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/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);