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/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
index 7048720..14fd37f 100644
--- a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
@@ -26,7 +26,7 @@
#include <string>
#include <hal/HAL.h>
-#include <networktables/NTSendableBuilder.h>
+#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
@@ -285,7 +285,7 @@
m_spi->SetAutoTransmitData({{GLOB_CMD}}, 27);
// Configure auto stall time
m_spi->ConfigureAutoStall(HAL_SPI_kMXP, 100, 1000, 255);
- // Kick off DMA SPI (Note: Device configration impossible after SPI DMA is
+ // Kick off DMA SPI (Note: Device configuration impossible after SPI DMA is
// activated)
m_spi->StartAutoTrigger(*m_auto_interrupt, true, false);
// Check to see if the acquire thread is running. If not, kick one off.
@@ -882,7 +882,7 @@
* This function pushes the most recent angle estimates for all axes to the
*driver station.
**/
-void ADIS16448_IMU::InitSendable(nt::NTSendableBuilder& builder) {
+void ADIS16448_IMU::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("ADIS16448 IMU");
builder.AddDoubleProperty(
"Yaw Angle", [=, this] { return GetAngle().value(); }, nullptr);
diff --git a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
index e1cd986..05dac78 100644
--- a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
@@ -23,7 +23,7 @@
#include <string>
#include <hal/HAL.h>
-#include <networktables/NTSendableBuilder.h>
+#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
@@ -279,7 +279,7 @@
}
// Configure auto stall time
m_spi->ConfigureAutoStall(HAL_SPI_kOnboardCS0, 5, 1000, 1);
- // Kick off DMA SPI (Note: Device configration impossible after SPI DMA is
+ // Kick off DMA SPI (Note: Device configuration impossible after SPI DMA is
// activated) DR High = Data good (data capture should be triggered on the
// rising edge)
m_spi->StartAutoTrigger(*m_auto_interrupt, true, false);
@@ -816,7 +816,7 @@
* This function pushes the most recent angle estimates for all axes to the
*driver station.
**/
-void ADIS16470_IMU::InitSendable(nt::NTSendableBuilder& builder) {
+void ADIS16470_IMU::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("ADIS16470 IMU");
builder.AddDoubleProperty(
"Yaw Angle", [=, this] { return GetAngle().value(); }, nullptr);
diff --git a/wpilibc/src/main/native/cpp/ADXL362.cpp b/wpilibc/src/main/native/cpp/ADXL362.cpp
index fa0a8a3..425815e 100644
--- a/wpilibc/src/main/native/cpp/ADXL362.cpp
+++ b/wpilibc/src/main/native/cpp/ADXL362.cpp
@@ -93,7 +93,6 @@
m_gsPerLSB = 0.002;
break;
case kRange_8G:
- case kRange_16G: // 16G not supported; treat as 8G
m_gsPerLSB = 0.004;
break;
}
diff --git a/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp b/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
index 4d4b22d..c134b5c 100644
--- a/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
+++ b/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
@@ -69,7 +69,7 @@
return m_connected;
}
-static bool CalcParity(int v) {
+static bool CalcParity(uint32_t v) {
bool parity = false;
while (v != 0) {
parity = !parity;
@@ -87,7 +87,7 @@
}
uint16_t ADXRS450_Gyro::ReadRegister(int reg) {
- int cmd = 0x80000000 | static_cast<int>(reg) << 17;
+ uint32_t cmd = 0x80000000 | static_cast<int>(reg) << 17;
if (!CalcParity(cmd)) {
cmd |= 1u;
}
@@ -140,6 +140,10 @@
m_spi.ResetAccumulator();
}
+Rotation2d ADXRS450_Gyro::GetRotation2d() const {
+ return units::degree_t{-GetAngle()};
+}
+
int ADXRS450_Gyro::GetPort() const {
return m_port;
}
diff --git a/wpilibc/src/main/native/cpp/AddressableLED.cpp b/wpilibc/src/main/native/cpp/AddressableLED.cpp
index 538dc10..0baae3c 100644
--- a/wpilibc/src/main/native/cpp/AddressableLED.cpp
+++ b/wpilibc/src/main/native/cpp/AddressableLED.cpp
@@ -65,14 +65,14 @@
FRC_CheckErrorStatus(status, "Port {}", m_port);
}
-void AddressableLED::SetBitTiming(units::nanosecond_t lowTime0,
- units::nanosecond_t highTime0,
- units::nanosecond_t lowTime1,
- units::nanosecond_t highTime1) {
+void AddressableLED::SetBitTiming(units::nanosecond_t highTime0,
+ units::nanosecond_t lowTime0,
+ units::nanosecond_t highTime1,
+ units::nanosecond_t lowTime1) {
int32_t status = 0;
HAL_SetAddressableLEDBitTiming(
- m_handle, lowTime0.to<int32_t>(), highTime0.to<int32_t>(),
- lowTime1.to<int32_t>(), highTime1.to<int32_t>(), &status);
+ m_handle, highTime0.to<int32_t>(), lowTime0.to<int32_t>(),
+ highTime1.to<int32_t>(), lowTime1.to<int32_t>(), &status);
FRC_CheckErrorStatus(status, "Port {}", m_port);
}
diff --git a/wpilibc/src/main/native/cpp/AnalogGyro.cpp b/wpilibc/src/main/native/cpp/AnalogGyro.cpp
index cab9f94..df6d33f 100644
--- a/wpilibc/src/main/native/cpp/AnalogGyro.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogGyro.cpp
@@ -133,6 +133,10 @@
FRC_CheckErrorStatus(status, "Channel {}", m_analog->GetChannel());
}
+Rotation2d AnalogGyro::GetRotation2d() const {
+ return units::degree_t{-GetAngle()};
+}
+
std::shared_ptr<AnalogInput> AnalogGyro::GetAnalogInput() const {
return m_analog;
}
diff --git a/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp b/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
index 4284e89..857643b 100644
--- a/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
+++ b/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
@@ -22,11 +22,6 @@
}
void BuiltInAccelerometer::SetRange(Range range) {
- if (range == kRange_16G) {
- throw FRC_MakeError(err::ParameterOutOfRange,
- "16G range not supported (use k2G, k4G, or k8G)");
- }
-
HAL_SetAccelerometerActive(false);
HAL_SetAccelerometerRange(static_cast<HAL_AccelerometerRange>(range));
HAL_SetAccelerometerActive(true);
diff --git a/wpilibc/src/main/native/cpp/CAN.cpp b/wpilibc/src/main/native/cpp/CAN.cpp
index fc4a821..aa0370f 100644
--- a/wpilibc/src/main/native/cpp/CAN.cpp
+++ b/wpilibc/src/main/native/cpp/CAN.cpp
@@ -131,3 +131,7 @@
return true;
}
}
+
+uint64_t CAN::GetTimestampBaseTime() {
+ return HAL_GetCANPacketBaseTime();
+}
diff --git a/wpilibc/src/main/native/cpp/Compressor.cpp b/wpilibc/src/main/native/cpp/Compressor.cpp
index 2479ffc..1f6c906 100644
--- a/wpilibc/src/main/native/cpp/Compressor.cpp
+++ b/wpilibc/src/main/native/cpp/Compressor.cpp
@@ -34,10 +34,6 @@
}
}
-bool Compressor::Enabled() const {
- return IsEnabled();
-}
-
bool Compressor::IsEnabled() const {
return m_module->GetCompressor();
}
diff --git a/wpilibc/src/main/native/cpp/Counter.cpp b/wpilibc/src/main/native/cpp/Counter.cpp
index 2e9c916..c33b69b 100644
--- a/wpilibc/src/main/native/cpp/Counter.cpp
+++ b/wpilibc/src/main/native/cpp/Counter.cpp
@@ -260,6 +260,18 @@
return m_index;
}
+void Counter::SetDistancePerPulse(double distancePerPulse) {
+ m_distancePerPulse = distancePerPulse;
+}
+
+double Counter::GetDistance() const {
+ return Get() * m_distancePerPulse;
+}
+
+double Counter::GetRate() const {
+ return m_distancePerPulse / GetPeriod().value();
+}
+
int Counter::Get() const {
int32_t status = 0;
int value = HAL_GetCounter(m_counter, &status);
diff --git a/wpilibc/src/main/native/cpp/DataLogManager.cpp b/wpilibc/src/main/native/cpp/DataLogManager.cpp
index b92faa3..afe9330 100644
--- a/wpilibc/src/main/native/cpp/DataLogManager.cpp
+++ b/wpilibc/src/main/native/cpp/DataLogManager.cpp
@@ -4,6 +4,8 @@
#include "frc/DataLogManager.h"
+#include <frc/Errors.h>
+
#include <algorithm>
#include <ctime>
#include <random>
@@ -19,6 +21,8 @@
#include "frc/DriverStation.h"
#include "frc/Filesystem.h"
+#include "frc/RobotBase.h"
+#include "frc/RobotController.h"
using namespace frc;
@@ -26,6 +30,7 @@
struct Thread final : public wpi::SafeThread {
Thread(std::string_view dir, std::string_view filename, double period);
+ ~Thread() override;
void Main() final;
@@ -66,8 +71,13 @@
(s.permissions() & fs::perms::others_write) != fs::perms::none) {
return std::string{usbDir};
}
+ if (RobotBase::GetRuntimeType() == kRoboRIO) {
+ FRC_ReportError(warn::Warning,
+ "DataLogManager: Logging to RoboRIO 1 internal storage is "
+ "not recommended! Plug in a FAT32 formatted flash drive!");
+ }
#endif
- return frc::filesystem::GetOperatingDirectory();
+ return filesystem::GetOperatingDirectory();
}
static std::string MakeLogFilename(std::string_view filenameOverride) {
@@ -94,15 +104,25 @@
StartNTLog();
}
+Thread::~Thread() {
+ StopNTLog();
+}
+
void Thread::Main() {
// based on free disk space, scan for "old" FRC_*.wpilog files and remove
{
- uintmax_t freeSpace = fs::space(m_logDir).free;
+ std::error_code ec;
+ uintmax_t freeSpace;
+ auto freeSpaceInfo = fs::space(m_logDir, ec);
+ if (!ec) {
+ freeSpace = freeSpaceInfo.available;
+ } else {
+ freeSpace = UINTMAX_MAX;
+ }
if (freeSpace < kFreeSpaceThreshold) {
// Delete oldest FRC_*.wpilog files (ignore FRC_TBD_*.wpilog as we just
// created one)
std::vector<fs::directory_entry> entries;
- std::error_code ec;
for (auto&& entry : fs::directory_iterator{m_logDir, ec}) {
auto stem = entry.path().stem().string();
if (wpi::starts_with(stem, "FRC_") &&
@@ -124,6 +144,8 @@
}
auto size = entry.file_size();
if (fs::remove(entry.path(), ec)) {
+ FRC_ReportError(warn::Warning, "DataLogManager: Deleted {}",
+ entry.path().string());
freeSpace += size;
if (freeSpace >= kFreeSpaceThreshold) {
break;
@@ -133,6 +155,13 @@
entry.path().string());
}
}
+ } else if (freeSpace < 2 * kFreeSpaceThreshold) {
+ FRC_ReportError(
+ warn::Warning,
+ "DataLogManager: Log storage device has {} MB of free space "
+ "remaining! Logs will get deleted below {} MB of free space. "
+ "Consider deleting logs off the storage device.",
+ freeSpace / 1000000, kFreeSpaceThreshold / 1000000);
}
}
@@ -182,11 +211,9 @@
dsAttachCount = 0;
}
if (dsAttachCount > 50) { // 1 second
- std::time_t now = std::time(nullptr);
- auto tm = std::gmtime(&now);
- if (tm->tm_year > 100) {
- // assume local clock is now synchronized to DS, so rename based on
- // local time
+ if (RobotController::IsSystemTimeValid()) {
+ std::time_t now = std::time(nullptr);
+ auto tm = std::gmtime(&now);
m_log.SetFilename(fmt::format("FRC_{:%Y%m%d_%H%M%S}.wpilog", *tm));
dsRenamed = true;
} else {
@@ -202,7 +229,7 @@
} else {
fmsAttachCount = 0;
}
- if (fmsAttachCount > 100) { // 2 seconds
+ if (fmsAttachCount > 250) { // 5 seconds
// match info comes through TCP, so we need to double-check we've
// actually received it
auto matchType = DriverStation::GetMatchType();
@@ -238,7 +265,9 @@
++sysTimeCount;
if (sysTimeCount >= 250) {
sysTimeCount = 0;
- sysTimeEntry.Append(wpi::GetSystemTime(), wpi::Now());
+ if (RobotController::IsSystemTimeValid()) {
+ sysTimeEntry.Append(wpi::GetSystemTime(), wpi::Now());
+ }
}
}
DriverStation::RemoveRefreshedDataEventHandle(newDataEvent.GetHandle());
@@ -285,6 +314,9 @@
std::string_view filename = "",
double period = 0.25) {
static Instance instance(dir, filename, period);
+ if (!instance.owner) {
+ instance.owner.Start(MakeLogDir(dir), filename, period);
+ }
return instance;
}
@@ -293,6 +325,12 @@
GetInstance(dir, filename, period);
}
+void DataLogManager::Stop() {
+ auto& inst = GetInstance();
+ inst.owner.GetThread()->m_log.Stop();
+ inst.owner.Stop();
+}
+
void DataLogManager::Log(std::string_view message) {
GetInstance().owner.GetThread()->m_messageLog.Append(message);
fmt::print("{}\n", message);
diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp
index aead343..8f80427 100644
--- a/wpilibc/src/main/native/cpp/DriverStation.cpp
+++ b/wpilibc/src/main/native/cpp/DriverStation.cpp
@@ -484,6 +484,12 @@
return controlWord.test;
}
+bool DriverStation::IsTestEnabled() {
+ HAL_ControlWord controlWord;
+ HAL_GetControlWord(&controlWord);
+ return controlWord.test && controlWord.enabled;
+}
+
bool DriverStation::IsDSAttached() {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
@@ -527,7 +533,7 @@
return info.replayNumber;
}
-DriverStation::Alliance DriverStation::GetAlliance() {
+std::optional<DriverStation::Alliance> DriverStation::GetAlliance() {
int32_t status = 0;
auto allianceStationID = HAL_GetAllianceStation(&status);
switch (allianceStationID) {
@@ -540,11 +546,11 @@
case HAL_AllianceStationID_kBlue3:
return kBlue;
default:
- return kInvalid;
+ return {};
}
}
-int DriverStation::GetLocation() {
+std::optional<int> DriverStation::GetLocation() {
int32_t status = 0;
auto allianceStationID = HAL_GetAllianceStation(&status);
switch (allianceStationID) {
@@ -558,13 +564,27 @@
case HAL_AllianceStationID_kBlue3:
return 3;
default:
- return 0;
+ return {};
}
}
-double DriverStation::GetMatchTime() {
+bool DriverStation::WaitForDsConnection(units::second_t timeout) {
+ wpi::Event event{true, false};
+ HAL_ProvideNewDataEventHandle(event.GetHandle());
+ bool result = false;
+ if (timeout == 0_s) {
+ result = wpi::WaitForObject(event.GetHandle());
+ } else {
+ result = wpi::WaitForObject(event.GetHandle(), timeout.value(), nullptr);
+ }
+
+ HAL_RemoveNewDataEventHandle(event.GetHandle());
+ return result;
+}
+
+units::second_t DriverStation::GetMatchTime() {
int32_t status = 0;
- return HAL_GetMatchTime(&status);
+ return units::second_t{HAL_GetMatchTime(&status)};
}
double DriverStation::GetBatteryVoltage() {
diff --git a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
index b1c943e..f2ac77f 100644
--- a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
+++ b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
@@ -164,7 +164,10 @@
if (m_counter) {
m_counter->Reset();
}
- m_positionOffset = m_dutyCycle->GetOutput();
+ if (m_simPosition) {
+ m_simPosition.Set(0);
+ }
+ m_positionOffset = GetAbsolutePosition();
}
bool DutyCycleEncoder::IsConnected() const {
diff --git a/wpilibc/src/main/native/cpp/Filesystem.cpp b/wpilibc/src/main/native/cpp/Filesystem.cpp
index d497779..7947d75 100644
--- a/wpilibc/src/main/native/cpp/Filesystem.cpp
+++ b/wpilibc/src/main/native/cpp/Filesystem.cpp
@@ -13,7 +13,7 @@
}
std::string frc::filesystem::GetOperatingDirectory() {
- if constexpr (RobotBase::IsReal()) {
+ if constexpr (!RobotBase::IsSimulation()) {
return "/home/lvuser";
} else {
return frc::filesystem::GetLaunchDirectory();
@@ -21,7 +21,7 @@
}
std::string frc::filesystem::GetDeployDirectory() {
- if constexpr (RobotBase::IsReal()) {
+ if constexpr (!RobotBase::IsSimulation()) {
return "/home/lvuser/deploy";
} else {
return (fs::current_path() / "src" / "main" / "deploy").string();
diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
index 0bccb0b..ee941b6 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -24,6 +24,8 @@
void IterativeRobotBase::RobotInit() {}
+void IterativeRobotBase::DriverStationConnected() {}
+
void IterativeRobotBase::SimulationInit() {}
void IterativeRobotBase::DisabledInit() {}
@@ -95,7 +97,7 @@
}
void IterativeRobotBase::EnableLiveWindowInTest(bool testLW) {
- if (IsTest()) {
+ if (IsTestEnabled()) {
throw FRC_MakeError(err::IncompatibleMode,
"Can't configure test mode while in test mode!");
}
@@ -127,6 +129,11 @@
mode = Mode::kTest;
}
+ if (!m_calledDsConnected && word.IsDSAttached()) {
+ m_calledDsConnected = true;
+ DriverStationConnected();
+ }
+
// If mode changed, call mode exit and entry functions
if (m_lastMode != mode) {
// Call last mode's exit function
diff --git a/wpilibc/src/main/native/cpp/Joystick.cpp b/wpilibc/src/main/native/cpp/Joystick.cpp
index 0eff226..8a378c5 100644
--- a/wpilibc/src/main/native/cpp/Joystick.cpp
+++ b/wpilibc/src/main/native/cpp/Joystick.cpp
@@ -8,6 +8,9 @@
#include <numbers>
#include <hal/FRCUsageReporting.h>
+#include <units/dimensionless.h>
+#include <units/math.h>
+#include <wpi/deprecated.h>
#include "frc/event/BooleanEvent.h"
@@ -124,5 +127,12 @@
}
double Joystick::GetDirectionDegrees() const {
+ WPI_IGNORE_DEPRECATED
return (180 / std::numbers::pi) * GetDirectionRadians();
+ WPI_UNIGNORE_DEPRECATED
+}
+
+units::radian_t Joystick::GetDirection() const {
+ return units::math::atan2(units::dimensionless::scalar_t{GetX()},
+ units::dimensionless::scalar_t{-GetY()});
}
diff --git a/wpilibc/src/main/native/cpp/Notifier.cpp b/wpilibc/src/main/native/cpp/Notifier.cpp
index d837752..147beb4 100644
--- a/wpilibc/src/main/native/cpp/Notifier.cpp
+++ b/wpilibc/src/main/native/cpp/Notifier.cpp
@@ -17,11 +17,11 @@
using namespace frc;
-Notifier::Notifier(std::function<void()> handler) {
- if (!handler) {
- throw FRC_MakeError(err::NullParameter, "handler");
+Notifier::Notifier(std::function<void()> callback) {
+ if (!callback) {
+ throw FRC_MakeError(err::NullParameter, "callback");
}
- m_handler = handler;
+ m_callback = callback;
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
FRC_CheckErrorStatus(status, "InitializeNotifier");
@@ -38,32 +38,32 @@
break;
}
- std::function<void()> handler;
+ std::function<void()> callback;
{
std::scoped_lock lock(m_processMutex);
- handler = m_handler;
+ callback = m_callback;
if (m_periodic) {
m_expirationTime += m_period;
UpdateAlarm();
} else {
- // need to update the alarm to cause it to wait again
+ // Need to update the alarm to cause it to wait again
UpdateAlarm(UINT64_MAX);
}
}
- // call callback
- if (handler) {
- handler();
+ // Call callback
+ if (callback) {
+ callback();
}
}
});
}
-Notifier::Notifier(int priority, std::function<void()> handler) {
- if (!handler) {
- throw FRC_MakeError(err::NullParameter, "handler");
+Notifier::Notifier(int priority, std::function<void()> callback) {
+ if (!callback) {
+ throw FRC_MakeError(err::NullParameter, "callback");
}
- m_handler = handler;
+ m_callback = callback;
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
FRC_CheckErrorStatus(status, "InitializeNotifier");
@@ -81,10 +81,10 @@
break;
}
- std::function<void()> handler;
+ std::function<void()> callback;
{
std::scoped_lock lock(m_processMutex);
- handler = m_handler;
+ callback = m_callback;
if (m_periodic) {
m_expirationTime += m_period;
UpdateAlarm();
@@ -95,9 +95,9 @@
}
// call callback
- if (handler) {
+ if (callback) {
try {
- handler();
+ callback();
} catch (const frc::RuntimeError& e) {
e.Report();
FRC_ReportError(
@@ -123,7 +123,7 @@
HAL_StopNotifier(handle, &status);
FRC_ReportError(status, "StopNotifier");
- // Join the thread to ensure the handler has exited.
+ // Join the thread to ensure the callback has exited.
if (m_thread.joinable()) {
m_thread.join();
}
@@ -134,7 +134,7 @@
Notifier::Notifier(Notifier&& rhs)
: m_thread(std::move(rhs.m_thread)),
m_notifier(rhs.m_notifier.load()),
- m_handler(std::move(rhs.m_handler)),
+ m_callback(std::move(rhs.m_callback)),
m_expirationTime(std::move(rhs.m_expirationTime)),
m_period(std::move(rhs.m_period)),
m_periodic(std::move(rhs.m_periodic)) {
@@ -145,7 +145,7 @@
m_thread = std::move(rhs.m_thread);
m_notifier = rhs.m_notifier.load();
rhs.m_notifier = HAL_kInvalidHandle;
- m_handler = std::move(rhs.m_handler);
+ m_callback = std::move(rhs.m_callback);
m_expirationTime = std::move(rhs.m_expirationTime);
m_period = std::move(rhs.m_period);
m_periodic = std::move(rhs.m_periodic);
@@ -161,9 +161,14 @@
HAL_SetNotifierName(m_notifier, buf.data(), &status);
}
-void Notifier::SetHandler(std::function<void()> handler) {
+void Notifier::SetHandler(std::function<void()> callback) {
std::scoped_lock lock(m_processMutex);
- m_handler = handler;
+ m_callback = callback;
+}
+
+void Notifier::SetCallback(std::function<void()> callback) {
+ std::scoped_lock lock(m_processMutex);
+ m_callback = callback;
}
void Notifier::StartSingle(units::second_t delay) {
diff --git a/wpilibc/src/main/native/cpp/PS4Controller.cpp b/wpilibc/src/main/native/cpp/PS4Controller.cpp
index e59e18c..5ac3420 100644
--- a/wpilibc/src/main/native/cpp/PS4Controller.cpp
+++ b/wpilibc/src/main/native/cpp/PS4Controller.cpp
@@ -11,7 +11,8 @@
using namespace frc;
PS4Controller::PS4Controller(int port) : GenericHID(port) {
- HAL_Report(HALUsageReporting::kResourceType_PS4Controller, port + 1);
+ // re-enable when PS4Controller is added to Usage Reporting
+ // HAL_Report(HALUsageReporting::kResourceType_PS4Controller, port + 1);
}
double PS4Controller::GetLeftX() const {
diff --git a/wpilibc/src/main/native/cpp/PS5Controller.cpp b/wpilibc/src/main/native/cpp/PS5Controller.cpp
new file mode 100644
index 0000000..95685d6
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/PS5Controller.cpp
@@ -0,0 +1,263 @@
+// 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 "frc/PS5Controller.h"
+
+#include <hal/FRCUsageReporting.h>
+
+#include "frc/event/BooleanEvent.h"
+
+using namespace frc;
+
+PS5Controller::PS5Controller(int port) : GenericHID(port) {
+ // HAL_Report(HALUsageReporting::kResourceType_PS5Controller, port + 1);
+}
+
+double PS5Controller::GetLeftX() const {
+ return GetRawAxis(Axis::kLeftX);
+}
+
+double PS5Controller::GetRightX() const {
+ return GetRawAxis(Axis::kRightX);
+}
+
+double PS5Controller::GetLeftY() const {
+ return GetRawAxis(Axis::kLeftY);
+}
+
+double PS5Controller::GetRightY() const {
+ return GetRawAxis(Axis::kRightY);
+}
+
+double PS5Controller::GetL2Axis() const {
+ return GetRawAxis(Axis::kL2);
+}
+
+double PS5Controller::GetR2Axis() const {
+ return GetRawAxis(Axis::kR2);
+}
+
+bool PS5Controller::GetSquareButton() const {
+ return GetRawButton(Button::kSquare);
+}
+
+bool PS5Controller::GetSquareButtonPressed() {
+ return GetRawButtonPressed(Button::kSquare);
+}
+
+bool PS5Controller::GetSquareButtonReleased() {
+ return GetRawButtonReleased(Button::kSquare);
+}
+
+BooleanEvent PS5Controller::Square(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetSquareButton(); });
+}
+
+bool PS5Controller::GetCrossButton() const {
+ return GetRawButton(Button::kCross);
+}
+
+bool PS5Controller::GetCrossButtonPressed() {
+ return GetRawButtonPressed(Button::kCross);
+}
+
+bool PS5Controller::GetCrossButtonReleased() {
+ return GetRawButtonReleased(Button::kCross);
+}
+
+BooleanEvent PS5Controller::Cross(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetCrossButton(); });
+}
+
+bool PS5Controller::GetCircleButton() const {
+ return GetRawButton(Button::kCircle);
+}
+
+bool PS5Controller::GetCircleButtonPressed() {
+ return GetRawButtonPressed(Button::kCircle);
+}
+
+bool PS5Controller::GetCircleButtonReleased() {
+ return GetRawButtonReleased(Button::kCircle);
+}
+
+BooleanEvent PS5Controller::Circle(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetCircleButton(); });
+}
+
+bool PS5Controller::GetTriangleButton() const {
+ return GetRawButton(Button::kTriangle);
+}
+
+bool PS5Controller::GetTriangleButtonPressed() {
+ return GetRawButtonPressed(Button::kTriangle);
+}
+
+bool PS5Controller::GetTriangleButtonReleased() {
+ return GetRawButtonReleased(Button::kTriangle);
+}
+
+BooleanEvent PS5Controller::Triangle(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetTriangleButton(); });
+}
+
+bool PS5Controller::GetL1Button() const {
+ return GetRawButton(Button::kL1);
+}
+
+bool PS5Controller::GetL1ButtonPressed() {
+ return GetRawButtonPressed(Button::kL1);
+}
+
+bool PS5Controller::GetL1ButtonReleased() {
+ return GetRawButtonReleased(Button::kL1);
+}
+
+BooleanEvent PS5Controller::L1(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetL1Button(); });
+}
+
+bool PS5Controller::GetR1Button() const {
+ return GetRawButton(Button::kR1);
+}
+
+bool PS5Controller::GetR1ButtonPressed() {
+ return GetRawButtonPressed(Button::kR1);
+}
+
+bool PS5Controller::GetR1ButtonReleased() {
+ return GetRawButtonReleased(Button::kR1);
+}
+
+BooleanEvent PS5Controller::R1(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetR1Button(); });
+}
+
+bool PS5Controller::GetL2Button() const {
+ return GetRawButton(Button::kL2);
+}
+
+bool PS5Controller::GetL2ButtonPressed() {
+ return GetRawButtonPressed(Button::kL2);
+}
+
+bool PS5Controller::GetL2ButtonReleased() {
+ return GetRawButtonReleased(Button::kL2);
+}
+
+BooleanEvent PS5Controller::L2(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetL2Button(); });
+}
+
+bool PS5Controller::GetR2Button() const {
+ return GetRawButton(Button::kR2);
+}
+
+bool PS5Controller::GetR2ButtonPressed() {
+ return GetRawButtonPressed(Button::kR2);
+}
+
+bool PS5Controller::GetR2ButtonReleased() {
+ return GetRawButtonReleased(Button::kR2);
+}
+
+BooleanEvent PS5Controller::R2(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetR2Button(); });
+}
+
+bool PS5Controller::GetCreateButton() const {
+ return GetRawButton(Button::kCreate);
+}
+
+bool PS5Controller::GetCreateButtonPressed() {
+ return GetRawButtonPressed(Button::kCreate);
+}
+
+bool PS5Controller::GetCreateButtonReleased() {
+ return GetRawButtonReleased(Button::kCreate);
+}
+
+BooleanEvent PS5Controller::Create(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetCreateButton(); });
+}
+
+bool PS5Controller::GetOptionsButton() const {
+ return GetRawButton(Button::kOptions);
+}
+
+bool PS5Controller::GetOptionsButtonPressed() {
+ return GetRawButtonPressed(Button::kOptions);
+}
+
+bool PS5Controller::GetOptionsButtonReleased() {
+ return GetRawButtonReleased(Button::kOptions);
+}
+
+BooleanEvent PS5Controller::Options(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetOptionsButton(); });
+}
+
+bool PS5Controller::GetL3Button() const {
+ return GetRawButton(Button::kL3);
+}
+
+bool PS5Controller::GetL3ButtonPressed() {
+ return GetRawButtonPressed(Button::kL3);
+}
+
+bool PS5Controller::GetL3ButtonReleased() {
+ return GetRawButtonReleased(Button::kL3);
+}
+
+BooleanEvent PS5Controller::L3(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetL3Button(); });
+}
+
+bool PS5Controller::GetR3Button() const {
+ return GetRawButton(Button::kR3);
+}
+
+bool PS5Controller::GetR3ButtonPressed() {
+ return GetRawButtonPressed(Button::kR3);
+}
+
+bool PS5Controller::GetR3ButtonReleased() {
+ return GetRawButtonReleased(Button::kR3);
+}
+
+BooleanEvent PS5Controller::R3(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetR3Button(); });
+}
+
+bool PS5Controller::GetPSButton() const {
+ return GetRawButton(Button::kPS);
+}
+
+bool PS5Controller::GetPSButtonPressed() {
+ return GetRawButtonPressed(Button::kPS);
+}
+
+bool PS5Controller::GetPSButtonReleased() {
+ return GetRawButtonReleased(Button::kPS);
+}
+
+BooleanEvent PS5Controller::PS(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetPSButton(); });
+}
+
+bool PS5Controller::GetTouchpad() const {
+ return GetRawButton(Button::kTouchpad);
+}
+
+bool PS5Controller::GetTouchpadPressed() {
+ return GetRawButtonPressed(Button::kTouchpad);
+}
+
+bool PS5Controller::GetTouchpadReleased() {
+ return GetRawButtonReleased(Button::kTouchpad);
+}
+
+BooleanEvent PS5Controller::Touchpad(EventLoop* loop) const {
+ return BooleanEvent(loop, [this]() { return this->GetTouchpad(); });
+}
diff --git a/wpilibc/src/main/native/cpp/PWM.cpp b/wpilibc/src/main/native/cpp/PWM.cpp
index 5c5e6f5..6a4c0f5 100644
--- a/wpilibc/src/main/native/cpp/PWM.cpp
+++ b/wpilibc/src/main/native/cpp/PWM.cpp
@@ -54,18 +54,18 @@
FRC_ReportError(status, "Channel {}", m_channel);
}
-void PWM::SetRaw(uint16_t value) {
+void PWM::SetPulseTime(units::microsecond_t time) {
int32_t status = 0;
- HAL_SetPWMRaw(m_handle, value, &status);
+ HAL_SetPWMPulseTimeMicroseconds(m_handle, time.value(), &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
-uint16_t PWM::GetRaw() const {
+units::microsecond_t PWM::GetPulseTime() const {
int32_t status = 0;
- uint16_t value = HAL_GetPWMRaw(m_handle, &status);
+ double value = HAL_GetPWMPulseTimeMicroseconds(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
- return value;
+ return units::microsecond_t{value};
}
void PWM::SetPosition(double pos) {
@@ -135,27 +135,37 @@
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
-void PWM::SetBounds(double max, double deadbandMax, double center,
- double deadbandMin, double min) {
+void PWM::SetBounds(units::microsecond_t max, units::microsecond_t deadbandMax,
+ units::microsecond_t center,
+ units::microsecond_t deadbandMin,
+ units::microsecond_t min) {
int32_t status = 0;
- HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
- &status);
+ HAL_SetPWMConfigMicroseconds(m_handle, max.value(), deadbandMax.value(),
+ center.value(), deadbandMin.value(), min.value(),
+ &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
-void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
- int min) {
+void PWM::GetBounds(units::microsecond_t* max,
+ units::microsecond_t* deadbandMax,
+ units::microsecond_t* center,
+ units::microsecond_t* deadbandMin,
+ units::microsecond_t* min) {
int32_t status = 0;
- HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
- &status);
+ int32_t rawMax, rawDeadbandMax, rawCenter, rawDeadbandMin, rawMin;
+ HAL_GetPWMConfigMicroseconds(m_handle, &rawMax, &rawDeadbandMax, &rawCenter,
+ &rawDeadbandMin, &rawMin, &status);
+ *max = units::microsecond_t{static_cast<double>(rawMax)};
+ *deadbandMax = units::microsecond_t{static_cast<double>(rawDeadbandMax)};
+ *center = units::microsecond_t{static_cast<double>(rawCenter)};
+ *deadbandMin = units::microsecond_t{static_cast<double>(rawDeadbandMin)};
+ *min = units::microsecond_t{static_cast<double>(rawMin)};
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
-void PWM::GetRawBounds(int* max, int* deadbandMax, int* center,
- int* deadbandMin, int* min) {
+void PWM::SetAlwaysHighMode() {
int32_t status = 0;
- HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
- &status);
+ HAL_SetPWMAlwaysHighMode(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
@@ -168,6 +178,12 @@
builder.SetActuator(true);
builder.SetSafeState([=, this] { SetDisabled(); });
builder.AddDoubleProperty(
- "Value", [=, this] { return GetRaw(); },
- [=, this](double value) { SetRaw(value); });
+ "Value", [=, this] { return GetPulseTime().value(); },
+ [=, this](double value) { SetPulseTime(units::millisecond_t{value}); });
+ builder.AddDoubleProperty(
+ "Speed", [=, this] { return GetSpeed(); },
+ [=, this](double value) { SetSpeed(value); });
+ builder.AddDoubleProperty(
+ "Position", [=, this] { return GetPosition(); },
+ [=, this](double value) { SetPosition(value); });
}
diff --git a/wpilibc/src/main/native/cpp/PneumaticHub.cpp b/wpilibc/src/main/native/cpp/PneumaticHub.cpp
index ec008cf..bcbbd55 100644
--- a/wpilibc/src/main/native/cpp/PneumaticHub.cpp
+++ b/wpilibc/src/main/native/cpp/PneumaticHub.cpp
@@ -17,7 +17,6 @@
#include "frc/RobotBase.h"
#include "frc/SensorUtil.h"
#include "frc/Solenoid.h"
-#include "frc/fmt/Units.h"
using namespace frc;
@@ -161,9 +160,14 @@
"maxPressure must be between 0 and 120 PSI, got {}",
maxPressure);
}
- int32_t status = 0;
+
+ // Send the voltage as it would be if the 5V rail was at exactly 5V.
+ // The firmware will compensate for the real 5V rail voltage, which
+ // can fluctuate somewhat over time.
units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
+
+ int32_t status = 0;
HAL_SetREVPHClosedLoopControlAnalog(m_handle, minAnalogVoltage.value(),
maxAnalogVoltage.value(), &status);
FRC_ReportError(status, "Module {}", m_module);
@@ -186,9 +190,14 @@
"maxPressure must be between 0 and 120 PSI, got {}",
maxPressure);
}
- int32_t status = 0;
+
+ // Send the voltage as it would be if the 5V rail was at exactly 5V.
+ // The firmware will compensate for the real 5V rail voltage, which
+ // can fluctuate somewhat over time.
units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
+
+ int32_t status = 0;
HAL_SetREVPHClosedLoopControlHybrid(m_handle, minAnalogVoltage.value(),
maxAnalogVoltage.value(), &status);
FRC_ReportError(status, "Module {}", m_module);
diff --git a/wpilibc/src/main/native/cpp/RobotController.cpp b/wpilibc/src/main/native/cpp/RobotController.cpp
index da6e364..8b2b496 100644
--- a/wpilibc/src/main/native/cpp/RobotController.cpp
+++ b/wpilibc/src/main/native/cpp/RobotController.cpp
@@ -41,6 +41,10 @@
return std::string(comments, len);
}
+int32_t RobotController::GetTeamNumber() {
+ return HAL_GetTeamNumber();
+}
+
uint64_t RobotController::GetFPGATime() {
int32_t status = 0;
uint64_t time = HAL_GetFPGATime(&status);
@@ -76,6 +80,20 @@
return retVal;
}
+bool RobotController::GetRSLState() {
+ int32_t status = 0;
+ bool retVal = HAL_GetRSLState(&status);
+ FRC_CheckErrorStatus(status, "GetRSLState");
+ return retVal;
+}
+
+bool RobotController::IsSystemTimeValid() {
+ int32_t status = 0;
+ bool retVal = HAL_GetSystemTimeValid(&status);
+ FRC_CheckErrorStatus(status, "IsSystemTimeValid");
+ return retVal;
+}
+
double RobotController::GetInputVoltage() {
int32_t status = 0;
double retVal = HAL_GetVinVoltage(&status);
@@ -104,6 +122,12 @@
return retVal;
}
+void RobotController::SetEnabled3V3(bool enabled) {
+ int32_t status = 0;
+ HAL_SetUserRailEnabled3V3(enabled, &status);
+ FRC_CheckErrorStatus(status, "SetEnabled3V3");
+}
+
bool RobotController::GetEnabled3V3() {
int32_t status = 0;
bool retVal = HAL_GetUserActive3V3(&status);
@@ -132,6 +156,12 @@
return retVal;
}
+void RobotController::SetEnabled5V(bool enabled) {
+ int32_t status = 0;
+ HAL_SetUserRailEnabled5V(enabled, &status);
+ FRC_CheckErrorStatus(status, "SetEnabled5V");
+}
+
bool RobotController::GetEnabled5V() {
int32_t status = 0;
bool retVal = HAL_GetUserActive5V(&status);
@@ -160,6 +190,12 @@
return retVal;
}
+void RobotController::SetEnabled6V(bool enabled) {
+ int32_t status = 0;
+ HAL_SetUserRailEnabled6V(enabled, &status);
+ FRC_CheckErrorStatus(status, "SetEnabled6V");
+}
+
bool RobotController::GetEnabled6V() {
int32_t status = 0;
bool retVal = HAL_GetUserActive6V(&status);
@@ -187,6 +223,13 @@
FRC_CheckErrorStatus(status, "SetBrownoutVoltage");
}
+units::celsius_t RobotController::GetCPUTemp() {
+ int32_t status = 0;
+ double retVal = HAL_GetCPUTemp(&status);
+ FRC_CheckErrorStatus(status, "GetCPUTemp");
+ return units::celsius_t{retVal};
+}
+
CANStatus RobotController::GetCANStatus() {
int32_t status = 0;
float percentBusUtilization = 0;
diff --git a/wpilibc/src/main/native/cpp/SPI.cpp b/wpilibc/src/main/native/cpp/SPI.cpp
index 29cd006..26e26b7 100644
--- a/wpilibc/src/main/native/cpp/SPI.cpp
+++ b/wpilibc/src/main/native/cpp/SPI.cpp
@@ -177,44 +177,6 @@
HAL_SetSPISpeed(m_port, hz);
}
-void SPI::SetMSBFirst() {
- FRC_ReportError(1, "SetMSBFirst not supported by roboRIO {}",
- static_cast<int>(m_port));
-}
-
-void SPI::SetLSBFirst() {
- FRC_ReportError(1, "SetLSBFirst not supported by roboRIO {}",
- static_cast<int>(m_port));
-}
-
-void SPI::SetSampleDataOnLeadingEdge() {
- int mode = m_mode;
- mode &= 2;
- m_mode = static_cast<HAL_SPIMode>(mode);
- HAL_SetSPIMode(m_port, m_mode);
-}
-
-void SPI::SetSampleDataOnTrailingEdge() {
- int mode = m_mode;
- mode |= 2;
- m_mode = static_cast<HAL_SPIMode>(mode);
- HAL_SetSPIMode(m_port, m_mode);
-}
-
-void SPI::SetClockActiveLow() {
- int mode = m_mode;
- mode |= 1;
- m_mode = static_cast<HAL_SPIMode>(mode);
- HAL_SetSPIMode(m_port, m_mode);
-}
-
-void SPI::SetClockActiveHigh() {
- int mode = m_mode;
- mode &= 1;
- m_mode = static_cast<HAL_SPIMode>(mode);
- HAL_SetSPIMode(m_port, m_mode);
-}
-
void SPI::SetMode(Mode mode) {
m_mode = static_cast<HAL_SPIMode>(mode & 0x3);
HAL_SetSPIMode(m_port, m_mode);
diff --git a/wpilibc/src/main/native/cpp/Servo.cpp b/wpilibc/src/main/native/cpp/Servo.cpp
index 4a292b9..79f7f54 100644
--- a/wpilibc/src/main/native/cpp/Servo.cpp
+++ b/wpilibc/src/main/native/cpp/Servo.cpp
@@ -13,12 +13,12 @@
constexpr double Servo::kMaxServoAngle;
constexpr double Servo::kMinServoAngle;
-constexpr double Servo::kDefaultMaxServoPWM;
-constexpr double Servo::kDefaultMinServoPWM;
+constexpr units::millisecond_t Servo::kDefaultMaxServoPWM;
+constexpr units::millisecond_t Servo::kDefaultMinServoPWM;
Servo::Servo(int channel) : PWM(channel) {
// Set minimum and maximum PWM values supported by the servo
- SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
+ SetBounds(kDefaultMaxServoPWM, 0.0_ms, 0.0_ms, 0.0_ms, kDefaultMinServoPWM);
// Assign defaults for period multiplier for the servo PWM control signal
SetPeriodMultiplier(kPeriodMultiplier_4X);
@@ -32,7 +32,7 @@
}
void Servo::SetOffline() {
- SetRaw(0);
+ SetDisabled();
}
double Servo::Get() const {
diff --git a/wpilibc/src/main/native/cpp/Timer.cpp b/wpilibc/src/main/native/cpp/Timer.cpp
index 3863de4..dfad620 100644
--- a/wpilibc/src/main/native/cpp/Timer.cpp
+++ b/wpilibc/src/main/native/cpp/Timer.cpp
@@ -54,6 +54,14 @@
}
}
+void Timer::Restart() {
+ if (m_running) {
+ Stop();
+ }
+ Reset();
+ Start();
+}
+
void Timer::Stop() {
if (m_running) {
m_accumulatedTime = Get();
@@ -82,5 +90,5 @@
}
units::second_t Timer::GetMatchTime() {
- return units::second_t{frc::DriverStation::GetMatchTime()};
+ return frc::DriverStation::GetMatchTime();
}
diff --git a/wpilibc/src/main/native/cpp/TimesliceRobot.cpp b/wpilibc/src/main/native/cpp/TimesliceRobot.cpp
index d212c10..b817aa9 100644
--- a/wpilibc/src/main/native/cpp/TimesliceRobot.cpp
+++ b/wpilibc/src/main/native/cpp/TimesliceRobot.cpp
@@ -5,7 +5,6 @@
#include "frc/TimesliceRobot.h"
#include "frc/Errors.h"
-#include "frc/fmt/Units.h"
using namespace frc;
diff --git a/wpilibc/src/main/native/cpp/Ultrasonic.cpp b/wpilibc/src/main/native/cpp/Ultrasonic.cpp
index a034fc3..ec4c9c3 100644
--- a/wpilibc/src/main/native/cpp/Ultrasonic.cpp
+++ b/wpilibc/src/main/native/cpp/Ultrasonic.cpp
@@ -85,10 +85,7 @@
}
void Ultrasonic::Ping() {
- if (m_automaticEnabled) {
- throw FRC_MakeError(err::IncompatibleMode,
- "cannot call Ping() in automatic mode");
- }
+ SetAutomaticMode(false); // turn off automatic round-robin if pinging
// Reset the counter to zero (invalid data now)
m_counter.Reset();
@@ -138,7 +135,7 @@
units::meter_t Ultrasonic::GetRange() const {
if (IsRangeValid()) {
if (m_simRange) {
- return units::meter_t{m_simRange.Get()};
+ return units::inch_t{m_simRange.Get()};
}
return m_counter.GetPeriod() * kSpeedOfSound / 2.0;
} else {
diff --git a/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp b/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
index 5b8ce63..fd9c831 100644
--- a/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
+++ b/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
@@ -7,56 +7,61 @@
using namespace frc;
BooleanEvent::BooleanEvent(EventLoop* loop, std::function<bool()> condition)
- : m_loop(loop), m_condition(std::move(condition)) {}
+ : m_loop(loop), m_condition(std::move(condition)) {
+ m_state = std::make_shared<bool>(m_condition());
+ m_loop->Bind(
+ // NOLINTNEXTLINE(clang-analyzer-cplusplus.NewDeleteLeaks)
+ [condition = m_condition, state = m_state] { *state = condition(); });
+}
BooleanEvent::operator std::function<bool()>() {
- return m_condition;
+ return [state = m_state] { return *state; };
}
bool BooleanEvent::GetAsBoolean() const {
- return m_condition();
+ return *m_state;
}
void BooleanEvent::IfHigh(std::function<void()> action) {
- m_loop->Bind([condition = m_condition, action = std::move(action)] {
- if (condition()) {
+ m_loop->Bind([state = m_state, action = std::move(action)] {
+ if (*state) {
action();
}
});
}
BooleanEvent BooleanEvent::operator!() {
- return BooleanEvent(this->m_loop, [lhs = m_condition] { return !lhs(); });
+ return BooleanEvent(this->m_loop, [state = m_state] { return !*state; });
}
BooleanEvent BooleanEvent::operator&&(std::function<bool()> rhs) {
return BooleanEvent(this->m_loop,
- [lhs = m_condition, rhs] { return lhs() && rhs(); });
+ [state = m_state, rhs] { return *state && rhs(); });
}
BooleanEvent BooleanEvent::operator||(std::function<bool()> rhs) {
return BooleanEvent(this->m_loop,
- [lhs = m_condition, rhs] { return lhs() || rhs(); });
+ [state = m_state, rhs] { return *state || rhs(); });
}
BooleanEvent BooleanEvent::Rising() {
- return BooleanEvent(
- this->m_loop, [lhs = m_condition, m_previous = m_condition()]() mutable {
- bool present = lhs();
- bool past = m_previous;
- m_previous = present;
- return !past && present;
- });
+ return BooleanEvent(this->m_loop,
+ [state = m_state, m_previous = *m_state]() mutable {
+ bool present = *state;
+ bool past = m_previous;
+ m_previous = present;
+ return !past && present;
+ });
}
BooleanEvent BooleanEvent::Falling() {
- return BooleanEvent(
- this->m_loop, [lhs = m_condition, m_previous = m_condition()]() mutable {
- bool present = lhs();
- bool past = m_previous;
- m_previous = present;
- return past && !present;
- });
+ return BooleanEvent(this->m_loop,
+ [state = m_state, m_previous = *m_state]() mutable {
+ bool present = *state;
+ bool past = m_previous;
+ m_previous = present;
+ return past && !present;
+ });
}
BooleanEvent BooleanEvent::Debounce(units::second_t debounceTime,
@@ -64,5 +69,5 @@
return BooleanEvent(
this->m_loop,
[debouncer = frc::Debouncer(debounceTime, type),
- lhs = m_condition]() mutable { return debouncer.Calculate(lhs()); });
+ state = m_state]() mutable { return debouncer.Calculate(*state); });
}
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/DMC60.cpp b/wpilibc/src/main/native/cpp/motorcontrol/DMC60.cpp
index 81fa868..ec13698 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/DMC60.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/DMC60.cpp
@@ -9,7 +9,7 @@
using namespace frc;
DMC60::DMC60(int channel) : PWMMotorController("DMC60", channel) {
- m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+ m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.50_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/Jaguar.cpp b/wpilibc/src/main/native/cpp/motorcontrol/Jaguar.cpp
index c68ae0c..a152566 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/Jaguar.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/Jaguar.cpp
@@ -9,7 +9,7 @@
using namespace frc;
Jaguar::Jaguar(int channel) : PWMMotorController("Jaguar", channel) {
- m_pwm.SetBounds(2.31, 1.55, 1.507, 1.454, 0.697);
+ m_pwm.SetBounds(2.31_ms, 1.55_ms, 1.507_ms, 1.454_ms, 0.697_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp b/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
index 01c70d0..f25aa91 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
@@ -30,7 +30,7 @@
if (!m_disabled) {
m_speed = speed;
m_dio.UpdateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
- m_pwm.SetRaw(0xffff);
+ m_pwm.SetAlwaysHighMode();
}
Feed();
}
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMSparkMax.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMSparkMax.cpp
index 608d452..56c3a45 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/PWMSparkMax.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMSparkMax.cpp
@@ -10,7 +10,7 @@
PWMSparkMax::PWMSparkMax(int channel)
: PWMMotorController("PWMSparkMax", channel) {
- m_pwm.SetBounds(2.003, 1.55, 1.50, 1.46, 0.999);
+ m_pwm.SetBounds(2.003_ms, 1.55_ms, 1.50_ms, 1.46_ms, 0.999_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMTalonFX.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMTalonFX.cpp
index 2c6982b..51327b0 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/PWMTalonFX.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMTalonFX.cpp
@@ -10,7 +10,7 @@
PWMTalonFX::PWMTalonFX(int channel)
: PWMMotorController("PWMTalonFX", channel) {
- m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+ m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.50_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMTalonSRX.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMTalonSRX.cpp
index b253412..ee579ed 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/PWMTalonSRX.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMTalonSRX.cpp
@@ -10,7 +10,7 @@
PWMTalonSRX::PWMTalonSRX(int channel)
: PWMMotorController("PWMTalonSRX", channel) {
- m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+ m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.50_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMVenom.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMVenom.cpp
index e558028..24041c8 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/PWMVenom.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMVenom.cpp
@@ -9,7 +9,7 @@
using namespace frc;
PWMVenom::PWMVenom(int channel) : PWMMotorController("PWMVenom", channel) {
- m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+ m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.50_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMVictorSPX.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMVictorSPX.cpp
index 10ce992..4aeb399 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/PWMVictorSPX.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMVictorSPX.cpp
@@ -10,7 +10,7 @@
PWMVictorSPX::PWMVictorSPX(int channel)
: PWMMotorController("PWMVictorSPX", channel) {
- m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+ m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.50_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/SD540.cpp b/wpilibc/src/main/native/cpp/motorcontrol/SD540.cpp
index 3d5738f..7b6b838 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/SD540.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/SD540.cpp
@@ -9,7 +9,7 @@
using namespace frc;
SD540::SD540(int channel) : PWMMotorController("SD540", channel) {
- m_pwm.SetBounds(2.05, 1.55, 1.50, 1.44, 0.94);
+ m_pwm.SetBounds(2.05_ms, 1.55_ms, 1.50_ms, 1.44_ms, 0.94_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/Spark.cpp b/wpilibc/src/main/native/cpp/motorcontrol/Spark.cpp
index 45394df..05ecb89 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/Spark.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/Spark.cpp
@@ -9,7 +9,7 @@
using namespace frc;
Spark::Spark(int channel) : PWMMotorController("Spark", channel) {
- m_pwm.SetBounds(2.003, 1.55, 1.50, 1.46, 0.999);
+ m_pwm.SetBounds(2.003_ms, 1.55_ms, 1.50_ms, 1.46_ms, 0.999_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/Talon.cpp b/wpilibc/src/main/native/cpp/motorcontrol/Talon.cpp
index f4b3b69..4994baf 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/Talon.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/Talon.cpp
@@ -9,7 +9,7 @@
using namespace frc;
Talon::Talon(int channel) : PWMMotorController("Talon", channel) {
- m_pwm.SetBounds(2.037, 1.539, 1.513, 1.487, 0.989);
+ m_pwm.SetBounds(2.037_ms, 1.539_ms, 1.513_ms, 1.487_ms, 0.989_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/Victor.cpp b/wpilibc/src/main/native/cpp/motorcontrol/Victor.cpp
index 3ad29f7..a05900f 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/Victor.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/Victor.cpp
@@ -9,7 +9,7 @@
using namespace frc;
Victor::Victor(int channel) : PWMMotorController("Victor", channel) {
- m_pwm.SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
+ m_pwm.SetBounds(2.027_ms, 1.525_ms, 1.507_ms, 1.49_ms, 1.026_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_2X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/VictorSP.cpp b/wpilibc/src/main/native/cpp/motorcontrol/VictorSP.cpp
index 6dc888e..27419fb 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/VictorSP.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/VictorSP.cpp
@@ -9,7 +9,7 @@
using namespace frc;
VictorSP::VictorSP(int channel) : PWMMotorController("VictorSP", channel) {
- m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+ m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.50_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
diff --git a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp
index a315b90..a19cc6a 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp
@@ -20,12 +20,16 @@
bool tabsChanged = false;
std::shared_ptr<nt::NetworkTable> rootTable;
std::shared_ptr<nt::NetworkTable> rootMetaTable;
+ nt::StringPublisher selectedTabPub;
};
ShuffleboardInstance::ShuffleboardInstance(nt::NetworkTableInstance ntInstance)
: m_impl(new Impl) {
m_impl->rootTable = ntInstance.GetTable(Shuffleboard::kBaseTableName);
m_impl->rootMetaTable = m_impl->rootTable->GetSubTable(".metadata");
+ m_impl->selectedTabPub =
+ m_impl->rootMetaTable->GetStringTopic("Selected")
+ .Publish(nt::PubSubOptions{.keepDuplicates = true});
HAL_Report(HALUsageReporting::kResourceType_Shuffleboard, 0);
}
@@ -75,9 +79,9 @@
}
void ShuffleboardInstance::SelectTab(int index) {
- m_impl->rootMetaTable->GetEntry("Selected").SetDouble(index);
+ m_impl->selectedTabPub.Set(std::to_string(index));
}
void ShuffleboardInstance::SelectTab(std::string_view title) {
- m_impl->rootMetaTable->GetEntry("Selected").SetString(title);
+ m_impl->selectedTabPub.Set(title);
}
diff --git a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
index bda2020..c0448ea 100644
--- a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
@@ -24,6 +24,11 @@
: DCMotorSim(LinearSystemId::DCMotorSystem(gearbox, moi, gearing), gearbox,
gearing, measurementStdDevs) {}
+void DCMotorSim::SetState(units::radian_t angularPosition,
+ units::radians_per_second_t angularVelocity) {
+ SetState(Vectord<2>{angularPosition, angularVelocity});
+}
+
units::radian_t DCMotorSim::GetAngularPosition() const {
return units::radian_t{GetOutput(0)};
}
diff --git a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
index b6c95dc..8c27cdf 100644
--- a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
@@ -41,7 +41,8 @@
driveMotor, mass, wheelRadius, trackWidth / 2.0, J, gearing),
trackWidth, driveMotor, gearing, wheelRadius, measurementStdDevs) {}
-Vectord<2> DifferentialDrivetrainSim::ClampInput(const Vectord<2>& u) {
+Eigen::Vector2d DifferentialDrivetrainSim::ClampInput(
+ const Eigen::Vector2d& u) {
return frc::DesaturateInputVector<2>(u,
frc::RobotController::GetInputVoltage());
}
@@ -128,7 +129,7 @@
}
Vectord<7> DifferentialDrivetrainSim::Dynamics(const Vectord<7>& x,
- const Vectord<2>& u) {
+ const Eigen::Vector2d& u) {
// Because G² can be factored out of A, we can divide by the old ratio
// squared and multiply by the new ratio squared to get a new drivetrain
// model.
diff --git a/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp b/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
index cb83ccb..3df775d 100644
--- a/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DutyCycleEncoderSim.cpp
@@ -9,17 +9,49 @@
using namespace frc::sim;
-DutyCycleEncoderSim::DutyCycleEncoderSim(const frc::DutyCycleEncoder& encoder) {
- frc::sim::SimDeviceSim deviceSim{"DutyCycle:DutyCycleEncoder",
- encoder.GetSourceChannel()};
+DutyCycleEncoderSim::DutyCycleEncoderSim(const frc::DutyCycleEncoder& encoder)
+ : DutyCycleEncoderSim{encoder.GetSourceChannel()} {}
+
+DutyCycleEncoderSim::DutyCycleEncoderSim(int channel) {
+ frc::sim::SimDeviceSim deviceSim{"DutyCycle:DutyCycleEncoder", channel};
m_simPosition = deviceSim.GetDouble("position");
m_simDistancePerRotation = deviceSim.GetDouble("distance_per_rot");
+ m_simAbsolutePosition = deviceSim.GetDouble("absPosition");
+ m_simIsConnected = deviceSim.GetBoolean("connected");
+}
+
+double DutyCycleEncoderSim::Get() {
+ return m_simPosition.Get();
}
void DutyCycleEncoderSim::Set(units::turn_t turns) {
m_simPosition.Set(turns.value());
}
+double DutyCycleEncoderSim::GetDistance() {
+ return m_simPosition.Get() * m_simDistancePerRotation.Get();
+}
+
void DutyCycleEncoderSim::SetDistance(double distance) {
m_simPosition.Set(distance / m_simDistancePerRotation.Get());
}
+
+double DutyCycleEncoderSim::GetAbsolutePosition() {
+ return m_simAbsolutePosition.Get();
+}
+
+void DutyCycleEncoderSim::SetAbsolutePosition(double position) {
+ m_simAbsolutePosition.Set(position);
+}
+
+double DutyCycleEncoderSim::GetDistancePerRotation() {
+ return m_simDistancePerRotation.Get();
+}
+
+bool DutyCycleEncoderSim::IsConnected() {
+ return m_simIsConnected.Get();
+}
+
+void DutyCycleEncoderSim::SetConnected(bool isConnected) {
+ m_simIsConnected.Set(isConnected);
+}
diff --git a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
index 529fb1a..0281730 100644
--- a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
@@ -13,39 +13,54 @@
using namespace frc::sim;
ElevatorSim::ElevatorSim(const LinearSystem<2, 1, 1>& plant,
- const DCMotor& gearbox, double gearing,
- units::meter_t drumRadius, units::meter_t minHeight,
+ const DCMotor& gearbox, units::meter_t minHeight,
units::meter_t maxHeight, bool simulateGravity,
+ units::meter_t startingHeight,
const std::array<double, 1>& measurementStdDevs)
: LinearSystemSim(plant, measurementStdDevs),
m_gearbox(gearbox),
- m_drumRadius(drumRadius),
m_minHeight(minHeight),
m_maxHeight(maxHeight),
- m_gearing(gearing),
- m_simulateGravity(simulateGravity) {}
+ m_simulateGravity(simulateGravity) {
+ SetState(startingHeight, 0_mps);
+}
ElevatorSim::ElevatorSim(const DCMotor& gearbox, double gearing,
units::kilogram_t carriageMass,
units::meter_t drumRadius, units::meter_t minHeight,
units::meter_t maxHeight, bool simulateGravity,
+ units::meter_t startingHeight,
const std::array<double, 1>& measurementStdDevs)
- : LinearSystemSim(LinearSystemId::ElevatorSystem(gearbox, carriageMass,
- drumRadius, gearing),
- measurementStdDevs),
- m_gearbox(gearbox),
- m_drumRadius(drumRadius),
- m_minHeight(minHeight),
- m_maxHeight(maxHeight),
- m_gearing(gearing),
- m_simulateGravity(simulateGravity) {}
+ : ElevatorSim(LinearSystemId::ElevatorSystem(gearbox, carriageMass,
+ drumRadius, gearing),
+ gearbox, minHeight, maxHeight, simulateGravity,
+ startingHeight, measurementStdDevs) {}
+
+template <typename Distance>
+ requires std::same_as<units::meter, Distance> ||
+ std::same_as<units::radian, Distance>
+ElevatorSim::ElevatorSim(decltype(1_V / Velocity_t<Distance>(1)) kV,
+ decltype(1_V / Acceleration_t<Distance>(1)) kA,
+ const DCMotor& gearbox, units::meter_t minHeight,
+ units::meter_t maxHeight, bool simulateGravity,
+ units::meter_t startingHeight,
+ const std::array<double, 1>& measurementStdDevs)
+ : ElevatorSim(LinearSystemId::IdentifyPositionSystem(kV, kA), gearbox,
+ minHeight, maxHeight, simulateGravity, startingHeight,
+ measurementStdDevs) {}
+
+void ElevatorSim::SetState(units::meter_t position,
+ units::meters_per_second_t velocity) {
+ SetState(
+ Vectord<2>{std::clamp(position, m_minHeight, m_maxHeight), velocity});
+}
bool ElevatorSim::WouldHitLowerLimit(units::meter_t elevatorHeight) const {
- return elevatorHeight < m_minHeight;
+ return elevatorHeight <= m_minHeight;
}
bool ElevatorSim::WouldHitUpperLimit(units::meter_t elevatorHeight) const {
- return elevatorHeight > m_maxHeight;
+ return elevatorHeight >= m_maxHeight;
}
bool ElevatorSim::HasHitLowerLimit() const {
@@ -69,10 +84,12 @@
// Reductions are greater than 1, so a reduction of 10:1 would mean the motor
// is spinning 10x faster than the output.
- // v = r w, so w = v / r
+ double kA = 1.0 / m_plant.B(1, 0);
+ using Kv_t = units::unit_t<units::compound_unit<
+ units::volt, units::inverse<units::meters_per_second>>>;
+ Kv_t Kv = Kv_t{kA * m_plant.A(1, 1)};
units::meters_per_second_t velocity{m_x(1)};
- units::radians_per_second_t motorVelocity =
- velocity / m_drumRadius * m_gearing * 1_rad;
+ units::radians_per_second_t motorVelocity = velocity * Kv * m_gearbox.Kv;
// Perform calculation and return.
return m_gearbox.Current(motorVelocity, units::volt_t{m_u(0)}) *
diff --git a/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp b/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp
index 146328d..9709b4c 100644
--- a/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/EncoderSim.cpp
@@ -191,7 +191,7 @@
HALSIM_SetEncoderDistance(m_index, distance);
}
-double EncoderSim::GetDistance() {
+double EncoderSim::GetDistance() const {
return HALSIM_GetEncoderDistance(m_index);
}
@@ -199,6 +199,6 @@
HALSIM_SetEncoderRate(m_index, rate);
}
-double EncoderSim::GetRate() {
+double EncoderSim::GetRate() const {
return HALSIM_GetEncoderRate(m_index);
}
diff --git a/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp b/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
index 95dcb9e..f4b9a81 100644
--- a/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
@@ -24,6 +24,10 @@
: FlywheelSim(LinearSystemId::FlywheelSystem(gearbox, moi, gearing),
gearbox, gearing, measurementStdDevs) {}
+void FlywheelSim::SetState(units::radians_per_second_t velocity) {
+ LinearSystemSim::SetState(Vectord<1>{velocity.value()});
+}
+
units::radians_per_second_t FlywheelSim::GetAngularVelocity() const {
return units::radians_per_second_t{GetOutput(0)};
}
diff --git a/wpilibc/src/main/native/cpp/simulation/PS5ControllerSim.cpp b/wpilibc/src/main/native/cpp/simulation/PS5ControllerSim.cpp
new file mode 100644
index 0000000..e20105c
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/simulation/PS5ControllerSim.cpp
@@ -0,0 +1,103 @@
+// 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 "frc/simulation/PS5ControllerSim.h"
+
+#include "frc/PS5Controller.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+PS5ControllerSim::PS5ControllerSim(const PS5Controller& joystick)
+ : GenericHIDSim{joystick} {
+ SetAxisCount(6);
+ SetButtonCount(14);
+ SetPOVCount(1);
+}
+
+PS5ControllerSim::PS5ControllerSim(int port) : GenericHIDSim{port} {
+ SetAxisCount(6);
+ SetButtonCount(14);
+ SetPOVCount(1);
+}
+
+void PS5ControllerSim::SetLeftX(double value) {
+ SetRawAxis(PS5Controller::Axis::kLeftX, value);
+}
+
+void PS5ControllerSim::SetRightX(double value) {
+ SetRawAxis(PS5Controller::Axis::kRightX, value);
+}
+
+void PS5ControllerSim::SetLeftY(double value) {
+ SetRawAxis(PS5Controller::Axis::kLeftY, value);
+}
+
+void PS5ControllerSim::SetRightY(double value) {
+ SetRawAxis(PS5Controller::Axis::kRightY, value);
+}
+
+void PS5ControllerSim::SetL2Axis(double value) {
+ SetRawAxis(PS5Controller::Axis::kL2, value);
+}
+
+void PS5ControllerSim::SetR2Axis(double value) {
+ SetRawAxis(PS5Controller::Axis::kR2, value);
+}
+
+void PS5ControllerSim::SetSquareButton(bool value) {
+ SetRawButton(PS5Controller::Button::kSquare, value);
+}
+
+void PS5ControllerSim::SetCrossButton(bool value) {
+ SetRawButton(PS5Controller::Button::kCross, value);
+}
+
+void PS5ControllerSim::SetCircleButton(bool value) {
+ SetRawButton(PS5Controller::Button::kCircle, value);
+}
+
+void PS5ControllerSim::SetTriangleButton(bool value) {
+ SetRawButton(PS5Controller::Button::kTriangle, value);
+}
+
+void PS5ControllerSim::SetL1Button(bool value) {
+ SetRawButton(PS5Controller::Button::kL1, value);
+}
+
+void PS5ControllerSim::SetR1Button(bool value) {
+ SetRawButton(PS5Controller::Button::kR1, value);
+}
+
+void PS5ControllerSim::SetL2Button(bool value) {
+ SetRawButton(PS5Controller::Button::kL2, value);
+}
+
+void PS5ControllerSim::SetR2Button(bool value) {
+ SetRawButton(PS5Controller::Button::kR2, value);
+}
+
+void PS5ControllerSim::SetCreateButton(bool value) {
+ SetRawButton(PS5Controller::Button::kCreate, value);
+}
+
+void PS5ControllerSim::SetOptionsButton(bool value) {
+ SetRawButton(PS5Controller::Button::kOptions, value);
+}
+
+void PS5ControllerSim::SetL3Button(bool value) {
+ SetRawButton(PS5Controller::Button::kL3, value);
+}
+
+void PS5ControllerSim::SetR3Button(bool value) {
+ SetRawButton(PS5Controller::Button::kR3, value);
+}
+
+void PS5ControllerSim::SetPSButton(bool value) {
+ SetRawButton(PS5Controller::Button::kPS, value);
+}
+
+void PS5ControllerSim::SetTouchpad(bool value) {
+ SetRawButton(PS5Controller::Button::kTouchpad, value);
+}
diff --git a/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp b/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
index 3fafa8e..9332c78 100644
--- a/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp
@@ -39,21 +39,21 @@
HALSIM_SetPWMInitialized(m_index, initialized);
}
-std::unique_ptr<CallbackStore> PWMSim::RegisterRawValueCallback(
+std::unique_ptr<CallbackStore> PWMSim::RegisterPulseMicrosecondCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
- m_index, -1, callback, &HALSIM_CancelPWMRawValueCallback);
- store->SetUid(HALSIM_RegisterPWMRawValueCallback(m_index, &CallbackStoreThunk,
- store.get(), initialNotify));
+ m_index, -1, callback, &HALSIM_CancelPWMPulseMicrosecondCallback);
+ store->SetUid(HALSIM_RegisterPWMPulseMicrosecondCallback(
+ m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
-int PWMSim::GetRawValue() const {
- return HALSIM_GetPWMRawValue(m_index);
+int32_t PWMSim::GetPulseMicrosecond() const {
+ return HALSIM_GetPWMPulseMicrosecond(m_index);
}
-void PWMSim::SetRawValue(int rawValue) {
- HALSIM_SetPWMRawValue(m_index, rawValue);
+void PWMSim::SetPulseMicrosecond(int32_t microsecondPulseTime) {
+ HALSIM_SetPWMPulseMicrosecond(m_index, microsecondPulseTime);
}
std::unique_ptr<CallbackStore> PWMSim::RegisterSpeedCallback(
diff --git a/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp b/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
index 6d0f809..90d9651 100644
--- a/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
@@ -284,6 +284,40 @@
HALSIM_SetRoboRioBrownoutVoltage(vInVoltage.value());
}
+std::unique_ptr<CallbackStore> RoboRioSim::RegisterCPUTempCallback(
+ NotifyCallback callback, bool initialNotify) {
+ auto store = std::make_unique<CallbackStore>(
+ -1, callback, &HALSIM_CancelRoboRioCPUTempCallback);
+ store->SetUid(HALSIM_RegisterRoboRioCPUTempCallback(
+ &CallbackStoreThunk, store.get(), initialNotify));
+ return store;
+}
+
+units::celsius_t RoboRioSim::GetCPUTemp() {
+ return units::celsius_t{HALSIM_GetRoboRioCPUTemp()};
+}
+
+void RoboRioSim::SetCPUTemp(units::celsius_t cpuTemp) {
+ HALSIM_SetRoboRioCPUTemp(cpuTemp.value());
+}
+
+std::unique_ptr<CallbackStore> RoboRioSim::RegisterTeamNumberCallback(
+ NotifyCallback callback, bool initialNotify) {
+ auto store = std::make_unique<CallbackStore>(
+ -1, callback, &HALSIM_CancelRoboRioTeamNumberCallback);
+ store->SetUid(HALSIM_RegisterRoboRioTeamNumberCallback(
+ &CallbackStoreThunk, store.get(), initialNotify));
+ return store;
+}
+
+int32_t RoboRioSim::GetTeamNumber() {
+ return HALSIM_GetRoboRioTeamNumber();
+}
+
+void RoboRioSim::SetTeamNumber(int32_t teamNumber) {
+ HALSIM_SetRoboRioTeamNumber(teamNumber);
+}
+
std::string RoboRioSim::GetSerialNumber() {
char serialNum[9];
size_t len = HALSIM_GetRoboRioSerialNumber(serialNum, sizeof(serialNum));
diff --git a/wpilibc/src/main/native/cpp/simulation/SimDeviceSim.cpp b/wpilibc/src/main/native/cpp/simulation/SimDeviceSim.cpp
index 34fd1e3..70e43e7 100644
--- a/wpilibc/src/main/native/cpp/simulation/SimDeviceSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SimDeviceSim.cpp
@@ -27,6 +27,12 @@
fmt::format("{}[{},{}]", name, index, channel).c_str());
}
+SimDeviceSim::SimDeviceSim(HAL_SimDeviceHandle handle) : m_handle(handle) {}
+
+std::string SimDeviceSim::GetName() const {
+ return std::string(HALSIM_GetSimDeviceName(m_handle));
+}
+
hal::SimValue SimDeviceSim::GetValue(const char* name) const {
return HALSIM_GetSimValueHandle(m_handle, name);
}
diff --git a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
index 88e45c6..d9969ca 100644
--- a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
@@ -18,26 +18,34 @@
SingleJointedArmSim::SingleJointedArmSim(
const LinearSystem<2, 1, 1>& system, const DCMotor& gearbox, double gearing,
units::meter_t armLength, units::radian_t minAngle,
- units::radian_t maxAngle, units::kilogram_t armMass, bool simulateGravity,
+ units::radian_t maxAngle, bool simulateGravity,
+ units::radian_t startingAngle,
const std::array<double, 1>& measurementStdDevs)
: LinearSystemSim<2, 1, 1>(system, measurementStdDevs),
- m_r(armLength),
+ m_armLen(armLength),
m_minAngle(minAngle),
m_maxAngle(maxAngle),
- m_armMass(armMass),
m_gearbox(gearbox),
m_gearing(gearing),
- m_simulateGravity(simulateGravity) {}
+ m_simulateGravity(simulateGravity) {
+ SetState(startingAngle, 0_rad_per_s);
+}
SingleJointedArmSim::SingleJointedArmSim(
const DCMotor& gearbox, double gearing, units::kilogram_square_meter_t moi,
units::meter_t armLength, units::radian_t minAngle,
- units::radian_t maxAngle, units::kilogram_t armMass, bool simulateGravity,
+ units::radian_t maxAngle, bool simulateGravity,
+ units::radian_t startingAngle,
const std::array<double, 1>& measurementStdDevs)
: SingleJointedArmSim(
LinearSystemId::SingleJointedArmSystem(gearbox, moi, gearing),
- gearbox, gearing, armLength, minAngle, maxAngle, armMass,
- simulateGravity, measurementStdDevs) {}
+ gearbox, gearing, armLength, minAngle, maxAngle, simulateGravity,
+ startingAngle, measurementStdDevs) {}
+
+void SingleJointedArmSim::SetState(units::radian_t angle,
+ units::radians_per_second_t velocity) {
+ SetState(Vectord<2>{std::clamp(angle, m_minAngle, m_maxAngle), velocity});
+}
bool SingleJointedArmSim::WouldHitLowerLimit(units::radian_t armAngle) const {
return armAngle <= m_minAngle;
@@ -78,24 +86,37 @@
Vectord<2> SingleJointedArmSim::UpdateX(const Vectord<2>& currentXhat,
const Vectord<1>& u,
units::second_t dt) {
- // Horizontal case:
- // Torque = F * r = I * alpha
- // alpha = F * r / I
- // Since F = mg,
- // alpha = m * g * r / I
- // Finally, multiply RHS by cos(theta) to account for the arm angle
- // This acceleration is added to the linear system dynamics x-dot = Ax + Bu
- // We therefore find that f(x, u) = Ax + Bu + [[0] [m * g * r / I *
- // std::cos(theta)]]
+ // The torque on the arm is given by τ = F⋅r, where F is the force applied by
+ // gravity and r the distance from pivot to center of mass. Recall from
+ // dynamics that the sum of torques for a rigid body is τ = J⋅α, were τ is
+ // torque on the arm, J is the mass-moment of inertia about the pivot axis,
+ // and α is the angular acceleration in rad/s². Rearranging yields: α = F⋅r/J
+ //
+ // We substitute in F = m⋅g⋅cos(θ), where θ is the angle from horizontal:
+ //
+ // α = (m⋅g⋅cos(θ))⋅r/J
+ //
+ // Multiply RHS by cos(θ) to account for the arm angle. Further, we know the
+ // arm mass-moment of inertia J of our arm is given by J=1/3 mL², modeled as a
+ // rod rotating about it's end, where L is the overall rod length. The mass
+ // distribution is assumed to be uniform. Substitute r=L/2 to find:
+ //
+ // α = (m⋅g⋅cos(θ))⋅r/(1/3 mL²)
+ // α = (m⋅g⋅cos(θ))⋅(L/2)/(1/3 mL²)
+ // α = 3/2⋅g⋅cos(θ)/L
+ //
+ // This acceleration is next added to the linear system dynamics ẋ=Ax+Bu
+ //
+ // f(x, u) = Ax + Bu + [0 α]ᵀ
+ // f(x, u) = Ax + Bu + [0 3/2⋅g⋅cos(θ)/L]ᵀ
Vectord<2> updatedXhat = RKDP(
[&](const auto& x, const auto& u) -> Vectord<2> {
Vectord<2> xdot = m_plant.A() * x + m_plant.B() * u;
if (m_simulateGravity) {
- xdot += Vectord<2>{0.0, (m_armMass * m_r * -9.8 * 3.0 /
- (m_armMass * m_r * m_r) * std::cos(x(0)))
- .value()};
+ xdot += Vectord<2>{
+ 0.0, (3.0 / 2.0 * -9.8 / m_armLen * std::cos(x(0))).value()};
}
return xdot;
},
diff --git a/wpilibc/src/main/native/cpp/simulation/UltrasonicSim.cpp b/wpilibc/src/main/native/cpp/simulation/UltrasonicSim.cpp
index d2d1687..30a5650 100644
--- a/wpilibc/src/main/native/cpp/simulation/UltrasonicSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/UltrasonicSim.cpp
@@ -9,8 +9,11 @@
using namespace frc::sim;
-UltrasonicSim::UltrasonicSim(const frc::Ultrasonic& ultrasonic) {
- frc::sim::SimDeviceSim deviceSim{"Ultrasonic", ultrasonic.GetEchoChannel()};
+UltrasonicSim::UltrasonicSim(const frc::Ultrasonic& ultrasonic)
+ : UltrasonicSim(0, ultrasonic.GetEchoChannel()) {}
+
+UltrasonicSim::UltrasonicSim(int ping, int echo) {
+ frc::sim::SimDeviceSim deviceSim{"Ultrasonic", echo};
m_simRangeValid = deviceSim.GetBoolean("Range Valid");
m_simRange = deviceSim.GetDouble("Range (in)");
}
@@ -19,6 +22,6 @@
m_simRangeValid.Set(isValid);
}
-void UltrasonicSim::SetRange(units::meter_t range) {
+void UltrasonicSim::SetRange(units::inch_t range) {
m_simRange.Set(range.value());
}
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
index 355cbc6..1bee916 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
@@ -4,7 +4,6 @@
#include "frc/smartdashboard/Mechanism2d.h"
-#include <cstdio>
#include <string_view>
#include <networktables/NTSendableBuilder.h>
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
index a43aa16..75ec44e 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
@@ -4,7 +4,7 @@
#include "frc/smartdashboard/MechanismLigament2d.h"
-#include <cstdio>
+#include <wpi/StringExtras.h>
using namespace frc;
@@ -36,8 +36,10 @@
void MechanismLigament2d::SetColor(const Color8Bit& color) {
std::scoped_lock lock(m_mutex);
- std::snprintf(m_color, sizeof(m_color), "#%02X%02X%02X", color.red,
- color.green, color.blue);
+
+ wpi::format_to_n_c_str(m_color, sizeof(m_color), "#{:02X}{:02X}{:02X}",
+ color.red, color.green, color.blue);
+
if (m_colorEntry) {
m_colorEntry.Set(m_color);
}
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
index 79b0e6e..c063850 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
@@ -141,6 +141,14 @@
m_properties.emplace_back(std::move(prop));
}
+template <typename Topic, typename Value>
+void SendableBuilderImpl::PublishConstImpl(Topic topic, Value value) {
+ auto prop = std::make_unique<PropertyImpl<Topic>>();
+ prop->pub = topic.Publish();
+ prop->pub.Set(value);
+ m_properties.emplace_back(std::move(prop));
+}
+
void SendableBuilderImpl::AddBooleanProperty(std::string_view key,
std::function<bool()> getter,
std::function<void(bool)> setter) {
@@ -148,6 +156,11 @@
std::move(setter));
}
+void SendableBuilderImpl::PublishConstBoolean(std::string_view key,
+ bool value) {
+ PublishConstImpl(m_table->GetBooleanTopic(key), value);
+}
+
void SendableBuilderImpl::AddIntegerProperty(
std::string_view key, std::function<int64_t()> getter,
std::function<void(int64_t)> setter) {
@@ -155,6 +168,11 @@
std::move(setter));
}
+void SendableBuilderImpl::PublishConstInteger(std::string_view key,
+ int64_t value) {
+ PublishConstImpl(m_table->GetIntegerTopic(key), value);
+}
+
void SendableBuilderImpl::AddFloatProperty(std::string_view key,
std::function<float()> getter,
std::function<void(float)> setter) {
@@ -162,6 +180,10 @@
std::move(setter));
}
+void SendableBuilderImpl::PublishConstFloat(std::string_view key, float value) {
+ PublishConstImpl(m_table->GetFloatTopic(key), value);
+}
+
void SendableBuilderImpl::AddDoubleProperty(
std::string_view key, std::function<double()> getter,
std::function<void(double)> setter) {
@@ -169,6 +191,11 @@
std::move(setter));
}
+void SendableBuilderImpl::PublishConstDouble(std::string_view key,
+ double value) {
+ PublishConstImpl(m_table->GetDoubleTopic(key), value);
+}
+
void SendableBuilderImpl::AddStringProperty(
std::string_view key, std::function<std::string()> getter,
std::function<void(std::string_view)> setter) {
@@ -176,6 +203,11 @@
std::move(setter));
}
+void SendableBuilderImpl::PublishConstString(std::string_view key,
+ std::string_view value) {
+ PublishConstImpl(m_table->GetStringTopic(key), value);
+}
+
void SendableBuilderImpl::AddBooleanArrayProperty(
std::string_view key, std::function<std::vector<int>()> getter,
std::function<void(std::span<const int>)> setter) {
@@ -183,6 +215,11 @@
std::move(setter));
}
+void SendableBuilderImpl::PublishConstBooleanArray(std::string_view key,
+ std::span<const int> value) {
+ PublishConstImpl(m_table->GetBooleanArrayTopic(key), value);
+}
+
void SendableBuilderImpl::AddIntegerArrayProperty(
std::string_view key, std::function<std::vector<int64_t>()> getter,
std::function<void(std::span<const int64_t>)> setter) {
@@ -190,6 +227,11 @@
std::move(setter));
}
+void SendableBuilderImpl::PublishConstIntegerArray(
+ std::string_view key, std::span<const int64_t> value) {
+ PublishConstImpl(m_table->GetIntegerArrayTopic(key), value);
+}
+
void SendableBuilderImpl::AddFloatArrayProperty(
std::string_view key, std::function<std::vector<float>()> getter,
std::function<void(std::span<const float>)> setter) {
@@ -197,6 +239,11 @@
std::move(setter));
}
+void SendableBuilderImpl::PublishConstFloatArray(std::string_view key,
+ std::span<const float> value) {
+ PublishConstImpl(m_table->GetFloatArrayTopic(key), value);
+}
+
void SendableBuilderImpl::AddDoubleArrayProperty(
std::string_view key, std::function<std::vector<double>()> getter,
std::function<void(std::span<const double>)> setter) {
@@ -204,6 +251,11 @@
std::move(setter));
}
+void SendableBuilderImpl::PublishConstDoubleArray(
+ std::string_view key, std::span<const double> value) {
+ PublishConstImpl(m_table->GetDoubleArrayTopic(key), value);
+}
+
void SendableBuilderImpl::AddStringArrayProperty(
std::string_view key, std::function<std::vector<std::string>()> getter,
std::function<void(std::span<const std::string>)> setter) {
@@ -211,6 +263,11 @@
std::move(setter));
}
+void SendableBuilderImpl::PublishConstStringArray(
+ std::string_view key, std::span<const std::string> value) {
+ PublishConstImpl(m_table->GetStringArrayTopic(key), value);
+}
+
void SendableBuilderImpl::AddRawProperty(
std::string_view key, std::string_view typeString,
std::function<std::vector<uint8_t>()> getter,
@@ -235,6 +292,16 @@
m_properties.emplace_back(std::move(prop));
}
+void SendableBuilderImpl::PublishConstRaw(std::string_view key,
+ std::string_view typeString,
+ std::span<const uint8_t> value) {
+ auto topic = m_table->GetRawTopic(key);
+ auto prop = std::make_unique<PropertyImpl<nt::RawTopic>>();
+ prop->pub = topic.Publish(typeString);
+ prop->pub.Set(value);
+ m_properties.emplace_back(std::move(prop));
+}
+
template <typename T, size_t Size, typename Topic, typename Getter,
typename Setter>
void SendableBuilderImpl::AddSmallPropertyImpl(Topic topic, Getter getter,
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
index 9fa5b69..f19d9e4 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
@@ -19,8 +19,6 @@
m_defaultChoice(std::move(oth.m_defaultChoice)),
m_selected(std::move(oth.m_selected)),
m_haveSelected(std::move(oth.m_haveSelected)),
- m_instancePubs(std::move(oth.m_instancePubs)),
- m_activePubs(std::move(oth.m_activePubs)),
m_instance(std::move(oth.m_instance)) {}
SendableChooserBase& SendableChooserBase::operator=(SendableChooserBase&& oth) {
@@ -29,8 +27,6 @@
m_defaultChoice = std::move(oth.m_defaultChoice);
m_selected = std::move(oth.m_selected);
m_haveSelected = std::move(oth.m_haveSelected);
- m_instancePubs = std::move(oth.m_instancePubs);
- m_activePubs = std::move(oth.m_activePubs);
m_instance = std::move(oth.m_instance);
return *this;
}