,7 +337,7 @@
auto i = can->receives.find(messageId);
if (i != can->receives.end()) {
// Found, check if new enough
- uint32_t now = GetPacketBaseTime();
+ uint32_t now = HAL_GetCANPacketBaseTime();
if (now - i->second.lastTimeStamp > static_cast<uint32_t>(timeoutMs)) {
// Timeout, return bad status
*status = HAL_CAN_TIMEOUT;
diff --git a/hal/src/main/native/sim/DIO.cpp b/hal/src/main/native/sim/DIO.cpp
index b611b35..f827bbf 100644
--- a/hal/src/main/native/sim/DIO.cpp
+++ b/hal/src/main/native/sim/DIO.cpp
@@ -127,9 +127,7 @@
// higher freq.
// TODO: Round in the linear rate domain.
// uint8_t pwmPeriodPower = static_cast<uint8_t>(
- // std::log(1.0 / (kExpectedLoopTiming * 0.25E-6 * rate)) /
- // std::log(2.0) +
- // 0.5);
+ // std::log2(1.0 / (kExpectedLoopTiming * 0.25E-6 * rate)) + 0.5);
// TODO(THAD) : Add a case to set this in the simulator
// digitalSystem->writePWMPeriodPower(pwmPeriodPower, status);
}
diff --git a/hal/src/main/native/sim/DigitalInternal.h b/hal/src/main/native/sim/DigitalInternal.h
index e7f531e..8fa679a 100644
--- a/hal/src/main/native/sim/DigitalInternal.h
+++ b/hal/src/main/native/sim/DigitalInternal.h
@@ -39,14 +39,6 @@
* devices.
*/
constexpr float kDefaultPwmPeriod = 5.05f;
-/**
- * kDefaultPwmCenter is the PWM range center in ms
- */
-constexpr float kDefaultPwmCenter = 1.5f;
-/**
- * kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
- */
-constexpr int32_t kDefaultPwmStepsDown = 1000;
constexpr int32_t kPwmDisabled = 0;
struct DigitalPort {
diff --git a/hal/src/main/native/sim/DriverStation.cpp b/hal/src/main/native/sim/DriverStation.cpp
index c99493d..67b2eb7 100644
--- a/hal/src/main/native/sim/DriverStation.cpp
+++ b/hal/src/main/native/sim/DriverStation.cpp
@@ -75,7 +75,7 @@
static JoystickDataCache caches[3];
static JoystickDataCache* currentRead = &caches[0];
static JoystickDataCache* currentReadLocal = &caches[0];
-static std::atomic<JoystickDataCache*> currentCache{&caches[1]};
+static std::atomic<JoystickDataCache*> currentCache{nullptr};
static JoystickDataCache* lastGiven = &caches[1];
static JoystickDataCache* cacheToUpdate = &caches[2];
@@ -194,7 +194,7 @@
HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status) {
if (gShutdown) {
- return HAL_AllianceStationID_kRed1;
+ return HAL_AllianceStationID_kUnknown;
}
std::scoped_lock lock{driverStation->cacheMutex};
return currentRead->allianceStation;
@@ -318,9 +318,9 @@
// TODO
}
-void HAL_RefreshDSData(void) {
+HAL_Bool HAL_RefreshDSData(void) {
if (gShutdown) {
- return;
+ return false;
}
HAL_ControlWord controlWord;
std::memset(&controlWord, 0, sizeof(controlWord));
@@ -336,6 +336,7 @@
currentRead = prev;
}
newestControlWord = controlWord;
+ return prev != nullptr;
}
void HAL_ProvideNewDataEventHandle(WPI_EventHandle handle) {
diff --git a/hal/src/main/native/sim/Encoder.cpp b/hal/src/main/native/sim/Encoder.cpp
index 137ee78..964777d 100644
--- a/hal/src/main/native/sim/Encoder.cpp
+++ b/hal/src/main/native/sim/Encoder.cpp
@@ -363,7 +363,7 @@
return 0.0;
}
- return encoder->distancePerPulse;
+ return SimEncoderData[encoder->index].distancePerPulse;
}
HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
diff --git a/hal/src/main/native/sim/HAL.cpp b/hal/src/main/native/sim/HAL.cpp
index 82dd8c4..ce8b6dd 100644
--- a/hal/src/main/native/sim/HAL.cpp
+++ b/hal/src/main/native/sim/HAL.cpp
@@ -288,6 +288,10 @@
return HALSIM_GetRoboRioComments(buffer, size);
}
+int32_t HAL_GetTeamNumber(void) {
+ return HALSIM_GetRoboRioTeamNumber();
+}
+
uint64_t HAL_GetFPGATime(int32_t* status) {
return hal::GetFPGATime();
}
@@ -328,6 +332,14 @@
return false; // Figure out if we need to detect a brownout condition
}
+HAL_Bool HAL_GetRSLState(int32_t* status) {
+ return false;
+}
+
+HAL_Bool HAL_GetSystemTimeValid(int32_t* status) {
+ return true;
+}
+
HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
static std::atomic_bool initialized{false};
static wpi::mutex initializeMutex;
diff --git a/hal/src/main/native/sim/Notifier.cpp b/hal/src/main/native/sim/Notifier.cpp
index c686eea..3d2c802 100644
--- a/hal/src/main/native/sim/Notifier.cpp
+++ b/hal/src/main/native/sim/Notifier.cpp
@@ -11,6 +11,7 @@
#include <string>
#include <wpi/SmallVector.h>
+#include <wpi/StringExtras.h>
#include <wpi/condition_variable.h>
#include <wpi/mutex.h>
@@ -316,8 +317,9 @@
if (num < size) {
arr[num].handle = handle;
if (notifier->name.empty()) {
- std::snprintf(arr[num].name, sizeof(arr[num].name), "Notifier%d",
- static_cast<int>(getHandleIndex(handle)));
+ wpi::format_to_n_c_str(arr[num].name, sizeof(arr[num].name),
+ "Notifier{}",
+ static_cast<int>(getHandleIndex(handle)));
} else {
std::strncpy(arr[num].name, notifier->name.c_str(),
sizeof(arr[num].name) - 1);
diff --git a/hal/src/main/native/sim/PWM.cpp b/hal/src/main/native/sim/PWM.cpp
index 698769f..c668039 100644
--- a/hal/src/main/native/sim/PWM.cpp
+++ b/hal/src/main/native/sim/PWM.cpp
@@ -4,6 +4,9 @@
#include "hal/PWM.h"
+#include <algorithm>
+#include <cmath>
+
#include "ConstantsInternal.h"
#include "DigitalInternal.h"
#include "HALInitializer.h"
@@ -18,6 +21,46 @@
void InitializePWM() {}
} // namespace hal::init
+static inline int32_t GetMaxPositivePwm(DigitalPort* port) {
+ return port->maxPwm;
+}
+
+static inline int32_t GetMinPositivePwm(DigitalPort* port) {
+ if (port->eliminateDeadband) {
+ return port->deadbandMaxPwm;
+ } else {
+ return port->centerPwm + 1;
+ }
+}
+
+static inline int32_t GetCenterPwm(DigitalPort* port) {
+ return port->centerPwm;
+}
+
+static inline int32_t GetMaxNegativePwm(DigitalPort* port) {
+ if (port->eliminateDeadband) {
+ return port->deadbandMinPwm;
+ } else {
+ return port->centerPwm - 1;
+ }
+}
+
+static inline int32_t GetMinNegativePwm(DigitalPort* port) {
+ return port->minPwm;
+}
+
+static inline int32_t GetPositiveScaleFactor(DigitalPort* port) {
+ return GetMaxPositivePwm(port) - GetMinPositivePwm(port);
+} ///< The scale for positive speeds.
+
+static inline int32_t GetNegativeScaleFactor(DigitalPort* port) {
+ return GetMaxNegativePwm(port) - GetMinNegativePwm(port);
+} ///< The scale for negative speeds.
+
+static inline int32_t GetFullRangeScaleFactor(DigitalPort* port) {
+ return GetMaxPositivePwm(port) - GetMinNegativePwm(port);
+} ///< The scale for positions.
+
extern "C" {
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
@@ -62,7 +105,7 @@
SimPWMData[origChannel].initialized = true;
// Defaults to allow an always valid config.
- HAL_SetPWMConfig(handle, 2.0, 1.501, 1.5, 1.499, 1.0, status);
+ HAL_SetPWMConfigMicroseconds(handle, 2000, 1501, 1500, 1499, 1000, status);
port->previousAllocation = allocationLocation ? allocationLocation : "";
@@ -84,62 +127,28 @@
return channel < kNumPWMChannels && channel >= 0;
}
-void HAL_SetPWMConfig(HAL_DigitalHandle pwmPortHandle, double max,
- double deadbandMax, double center, double deadbandMin,
- double min, int32_t* status) {
+void HAL_SetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle, int32_t max,
+ int32_t deadbandMax, int32_t center,
+ int32_t deadbandMin, int32_t min,
+ int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
- // calculate the loop time in milliseconds
- double loopTime =
- HAL_GetPWMLoopTiming(status) / (kSystemClockTicksPerMicrosecond * 1e3);
- if (*status != 0) {
- return;
- }
-
- int32_t maxPwm = static_cast<int32_t>((max - kDefaultPwmCenter) / loopTime +
- kDefaultPwmStepsDown - 1);
- int32_t deadbandMaxPwm = static_cast<int32_t>(
- (deadbandMax - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
- int32_t centerPwm = static_cast<int32_t>(
- (center - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
- int32_t deadbandMinPwm = static_cast<int32_t>(
- (deadbandMin - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
- int32_t minPwm = static_cast<int32_t>((min - kDefaultPwmCenter) / loopTime +
- kDefaultPwmStepsDown - 1);
-
- port->maxPwm = maxPwm;
- port->deadbandMaxPwm = deadbandMaxPwm;
- port->deadbandMinPwm = deadbandMinPwm;
- port->centerPwm = centerPwm;
- port->minPwm = minPwm;
+ port->maxPwm = max;
+ port->deadbandMaxPwm = deadbandMax;
+ port->deadbandMinPwm = deadbandMin;
+ port->centerPwm = center;
+ port->minPwm = min;
port->configSet = true;
}
-void HAL_SetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t maxPwm,
- int32_t deadbandMaxPwm, int32_t centerPwm,
- int32_t deadbandMinPwm, int32_t minPwm,
- int32_t* status) {
- auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
- if (port == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- port->maxPwm = maxPwm;
- port->deadbandMaxPwm = deadbandMaxPwm;
- port->deadbandMinPwm = deadbandMinPwm;
- port->centerPwm = centerPwm;
- port->minPwm = minPwm;
-}
-
-void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwmPortHandle, int32_t* maxPwm,
- int32_t* deadbandMaxPwm, int32_t* centerPwm,
- int32_t* deadbandMinPwm, int32_t* minPwm,
- int32_t* status) {
+void HAL_GetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle,
+ int32_t* maxPwm, int32_t* deadbandMaxPwm,
+ int32_t* centerPwm, int32_t* deadbandMinPwm,
+ int32_t* minPwm, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -172,15 +181,49 @@
return port->eliminateDeadband;
}
-void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value,
- int32_t* status) {
+void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
+ int32_t value, int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
- SimPWMData[port->channel].rawValue = value;
+ SimPWMData[port->channel].pulseMicrosecond = value;
+
+ DigitalPort* dPort = port.get();
+ double speed = 0.0;
+
+ if (value == kPwmDisabled) {
+ speed = 0.0;
+ } else if (value > GetMaxPositivePwm(dPort)) {
+ speed = 1.0;
+ } else if (value < GetMinNegativePwm(dPort)) {
+ speed = -1.0;
+ } else if (value > GetMinPositivePwm(dPort)) {
+ speed = static_cast<double>(value - GetMinPositivePwm(dPort)) /
+ static_cast<double>(GetPositiveScaleFactor(dPort));
+ } else if (value < GetMaxNegativePwm(dPort)) {
+ speed = static_cast<double>(value - GetMaxNegativePwm(dPort)) /
+ static_cast<double>(GetNegativeScaleFactor(dPort));
+ } else {
+ speed = 0.0;
+ }
+
+ SimPWMData[port->channel].speed = speed;
+
+ double pos = 0.0;
+
+ if (value < GetMinNegativePwm(dPort)) {
+ pos = 0.0;
+ } else if (value > GetMaxPositivePwm(dPort)) {
+ pos = 1.0;
+ } else {
+ pos = static_cast<double>(value - GetMinNegativePwm(dPort)) /
+ static_cast<double>(GetFullRangeScaleFactor(dPort));
+ }
+
+ SimPWMData[port->channel].position = pos;
}
void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
@@ -195,13 +238,36 @@
return;
}
- if (speed < -1.0) {
- speed = -1.0;
- } else if (speed > 1.0) {
- speed = 1.0;
+ if (std::isfinite(speed)) {
+ speed = std::clamp(speed, -1.0, 1.0);
+ } else {
+ speed = 0.0;
}
- SimPWMData[port->channel].speed = speed;
+ DigitalPort* dPort = port.get();
+
+ // calculate the desired output pwm value by scaling the speed appropriately
+ int32_t rawValue;
+ if (speed == 0.0) {
+ rawValue = GetCenterPwm(dPort);
+ } else if (speed > 0.0) {
+ rawValue =
+ std::lround(speed * static_cast<double>(GetPositiveScaleFactor(dPort)) +
+ static_cast<double>(GetMinPositivePwm(dPort)));
+ } else {
+ rawValue =
+ std::lround(speed * static_cast<double>(GetNegativeScaleFactor(dPort)) +
+ static_cast<double>(GetMaxNegativePwm(dPort)));
+ }
+
+ if (!((rawValue >= GetMinNegativePwm(dPort)) &&
+ (rawValue <= GetMaxPositivePwm(dPort))) ||
+ rawValue == kPwmDisabled) {
+ *status = HAL_PWM_SCALE_ERROR;
+ return;
+ }
+
+ HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status);
}
void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
@@ -222,7 +288,20 @@
pos = 1.0;
}
- SimPWMData[port->channel].position = pos;
+ DigitalPort* dPort = port.get();
+
+ // note, need to perform the multiplication below as floating point before
+ // converting to int
+ int32_t rawValue = static_cast<int32_t>(
+ (pos * static_cast<double>(GetFullRangeScaleFactor(dPort))) +
+ GetMinNegativePwm(dPort));
+
+ if (rawValue == kPwmDisabled) {
+ *status = HAL_PWM_SCALE_ERROR;
+ return;
+ }
+
+ HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status);
}
void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
@@ -231,19 +310,20 @@
*status = HAL_HANDLE_ERROR;
return;
}
- SimPWMData[port->channel].rawValue = 0;
+ SimPWMData[port->channel].pulseMicrosecond = 0;
SimPWMData[port->channel].position = 0;
SimPWMData[port->channel].speed = 0;
}
-int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
+int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
+ int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
- return SimPWMData[port->channel].rawValue;
+ return SimPWMData[port->channel].pulseMicrosecond;
}
double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
@@ -299,6 +379,19 @@
SimPWMData[port->channel].zeroLatch = false;
}
+void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle,
+ int32_t* status) {
+ auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
+ if (port == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ SimPWMData[port->channel].pulseMicrosecond = 0xFFFF;
+ SimPWMData[port->channel].position = 0xFFFF;
+ SimPWMData[port->channel].speed = 0xFFFF;
+}
+
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
int32_t* status) {
auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
diff --git a/hal/src/main/native/sim/Power.cpp b/hal/src/main/native/sim/Power.cpp
index 08d5638..1eca18f 100644
--- a/hal/src/main/native/sim/Power.cpp
+++ b/hal/src/main/native/sim/Power.cpp
@@ -32,6 +32,7 @@
int32_t HAL_GetUserCurrentFaults6V(int32_t* status) {
return SimRoboRioData->userFaults6V;
}
+void HAL_SetUserRailEnabled6V(HAL_Bool enabled, int32_t* status) {}
double HAL_GetUserVoltage5V(int32_t* status) {
return SimRoboRioData->userVoltage5V;
}
@@ -44,6 +45,7 @@
int32_t HAL_GetUserCurrentFaults5V(int32_t* status) {
return SimRoboRioData->userFaults5V;
}
+void HAL_SetUserRailEnabled5V(HAL_Bool enabled, int32_t* status) {}
double HAL_GetUserVoltage3V3(int32_t* status) {
return SimRoboRioData->userVoltage3V3;
}
@@ -56,10 +58,14 @@
int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
return SimRoboRioData->userFaults3V3;
}
+void HAL_SetUserRailEnabled3V3(HAL_Bool enabled, int32_t* status) {}
void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
SimRoboRioData->brownoutVoltage = voltage;
}
double HAL_GetBrownoutVoltage(int32_t* status) {
return SimRoboRioData->brownoutVoltage;
}
+double HAL_GetCPUTemp(int32_t* status) {
+ return SimRoboRioData->cpuTemp;
+}
} // extern "C"
diff --git a/hal/src/main/native/sim/REVPH.cpp b/hal/src/main/native/sim/REVPH.cpp
index 163ca9c..a9e96f1 100644
--- a/hal/src/main/native/sim/REVPH.cpp
+++ b/hal/src/main/native/sim/REVPH.cpp
@@ -201,7 +201,7 @@
std::scoped_lock lock{pcm->lock};
auto& data = SimREVPHData[pcm->module].solenoidOutput;
- uint8_t ret = 0;
+ int32_t ret = 0;
for (int i = 0; i < kNumREVPHChannels; i++) {
ret |= (data[i] << i);
}
diff --git a/hal/src/main/native/sim/SimDevice.cpp b/hal/src/main/native/sim/SimDevice.cpp
index b6c637c..48b755e 100644
--- a/hal/src/main/native/sim/SimDevice.cpp
+++ b/hal/src/main/native/sim/SimDevice.cpp
@@ -26,6 +26,10 @@
SimSimDeviceData->FreeDevice(handle);
}
+const char* HAL_GetSimDeviceName(HAL_SimDeviceHandle handle) {
+ return SimSimDeviceData->GetDeviceName(handle);
+}
+
HAL_SimValueHandle HAL_CreateSimValue(HAL_SimDeviceHandle device,
const char* name, int32_t direction,
const struct HAL_Value* initialValue) {
diff --git a/hal/src/main/native/sim/mockdata/PWMData.cpp b/hal/src/main/native/sim/mockdata/PWMData.cpp
index a221d13..005d95d 100644
--- a/hal/src/main/native/sim/mockdata/PWMData.cpp
+++ b/hal/src/main/native/sim/mockdata/PWMData.cpp
@@ -17,7 +17,7 @@
PWMData* hal::SimPWMData;
void PWMData::ResetData() {
initialized.Reset(false);
- rawValue.Reset(0);
+ pulseMicrosecond.Reset(0);
speed.Reset(0);
position.Reset(0);
periodScale.Reset(0);
@@ -34,7 +34,7 @@
LOWERNAME)
DEFINE_CAPI(HAL_Bool, Initialized, initialized)
-DEFINE_CAPI(int32_t, RawValue, rawValue)
+DEFINE_CAPI(int32_t, PulseMicrosecond, pulseMicrosecond)
DEFINE_CAPI(double, Speed, speed)
DEFINE_CAPI(double, Position, position)
DEFINE_CAPI(int32_t, PeriodScale, periodScale)
@@ -46,7 +46,7 @@
void HALSIM_RegisterPWMAllCallbacks(int32_t index, HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify) {
REGISTER(initialized);
- REGISTER(rawValue);
+ REGISTER(pulseMicrosecond);
REGISTER(speed);
REGISTER(position);
REGISTER(periodScale);
diff --git a/hal/src/main/native/sim/mockdata/PWMDataInternal.h b/hal/src/main/native/sim/mockdata/PWMDataInternal.h
index 737ced6..dd31a2a 100644
--- a/hal/src/main/native/sim/mockdata/PWMDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/PWMDataInternal.h
@@ -10,7 +10,7 @@
namespace hal {
class PWMData {
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
- HAL_SIMDATAVALUE_DEFINE_NAME(RawValue)
+ HAL_SIMDATAVALUE_DEFINE_NAME(PulseMicrosecond)
HAL_SIMDATAVALUE_DEFINE_NAME(Speed)
HAL_SIMDATAVALUE_DEFINE_NAME(Position)
HAL_SIMDATAVALUE_DEFINE_NAME(PeriodScale)
@@ -19,7 +19,8 @@
public:
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
false};
- SimDataValue<int32_t, HAL_MakeInt, GetRawValueName> rawValue{0};
+ SimDataValue<int32_t, HAL_MakeInt, GetPulseMicrosecondName> pulseMicrosecond{
+ 0};
SimDataValue<double, HAL_MakeDouble, GetSpeedName> speed{0};
SimDataValue<double, HAL_MakeDouble, GetPositionName> position{0};
SimDataValue<int32_t, HAL_MakeInt, GetPeriodScaleName> periodScale{0};
diff --git a/hal/src/main/native/sim/mockdata/RoboRioData.cpp b/hal/src/main/native/sim/mockdata/RoboRioData.cpp
index b73b0d9..9a9a1a1 100644
--- a/hal/src/main/native/sim/mockdata/RoboRioData.cpp
+++ b/hal/src/main/native/sim/mockdata/RoboRioData.cpp
@@ -32,6 +32,8 @@
userFaults5V.Reset(0);
userFaults3V3.Reset(0);
brownoutVoltage.Reset(6.75);
+ cpuTemp.Reset(45.0);
+ teamNumber.Reset(0);
m_serialNumber = "";
m_comments = "";
}
@@ -132,6 +134,8 @@
DEFINE_CAPI(int32_t, UserFaults5V, userFaults5V)
DEFINE_CAPI(int32_t, UserFaults3V3, userFaults3V3)
DEFINE_CAPI(double, BrownoutVoltage, brownoutVoltage)
+DEFINE_CAPI(double, CPUTemp, cpuTemp)
+DEFINE_CAPI(int32_t, TeamNumber, teamNumber)
int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {
@@ -187,5 +191,6 @@
REGISTER(userFaults5V);
REGISTER(userFaults3V3);
REGISTER(brownoutVoltage);
+ REGISTER(cpuTemp);
}
} // extern "C"
diff --git a/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h b/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
index c3ff17a..aef61be 100644
--- a/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
+++ b/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
@@ -30,6 +30,8 @@
HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults5V)
HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults3V3)
HAL_SIMDATAVALUE_DEFINE_NAME(BrownoutVoltage)
+ HAL_SIMDATAVALUE_DEFINE_NAME(CPUTemp)
+ HAL_SIMDATAVALUE_DEFINE_NAME(TeamNumber)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(SerialNumber)
HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(Comments);
@@ -57,6 +59,8 @@
SimDataValue<int32_t, HAL_MakeInt, GetUserFaults3V3Name> userFaults3V3{0};
SimDataValue<double, HAL_MakeDouble, GetBrownoutVoltageName> brownoutVoltage{
6.75};
+ SimDataValue<double, HAL_MakeDouble, GetCPUTempName> cpuTemp{45.0};
+ SimDataValue<int32_t, HAL_MakeInt, GetTeamNumberName> teamNumber{0};
int32_t RegisterSerialNumberCallback(HAL_RoboRioStringCallback callback,
void* param, HAL_Bool initialNotify);