Merge commit 'd086b07d67de14426a0e82dbdeb3d5a92b86527d' into master
Update WPILib to the latest for 2022. This makes it so we can be
competition legal.
Change-Id: I80e0b237ec86181c1e4db1a0c30b09bce4977807
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/WORKSPACE b/WORKSPACE
index 514fb81..2aeb3a3 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -465,12 +465,12 @@
# Generated with:
# git fetch https://github.com/wpilibsuite/ni-libraries main
-# git archive --output=allwpilib_ni-libraries_987ab82a80232691d8e21c57c9f13d35d2c31f24.tar.gz --format=tar.gz 987ab82a80232691d8e21c57c9f13d35d2c31f24
+# git archive --output=allwpilib_ni-libraries_776db4e8aed31a651fa2f590e7468c69b384b42a.tar.gz --format=tar.gz 776db4e8aed31a651fa2f590e7468c69b384b42a
http_archive(
name = "allwpilib_ni_libraries",
build_file = "@//debian:ni-libraries.BUILD",
- sha256 = "f57dfc76ee3d8680aba8cfa6077e20cd47a2e5b2badd918ec3095d2c6300588f",
- url = "https://www.frc971.org/Build-Dependencies/allwpilib_ni-libraries_987ab82a80232691d8e21c57c9f13d35d2c31f24.tar.gz",
+ sha256 = "525b9d777cd00091b9095893c2e4fd0a70c7609c76db161161d407769ad4ba74",
+ url = "https://www.frc971.org/Build-Dependencies/allwpilib_ni-libraries_776db4e8aed31a651fa2f590e7468c69b384b42a.tar.gz",
)
# Downloaded from:
diff --git a/third_party/allwpilib/.github/workflows/cmake.yml b/third_party/allwpilib/.github/workflows/cmake.yml
index 4d36c91..c0c0be7 100644
--- a/third_party/allwpilib/.github/workflows/cmake.yml
+++ b/third_party/allwpilib/.github/workflows/cmake.yml
@@ -12,7 +12,7 @@
name: Linux
container: wpilib/roborio-cross-ubuntu:2022-20.04
flags: ""
- - os: macos-latest
+ - os: macOS-11
name: macOS
container: ""
flags: "-DWITH_JAVA=OFF"
@@ -43,7 +43,7 @@
build-vcpkg:
name: "Build - Windows"
- runs-on: windows-latest
+ runs-on: windows-2019
steps:
- uses: actions/checkout@v2
- name: Prepare vcpkg
diff --git a/third_party/allwpilib/.github/workflows/gradle.yml b/third_party/allwpilib/.github/workflows/gradle.yml
index d2c2efb..e05b3e6 100644
--- a/third_party/allwpilib/.github/workflows/gradle.yml
+++ b/third_party/allwpilib/.github/workflows/gradle.yml
@@ -44,13 +44,13 @@
fail-fast: false
matrix:
include:
- - os: windows-latest
+ - os: windows-2019
artifact-name: Win64
architecture: x64
- - os: windows-latest
+ - os: windows-2019
artifact-name: Win32
architecture: x86
- - os: macos-latest
+ - os: macOS-11
artifact-name: macOS
architecture: x64
name: "Build - ${{ matrix.artifact-name }}"
diff --git a/third_party/allwpilib/.styleguide b/third_party/allwpilib/.styleguide
index 5cbd3e7..b17762e 100644
--- a/third_party/allwpilib/.styleguide
+++ b/third_party/allwpilib/.styleguide
@@ -11,11 +11,13 @@
modifiableFileExclude {
\.patch$
+ gradlew
}
generatedFileExclude {
FRCNetComm\.java$
simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
+ fieldImages/src/main/native/resources/
}
repoRootNameOverride {
diff --git a/third_party/allwpilib/.wpilib/wpilib_preferences.json b/third_party/allwpilib/.wpilib/wpilib_preferences.json
index 683ba3b..043201c 100644
--- a/third_party/allwpilib/.wpilib/wpilib_preferences.json
+++ b/third_party/allwpilib/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
{
"enableCppIntellisense": true,
"currentLanguage": "cpp",
- "projectYear": "2021",
+ "projectYear": "intellisense",
"teamNumber": 0
}
diff --git a/third_party/allwpilib/CMakeLists.txt b/third_party/allwpilib/CMakeLists.txt
index e1cafea..5296f02 100644
--- a/third_party/allwpilib/CMakeLists.txt
+++ b/third_party/allwpilib/CMakeLists.txt
@@ -6,11 +6,17 @@
")
endif()
+if ("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
+ set(CMAKE_SYSTEM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
+ set(CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
+endif()
project(allwpilib)
cmake_minimum_required(VERSION 3.3.0)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
+message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
+
set(WPILIB_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
INCLUDE(CPack)
@@ -139,6 +145,8 @@
set (EIGEN_VCPKG_REPLACE "find_package(Eigen3 CONFIG)")
endif()
+find_package(LIBSSH 0.7.1)
+
if (WITH_FLAT_INSTALL)
set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
set(NTCORE_DEP_REPLACE "include($\{SELF_DIR\}/ntcore-config.cmake)")
@@ -247,10 +255,14 @@
endif()
if (WITH_GUI)
+ add_subdirectory(fieldImages)
add_subdirectory(imgui)
add_subdirectory(wpigui)
add_subdirectory(glass)
add_subdirectory(outlineviewer)
+ if (LIBSSH_FOUND)
+ add_subdirectory(roborioteamnumbersetter)
+ endif()
endif()
if (WITH_WPILIB OR WITH_SIMULATION_MODULES)
diff --git a/third_party/allwpilib/LICENSE.md b/third_party/allwpilib/LICENSE.md
index 3d5a824..91fd148 100644
--- a/third_party/allwpilib/LICENSE.md
+++ b/third_party/allwpilib/LICENSE.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2022 FIRST and other WPILib contributors
All rights reserved.
Redistribution and use in source and binary forms, with or without
diff --git a/third_party/allwpilib/MavenArtifacts.md b/third_party/allwpilib/MavenArtifacts.md
index be7d1a2..2b93b26 100644
--- a/third_party/allwpilib/MavenArtifacts.md
+++ b/third_party/allwpilib/MavenArtifacts.md
@@ -69,15 +69,36 @@
* wpiutil
+* wpigui
+ * imgui
+
+* ntcore
+ * wpiutil
+
+* wpimath
+ * wpiutil
+
+* glass/libglass
+ * wpiutil
+ * wpimath
+ * wpigui
+
+* glass/libglassnt
+ * wpiutil
+ * ntcore
+ * wpimath
+ * wpigui
+
* hal
* wpiutil
* halsim
- * imgui
* wpiutil
-
-* ntcore
- * wpiutil
+ * ntcore
+ * wpimath
+ * wpigui
+ * libglass
+ * libglassnt
* cscore
* opencv
@@ -101,6 +122,7 @@
* cameraserver
* ntcore
* cscore
+ * wpimath
* wpiutil
* wpilibNewCommands
@@ -109,9 +131,10 @@
* cameraserver
* ntcore
* cscore
+ * wpimath
* wpiutil
-* wpilibNewCommands
+* wpilibOldCommands
* wpilibc
* hal
* cameraserver
@@ -119,6 +142,7 @@
* cscore
* wpiutil
+
### Third Party Artifacts
This repository provides the builds of the following third party software.
@@ -128,3 +152,4 @@
* googletest
* imgui
* opencv
+* libssh
diff --git a/third_party/allwpilib/OtherVersions.md b/third_party/allwpilib/OtherVersions.md
index 43ce7d6..a58b9fb 100644
--- a/third_party/allwpilib/OtherVersions.md
+++ b/third_party/allwpilib/OtherVersions.md
@@ -11,6 +11,7 @@
In order to build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version.
```groovy
+wpi.maven.useLocal = false
wpi.maven.useDevelopment = true
wpi.versions.wpilibVersion = 'YEAR.+'
wpi.versions.wpimathVersion = 'YEAR.+
diff --git a/third_party/allwpilib/README.md b/third_party/allwpilib/README.md
index 1ddac77..62dccc1 100644
--- a/third_party/allwpilib/README.md
+++ b/third_party/allwpilib/README.md
@@ -39,7 +39,7 @@
- On macOS, install the JDK 11 .pkg from the link above
- C++ compiler
- On Linux, install GCC 8 or greater
- - On Windows, install [Visual Studio Community 2019](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio 2019)
+ - On Windows, install [Visual Studio Community 2022 or 2019](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio)
- On macOS, install the Xcode command-line build tools via `xcode-select --install`
- ARM compiler toolchain
- Run `./gradlew installRoboRioToolchain` after cloning this repository
@@ -71,6 +71,8 @@
There are a few tasks other than `build` available. To see them, run the meta-task `tasks`. This will print a list of all available tasks, with a description of each task.
+If opening from a fresh clone, generated java dependencies will not exist. Most IDEs will not run the generation tasks, which will cause lots of IDE errors. Manually run `./gradlew compileJava` from a terminal to run all the compile tasks, and then refresh your IDE's configuration (In VS Code open settings.gradle and save).
+
### Faster builds
`./gradlew build` builds _everything_, which includes debug and release builds for desktop and all installed cross compilers. Many developers don't need or want to build all of this. Therefore, common tasks have shortcuts to only build necessary components for common development and testing tasks.
diff --git a/third_party/allwpilib/build.gradle b/third_party/allwpilib/build.gradle
index 19ee6a8..c2d5f98 100644
--- a/third_party/allwpilib/build.gradle
+++ b/third_party/allwpilib/build.gradle
@@ -5,7 +5,7 @@
mavenCentral()
}
dependencies {
- classpath 'com.hubspot.jinjava:jinjava:2.5.8'
+ classpath 'com.hubspot.jinjava:jinjava:2.6.0'
}
}
@@ -15,13 +15,13 @@
id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
id 'edu.wpi.first.NativeUtils' apply false
id 'edu.wpi.first.GradleJni' version '1.0.0'
- id 'edu.wpi.first.GradleVsCode' version '1.0.0'
+ id 'edu.wpi.first.GradleVsCode'
id 'idea'
id 'visual-studio'
- id 'net.ltgt.errorprone' version '1.1.1' apply false
- id 'com.github.johnrengelman.shadow' version '5.2.0' apply false
- id 'com.diffplug.spotless' version '5.5.0' apply false
- id 'com.github.spotbugs' version '5.0.0-beta.1' apply false
+ id 'net.ltgt.errorprone' version '2.0.2' apply false
+ id 'com.github.johnrengelman.shadow' version '7.1.2' apply false
+ id 'com.diffplug.spotless' version '6.1.2' apply false
+ id 'com.github.spotbugs' version '5.0.4' apply false
}
wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -147,5 +147,5 @@
}
wrapper {
- gradleVersion = '7.1.1'
+ gradleVersion = '7.3.3'
}
diff --git a/third_party/allwpilib/buildSrc/build.gradle b/third_party/allwpilib/buildSrc/build.gradle
index f2afdc7..a784c0f 100644
--- a/third_party/allwpilib/buildSrc/build.gradle
+++ b/third_party/allwpilib/buildSrc/build.gradle
@@ -5,5 +5,5 @@
}
}
dependencies {
- implementation "edu.wpi.first:native-utils:2022.3.1"
+ implementation "edu.wpi.first:native-utils:2022.7.1"
}
diff --git a/third_party/allwpilib/cameraserver/multiCameraServer/build.gradle b/third_party/allwpilib/cameraserver/multiCameraServer/build.gradle
index a198cc3..f7a78c1 100644
--- a/third_party/allwpilib/cameraserver/multiCameraServer/build.gradle
+++ b/third_party/allwpilib/cameraserver/multiCameraServer/build.gradle
@@ -27,7 +27,7 @@
}
dependencies {
- implementation 'com.google.code.gson:gson:2.8.5'
+ implementation 'com.google.code.gson:gson:2.8.9'
implementation project(':wpiutil')
implementation project(':ntcore')
diff --git a/third_party/allwpilib/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java b/third_party/allwpilib/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java
index f6f91c1..622b939 100644
--- a/third_party/allwpilib/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java
+++ b/third_party/allwpilib/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java
@@ -56,9 +56,9 @@
public JsonObject config;
}
- static int team;
- static boolean server;
- static List<CameraConfig> cameras = new ArrayList<>();
+ private static int team;
+ private static boolean server;
+ private static List<CameraConfig> cameras = new ArrayList<>();
private Main() {}
diff --git a/third_party/allwpilib/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp b/third_party/allwpilib/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
index 1a4d42a..afeff62 100644
--- a/third_party/allwpilib/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
+++ b/third_party/allwpilib/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
@@ -450,9 +450,9 @@
entry.SetString(VideoModeToString(sourceIt->second.GetVideoMode()));
return;
} else if (wpi::starts_with(relativeKey, "Property/")) {
- propName = relativeKey.substr(9);
+ propName = wpi::substr(relativeKey, 9);
} else if (wpi::starts_with(relativeKey, "RawProperty/")) {
- propName = relativeKey.substr(12);
+ propName = wpi::substr(relativeKey, 12);
} else {
return; // ignore
}
diff --git a/third_party/allwpilib/cmake/modules/CompileWarnings.cmake b/third_party/allwpilib/cmake/modules/CompileWarnings.cmake
index f35f975..b9d1ab8 100644
--- a/third_party/allwpilib/cmake/modules/CompileWarnings.cmake
+++ b/third_party/allwpilib/cmake/modules/CompileWarnings.cmake
@@ -1,7 +1,7 @@
macro(wpilib_target_warnings target)
if(NOT MSVC)
- target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter -Wno-error=deprecated-declarations)
+ target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter -Wno-error=deprecated-declarations ${WPILIB_TARGET_WARNINGS})
else()
- target_compile_options(${target} PRIVATE /wd4146 /wd4244 /wd4251 /wd4267 /wd4996 /WX)
+ target_compile_options(${target} PRIVATE /wd4146 /wd4244 /wd4251 /wd4267 /wd4996 /WX ${WPILIB_TARGET_WARNINGS})
endif()
endmacro()
diff --git a/third_party/allwpilib/cmake/modules/FindLIBSSH.cmake b/third_party/allwpilib/cmake/modules/FindLIBSSH.cmake
new file mode 100644
index 0000000..1c09818
--- /dev/null
+++ b/third_party/allwpilib/cmake/modules/FindLIBSSH.cmake
@@ -0,0 +1,116 @@
+# - Try to find LibSSH
+# Once done this will define
+#
+# LIBSSH_FOUND - system has LibSSH
+# LIBSSH_INCLUDE_DIRS - the LibSSH include directory
+# LIBSSH_LIBRARIES - link these to use LibSSH
+# LIBSSH_VERSION -
+#
+# Author Michal Vasko <mvasko@cesnet.cz>
+# Copyright (c) 2020 CESNET, z.s.p.o.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the copyright
+# notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+# 3. The name of the author may not be used to endorse or promote products
+# derived from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
+# IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+# OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+# IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+# NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+# THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+include(FindPackageHandleStandardArgs)
+
+if(LIBSSH_LIBRARIES AND LIBSSH_INCLUDE_DIRS)
+ # in cache already
+ set(LIBSSH_FOUND TRUE)
+else()
+ find_path(LIBSSH_INCLUDE_DIR
+ NAMES
+ libssh/libssh.h
+ PATHS
+ /usr/include
+ /usr/local/include
+ /opt/local/include
+ /sw/include
+ ${CMAKE_INCLUDE_PATH}
+ ${CMAKE_INSTALL_PREFIX}/include
+ )
+
+ find_library(LIBSSH_LIBRARY
+ NAMES
+ ssh.so
+ libssh.so
+ libssh.dylib
+ PATHS
+ /usr/lib
+ /usr/local/lib
+ /opt/local/lib
+ /sw/lib
+ ${CMAKE_LIBRARY_PATH}
+ ${CMAKE_INSTALL_PREFIX}/lib
+ )
+
+ if(LIBSSH_INCLUDE_DIR AND LIBSSH_LIBRARY)
+ # learn libssh version
+ if(EXISTS ${LIBSSH_INCLUDE_DIR}/libssh/libssh_version.h)
+ set(LIBSSH_HEADER_PATH ${LIBSSH_INCLUDE_DIR}/libssh/libssh_version.h)
+ else()
+ set(LIBSSH_HEADER_PATH ${LIBSSH_INCLUDE_DIR}/libssh/libssh.h)
+ endif()
+ file(STRINGS ${LIBSSH_HEADER_PATH} LIBSSH_VERSION_MAJOR
+ REGEX "#define[ ]+LIBSSH_VERSION_MAJOR[ ]+[0-9]+")
+ if(NOT LIBSSH_VERSION_MAJOR)
+ message(STATUS "LIBSSH_VERSION_MAJOR not found, assuming libssh is too old and cannot be used!")
+ set(LIBSSH_INCLUDE_DIR "LIBSSH_INCLUDE_DIR-NOTFOUND")
+ set(LIBSSH_LIBRARY "LIBSSH_LIBRARY-NOTFOUND")
+ else()
+ string(REGEX MATCH "[0-9]+" LIBSSH_VERSION_MAJOR ${LIBSSH_VERSION_MAJOR})
+ file(STRINGS ${LIBSSH_HEADER_PATH} LIBSSH_VERSION_MINOR
+ REGEX "#define[ ]+LIBSSH_VERSION_MINOR[ ]+[0-9]+")
+ string(REGEX MATCH "[0-9]+" LIBSSH_VERSION_MINOR ${LIBSSH_VERSION_MINOR})
+ file(STRINGS ${LIBSSH_HEADER_PATH} LIBSSH_VERSION_PATCH
+ REGEX "#define[ ]+LIBSSH_VERSION_MICRO[ ]+[0-9]+")
+ string(REGEX MATCH "[0-9]+" LIBSSH_VERSION_PATCH ${LIBSSH_VERSION_PATCH})
+
+ set(LIBSSH_VERSION ${LIBSSH_VERSION_MAJOR}.${LIBSSH_VERSION_MINOR}.${LIBSSH_VERSION_PATCH})
+
+ if(LIBSSH_VERSION VERSION_LESS 0.8.0)
+ # libssh_threads also needs to be linked for these versions
+ string(REPLACE "libssh.so" "libssh_threads.so"
+ LIBSSH_THREADS_LIBRARY
+ ${LIBSSH_LIBRARY}
+ )
+ string(REPLACE "libssh.dylib" "libssh_threads.dylib"
+ LIBSSH_THREADS_LIBRARY
+ ${LIBSSH_THREADS_LIBRARY}
+ )
+ string(REPLACE "ssh.so" "ssh_threads.so"
+ LIBSSH_THREADS_LIBRARY
+ ${LIBSSH_THREADS_LIBRARY}
+ )
+ endif()
+ endif()
+ endif()
+
+ set(LIBSSH_INCLUDE_DIRS ${LIBSSH_INCLUDE_DIR})
+ set(LIBSSH_LIBRARIES ${LIBSSH_LIBRARY} ${LIBSSH_THREADS_LIBRARY})
+ mark_as_advanced(LIBSSH_INCLUDE_DIRS LIBSSH_LIBRARIES)
+
+ find_package_handle_standard_args(LibSSH FOUND_VAR LIBSSH_FOUND
+ REQUIRED_VARS LIBSSH_INCLUDE_DIRS LIBSSH_LIBRARIES
+ VERSION_VAR LIBSSH_VERSION)
+endif()
diff --git a/third_party/allwpilib/cscore/src/main/native/cpp/HttpCameraImpl.cpp b/third_party/allwpilib/cscore/src/main/native/cpp/HttpCameraImpl.cpp
index 068393b..9756a5d 100644
--- a/third_party/allwpilib/cscore/src/main/native/cpp/HttpCameraImpl.cpp
+++ b/third_party/allwpilib/cscore/src/main/native/cpp/HttpCameraImpl.cpp
@@ -208,7 +208,7 @@
if (wpi::trim(key) == "boundary") {
value = wpi::trim(wpi::trim(value), '"'); // value may be quoted
if (wpi::starts_with(value, "--")) {
- value = value.substr(2);
+ value = wpi::substr(value, 2);
}
boundary.append(value.begin(), value.end());
}
diff --git a/third_party/allwpilib/cscore/src/main/native/cpp/JpegUtil.cpp b/third_party/allwpilib/cscore/src/main/native/cpp/JpegUtil.cpp
index 2e66338..1abc019 100644
--- a/third_party/allwpilib/cscore/src/main/native/cpp/JpegUtil.cpp
+++ b/third_party/allwpilib/cscore/src/main/native/cpp/JpegUtil.cpp
@@ -4,6 +4,7 @@
#include "JpegUtil.h"
+#include <wpi/StringExtras.h>
#include <wpi/raw_istream.h>
namespace cs {
@@ -64,7 +65,7 @@
return false;
}
- data = data.substr(2); // Get to the first block
+ data = wpi::substr(data, 2); // Get to the first block
for (;;) {
if (data.size() < 4) {
return false; // EOF
@@ -89,7 +90,7 @@
return true;
}
// Go to the next block
- data = data.substr(bytes[2] * 256 + bytes[3] + 2);
+ data = wpi::substr(data, bytes[2] * 256 + bytes[3] + 2);
}
}
@@ -102,7 +103,7 @@
*locSOF = *size;
// Search until SOS for DHT tag
- sdata = sdata.substr(2); // Get to the first block
+ sdata = wpi::substr(sdata, 2); // Get to the first block
for (;;) {
if (sdata.size() < 4) {
return false; // EOF
@@ -121,7 +122,7 @@
*locSOF = sdata.data() - data; // SOF
}
// Go to the next block
- sdata = sdata.substr(bytes[2] * 256 + bytes[3] + 2);
+ sdata = wpi::substr(sdata, bytes[2] * 256 + bytes[3] + 2);
}
// Only add DHT if we also found SOF (insertion point)
diff --git a/third_party/allwpilib/cscore/src/main/native/cpp/MjpegServerImpl.cpp b/third_party/allwpilib/cscore/src/main/native/cpp/MjpegServerImpl.cpp
index 92c23ff..6a8cd2b 100644
--- a/third_party/allwpilib/cscore/src/main/native/cpp/MjpegServerImpl.cpp
+++ b/third_party/allwpilib/cscore/src/main/native/cpp/MjpegServerImpl.cpp
@@ -797,14 +797,14 @@
// compatibility, others are for Axis camera compatibility.
if ((pos = req.find("POST /stream")) != std::string_view::npos) {
kind = kStream;
- parameters = req.substr(req.find('?', pos + 12)).substr(1);
+ parameters = wpi::substr(wpi::substr(req, req.find('?', pos + 12)), 1);
} else if ((pos = req.find("GET /?action=stream")) !=
std::string_view::npos) {
kind = kStream;
- parameters = req.substr(req.find('&', pos + 19)).substr(1);
+ parameters = wpi::substr(wpi::substr(req, req.find('&', pos + 19)), 1);
} else if ((pos = req.find("GET /stream.mjpg")) != std::string_view::npos) {
kind = kStream;
- parameters = req.substr(req.find('?', pos + 16)).substr(1);
+ parameters = wpi::substr(wpi::substr(req, req.find('?', pos + 16)), 1);
} else if (req.find("GET /settings") != std::string_view::npos &&
req.find(".json") != std::string_view::npos) {
kind = kGetSettings;
@@ -820,7 +820,7 @@
} else if ((pos = req.find("GET /?action=command")) !=
std::string_view::npos) {
kind = kCommand;
- parameters = req.substr(req.find('&', pos + 20)).substr(1);
+ parameters = wpi::substr(wpi::substr(req, req.find('&', pos + 20)), 1);
} else if (req.find("GET / ") != std::string_view::npos || req == "GET /\n") {
kind = kRootPage;
} else {
@@ -833,7 +833,7 @@
pos = parameters.find_first_not_of(
"abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ_"
"-=&1234567890%./");
- parameters = parameters.substr(0, pos);
+ parameters = wpi::substr(parameters, 0, pos);
SDEBUG("command parameters: \"{}\"", parameters);
// Read the rest of the HTTP request.
diff --git a/third_party/allwpilib/cscore/src/main/native/linux/UsbCameraImpl.cpp b/third_party/allwpilib/cscore/src/main/native/linux/UsbCameraImpl.cpp
index a08fbbc..b49a93d 100644
--- a/third_party/allwpilib/cscore/src/main/native/linux/UsbCameraImpl.cpp
+++ b/third_party/allwpilib/cscore/src/main/native/linux/UsbCameraImpl.cpp
@@ -107,7 +107,7 @@
static bool IsPercentageProperty(std::string_view name) {
if (wpi::starts_with(name, "raw_")) {
- name = name.substr(4);
+ name = wpi::substr(name, 4);
}
return name == "brightness" || name == "contrast" || name == "saturation" ||
name == "hue" || name == "sharpness" || name == "gain" ||
@@ -181,13 +181,13 @@
}
std::string_view readStr{readBuf};
if (auto v = wpi::parse_integer<int>(
- readStr.substr(readStr.find('v')).substr(1, 4), 16)) {
+ wpi::substr(wpi::substr(readStr, readStr.find('v')), 1, 4), 16)) {
*vendor = v.value();
} else {
return false;
}
if (auto v = wpi::parse_integer<int>(
- readStr.substr(readStr.find('p')).substr(1, 4), 16)) {
+ wpi::substr(wpi::substr(readStr, readStr.find('p')), 1, 4), 16)) {
*product = v.value();
} else {
return false;
@@ -236,8 +236,8 @@
std::optional<int> vendor;
std::optional<int> product;
if (wpi::starts_with(card, "UVC Camera (") &&
- (vendor = wpi::parse_integer<int>(card.substr(12, 4), 16)) &&
- (product = wpi::parse_integer<int>(card.substr(17, 4), 16))) {
+ (vendor = wpi::parse_integer<int>(wpi::substr(card, 12, 4), 16)) &&
+ (product = wpi::parse_integer<int>(wpi::substr(card, 17, 4), 16))) {
std::string card2 = GetUsbNameFromId(vendor.value(), product.value());
if (!card2.empty()) {
*desc = std::move(card2);
@@ -283,7 +283,7 @@
if (!wpi::starts_with(fn, "video")) {
return -1;
}
- if (auto dev = wpi::parse_integer<int>(fn.substr(5), 10)) {
+ if (auto dev = wpi::parse_integer<int>(wpi::substr(fn, 5), 10)) {
return dev.value();
}
return -1;
@@ -1635,7 +1635,8 @@
}
unsigned int dev = 0;
- if (auto v = wpi::parse_integer<unsigned int>(fname.substr(5), 10)) {
+ if (auto v =
+ wpi::parse_integer<unsigned int>(wpi::substr(fname, 5), 10)) {
dev = v.value();
} else {
continue;
@@ -1686,7 +1687,8 @@
std::string fname = fs::path{target}.filename();
std::optional<unsigned int> dev;
if (wpi::starts_with(fname, "video") &&
- (dev = wpi::parse_integer<unsigned int>(fname.substr(5), 10)) &&
+ (dev = wpi::parse_integer<unsigned int>(wpi::substr(fname, 5),
+ 10)) &&
dev.value() < retval.size()) {
retval[dev.value()].otherPaths.emplace_back(path.str());
}
diff --git a/third_party/allwpilib/cscore/src/main/native/linux/UsbCameraProperty.cpp b/third_party/allwpilib/cscore/src/main/native/linux/UsbCameraProperty.cpp
index 149ca1b..d6bb980 100644
--- a/third_party/allwpilib/cscore/src/main/native/linux/UsbCameraProperty.cpp
+++ b/third_party/allwpilib/cscore/src/main/native/linux/UsbCameraProperty.cpp
@@ -6,6 +6,7 @@
#include <fmt/format.h>
#include <wpi/SmallString.h>
+#include <wpi/StringExtras.h>
#include "UsbUtil.h"
@@ -93,7 +94,7 @@
static int SetStringCtrlIoctl(int fd, int id, int maximum,
std::string_view value) {
- wpi::SmallString<64> str{value.substr(0, maximum)};
+ wpi::SmallString<64> str{wpi::substr(value, 0, maximum)};
struct v4l2_ext_control ctrl;
struct v4l2_ext_controls ctrls;
diff --git a/third_party/allwpilib/cscore/src/main/native/linux/UsbUtil.cpp b/third_party/allwpilib/cscore/src/main/native/linux/UsbUtil.cpp
index afe3e42..7d22054 100644
--- a/third_party/allwpilib/cscore/src/main/native/linux/UsbUtil.cpp
+++ b/third_party/allwpilib/cscore/src/main/native/linux/UsbUtil.cpp
@@ -49,7 +49,7 @@
// look for vendor at start of line
if (wpi::starts_with(line, vendorStr)) {
foundVendor = true;
- buf += wpi::trim(line.substr(5));
+ buf += wpi::trim(wpi::substr(line, 5));
buf += ' ';
continue;
}
@@ -62,8 +62,8 @@
}
// look for product
- if (wpi::starts_with(line.substr(1), productStr)) {
- buf += wpi::trim(line.substr(6));
+ if (wpi::starts_with(wpi::substr(line, 1), productStr)) {
+ buf += wpi::trim(wpi::substr(line, 6));
return buf;
}
}
diff --git a/third_party/allwpilib/cscore/src/main/native/windows/UsbCameraImpl.cpp b/third_party/allwpilib/cscore/src/main/native/windows/UsbCameraImpl.cpp
index 1a3b230..efabf15 100644
--- a/third_party/allwpilib/cscore/src/main/native/windows/UsbCameraImpl.cpp
+++ b/third_party/allwpilib/cscore/src/main/native/windows/UsbCameraImpl.cpp
@@ -14,7 +14,6 @@
#include <windowsx.h>
#include <cmath>
-#include <codecvt>
#include <memory>
#include <string>
#include <vector>
@@ -25,7 +24,9 @@
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
+#include <wpi/ConvertUTF.h>
#include <wpi/MemAlloc.h>
+#include <wpi/SmallString.h>
#include <wpi/StringExtras.h>
#include <wpi/timestamp.h>
@@ -72,8 +73,9 @@
Notifier& notifier, Telemetry& telemetry,
std::string_view path)
: SourceImpl{name, logger, notifier, telemetry}, m_path{path} {
- std::wstring_convert<std::codecvt_utf8<wchar_t>> utf8_conv;
- m_widePath = utf8_conv.from_bytes(m_path.c_str());
+ wpi::SmallVector<wchar_t, 128> wideStorage;
+ wpi::sys::windows::UTF8ToUTF16(m_path, wideStorage);
+ m_widePath = std::wstring{wideStorage.data(), wideStorage.size()};
m_deviceId = -1;
StartMessagePump();
}
@@ -227,7 +229,7 @@
bool UsbCameraImpl::CheckDeviceChange(WPARAM wParam, DEV_BROADCAST_HDR* pHdr,
bool* connected) {
- DEV_BROADCAST_DEVICEINTERFACE* pDi = NULL;
+ DEV_BROADCAST_DEVICEINTERFACE_A* pDi = NULL;
*connected = false;
@@ -240,9 +242,9 @@
// Compare the device name with the symbolic link.
- pDi = reinterpret_cast<DEV_BROADCAST_DEVICEINTERFACE*>(pHdr);
+ pDi = reinterpret_cast<DEV_BROADCAST_DEVICEINTERFACE_A*>(pHdr);
- if (_stricmp(m_path.c_str(), pDi->dbcc_name) == 0) {
+ if (wpi::equals_lower(m_path, pDi->dbcc_name)) {
if (wParam == DBT_DEVICEARRIVAL) {
*connected = true;
return true;
@@ -269,7 +271,7 @@
static bool IsPercentageProperty(std::string_view name) {
if (wpi::starts_with(name, "raw_"))
- name = name.substr(4);
+ name = wpi::substr(name, 4);
return name == "Brightness" || name == "Contrast" || name == "Saturation" ||
name == "Hue" || name == "Sharpness" || name == "Gain" ||
name == "Exposure";
@@ -411,11 +413,12 @@
// If has device ID, use the device ID from the event
// because of windows bug
auto&& device = devices[m_deviceId];
- DEV_BROADCAST_DEVICEINTERFACE* pDi =
- reinterpret_cast<DEV_BROADCAST_DEVICEINTERFACE*>(parameter);
+ DEV_BROADCAST_DEVICEINTERFACE_A* pDi =
+ reinterpret_cast<DEV_BROADCAST_DEVICEINTERFACE_A*>(parameter);
m_path = pDi->dbcc_name;
- std::wstring_convert<std::codecvt_utf8<wchar_t>> utf8_conv;
- m_widePath = utf8_conv.from_bytes(m_path.c_str());
+ wpi::SmallVector<wchar_t, 128> wideStorage;
+ wpi::sys::windows::UTF8ToUTF16(m_path, wideStorage);
+ m_widePath = std::wstring{wideStorage.data(), wideStorage.size()};
} else {
// This device not found
break;
@@ -482,9 +485,16 @@
const wchar_t* path = m_widePath.c_str();
m_mediaSource = CreateVideoCaptureDevice(path);
- if (!m_mediaSource)
+ if (!m_mediaSource) {
return false;
- m_imageCallback = CreateSourceReaderCB(shared_from_this(), m_mode);
+ }
+ auto weakThis = weak_from_this();
+ auto sharedThis = weakThis.lock();
+ if (sharedThis) {
+ m_imageCallback = CreateSourceReaderCB(sharedThis, m_mode);
+ } else {
+ return false;
+ }
m_sourceReader =
CreateSourceReader(m_mediaSource.Get(), m_imageCallback.Get());
@@ -747,8 +757,9 @@
{
std::scoped_lock lock(m_mutex);
m_path = msg->dataStr;
- std::wstring_convert<std::codecvt_utf8<wchar_t>> utf8_conv;
- m_widePath = utf8_conv.from_bytes(m_path.c_str());
+ wpi::SmallVector<wchar_t, 128> wideStorage;
+ wpi::sys::windows::UTF8ToUTF16(m_path, wideStorage);
+ m_widePath = std::wstring{wideStorage.data(), wideStorage.size()};
}
DeviceDisconnect();
DeviceConnect();
@@ -1048,7 +1059,8 @@
// Ensure we are initialized by grabbing the message pump
// GetMessagePump();
- std::wstring_convert<std::codecvt_utf8<wchar_t>> utf8_conv;
+ wpi::SmallString<128> storage;
+ WCHAR buf[512];
ComPtr<IMFAttributes> pAttributes;
IMFActivate** ppDevices = nullptr;
UINT32 count = 0;
@@ -1080,14 +1092,19 @@
for (UINT32 i = 0; i < count; i++) {
UsbCameraInfo info;
info.dev = i;
- WCHAR buf[512];
+
+ UINT32 characters = 0;
ppDevices[i]->GetString(MF_DEVSOURCE_ATTRIBUTE_FRIENDLY_NAME, buf,
- sizeof(buf) / sizeof(WCHAR), NULL);
- info.name = utf8_conv.to_bytes(buf);
+ sizeof(buf) / sizeof(WCHAR), &characters);
+ storage.clear();
+ wpi::sys::windows::UTF16ToUTF8(buf, characters, storage);
+ info.name = storage.string();
ppDevices[i]->GetString(
MF_DEVSOURCE_ATTRIBUTE_SOURCE_TYPE_VIDCAP_SYMBOLIC_LINK, buf,
- sizeof(buf) / sizeof(WCHAR), NULL);
- info.path = utf8_conv.to_bytes(buf);
+ sizeof(buf) / sizeof(WCHAR), &characters);
+ storage.clear();
+ wpi::sys::windows::UTF16ToUTF8(buf, characters, storage);
+ info.path = storage.string();
// Try to parse path from symbolic link
ParseVidAndPid(info.path, &info.productId, &info.vendorId);
diff --git a/third_party/allwpilib/cscore/src/main/native/windows/WindowsMessagePump.cpp b/third_party/allwpilib/cscore/src/main/native/windows/WindowsMessagePump.cpp
index e0d78d7..716edd9 100644
--- a/third_party/allwpilib/cscore/src/main/native/windows/WindowsMessagePump.cpp
+++ b/third_party/allwpilib/cscore/src/main/native/windows/WindowsMessagePump.cpp
@@ -89,7 +89,7 @@
WindowsMessagePump::WindowsMessagePump(
std::function<LRESULT(HWND, UINT, WPARAM, LPARAM)> callback) {
m_callback = callback;
- auto handle = CreateEvent(NULL, true, false, NULL);
+ auto handle = CreateEventA(NULL, true, false, NULL);
m_mainThread = std::thread([=] { ThreadMain(handle); });
auto waitResult = WaitForSingleObject(handle, 1000);
if (waitResult == WAIT_OBJECT_0) {
@@ -98,7 +98,7 @@
}
WindowsMessagePump::~WindowsMessagePump() {
- auto res = SendMessage(hwnd, WM_CLOSE, NULL, NULL);
+ auto res = SendMessageA(hwnd, WM_CLOSE, NULL, NULL);
if (m_mainThread.joinable())
m_mainThread.join();
}
@@ -110,28 +110,28 @@
MFStartup(MF_VERSION);
auto classHolder = GetClassHolder();
- hwnd = CreateWindowEx(0, classHolder->class_name, "dummy_name", 0, 0, 0, 0, 0,
- HWND_MESSAGE, NULL, NULL, this);
+ hwnd = CreateWindowExA(0, classHolder->class_name, "dummy_name", 0, 0, 0, 0,
+ 0, HWND_MESSAGE, NULL, NULL, this);
// Register for device notifications
HDEVNOTIFY g_hdevnotify = NULL;
HDEVNOTIFY g_hdevnotify2 = NULL;
- DEV_BROADCAST_DEVICEINTERFACE di = {0};
+ DEV_BROADCAST_DEVICEINTERFACE_A di = {0};
di.dbcc_size = sizeof(di);
di.dbcc_devicetype = DBT_DEVTYP_DEVICEINTERFACE;
di.dbcc_classguid = KSCATEGORY_CAPTURE;
g_hdevnotify =
- RegisterDeviceNotification(hwnd, &di, DEVICE_NOTIFY_WINDOW_HANDLE);
+ RegisterDeviceNotificationA(hwnd, &di, DEVICE_NOTIFY_WINDOW_HANDLE);
- DEV_BROADCAST_DEVICEINTERFACE di2 = {0};
+ DEV_BROADCAST_DEVICEINTERFACE_A di2 = {0};
di2.dbcc_size = sizeof(di2);
di2.dbcc_devicetype = DBT_DEVTYP_DEVICEINTERFACE;
di2.dbcc_classguid = KSCATEGORY_VIDEO_CAMERA;
g_hdevnotify2 =
- RegisterDeviceNotification(hwnd, &di2, DEVICE_NOTIFY_WINDOW_HANDLE);
+ RegisterDeviceNotificationA(hwnd, &di2, DEVICE_NOTIFY_WINDOW_HANDLE);
SetEvent(eventHandle);
diff --git a/third_party/allwpilib/docs/build.gradle b/third_party/allwpilib/docs/build.gradle
index da762ed..dd06239 100644
--- a/third_party/allwpilib/docs/build.gradle
+++ b/third_party/allwpilib/docs/build.gradle
@@ -125,9 +125,10 @@
}
case_sense_names false
- extension_mapping 'inc=C++'
+ extension_mapping 'inc=C++', 'no_extension=C++'
extract_all true
extract_static true
+ file_patterns '*'
full_path_names true
generate_html true
generate_latex false
diff --git a/third_party/allwpilib/fieldImages/CMakeLists.txt b/third_party/allwpilib/fieldImages/CMakeLists.txt
new file mode 100644
index 0000000..efe6d4d
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/CMakeLists.txt
@@ -0,0 +1,37 @@
+project(fieldImages)
+
+include(CompileWarnings)
+include(GenResources)
+
+if (WITH_JAVA)
+ find_package(Java REQUIRED)
+ include(UseJava)
+
+ file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+ file(GLOB_RECURSE JAVA_RESOURCES src/main/native/resources/*.json src/main/native/resources/*.png src/main/native/resources/*.jpg)
+ add_jar(field_images_jar SOURCES ${JAVA_SOURCES} RESOURCES NAMESPACE "edu/wpi/first/fields" ${JAVA_RESOURCES} OUTPUT_NAME fieldImages)
+
+ get_property(FIELD_IMAGES_JAR_FILE TARGET field_images_jar PROPERTY JAR_FILE)
+ install(FILES ${FIELD_IMAGES_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+ set_property(TARGET field_images_jar PROPERTY FOLDER "java")
+
+endif()
+
+
+GENERATE_RESOURCES(src/main/native/resources/edu/wpi/first/fields generated/main/cpp FIELDS fields field_images_resources_src)
+
+
+add_library(fieldImages ${field_images_resources_src})
+set_target_properties(fieldImages PROPERTIES DEBUG_POSTFIX "d")
+
+set_property(TARGET fieldImages PROPERTY FOLDER "libraries")
+target_compile_features(fieldImages PUBLIC cxx_std_17)
+if (MSVC)
+ target_compile_options(fieldImages PUBLIC /bigobj)
+endif()
+wpilib_target_warnings(fieldImages)
+
+target_include_directories(fieldImages PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+ $<INSTALL_INTERFACE:${include_dest}/fields>)
diff --git a/third_party/allwpilib/fieldImages/build.gradle b/third_party/allwpilib/fieldImages/build.gradle
new file mode 100644
index 0000000..476dd3c
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/build.gradle
@@ -0,0 +1,70 @@
+import org.gradle.internal.os.OperatingSystem
+
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+
+ apply plugin: 'cpp'
+ apply plugin: 'c'
+ apply plugin: 'java'
+ apply plugin: 'google-test-test-suite'
+ apply plugin: 'visual-studio'
+ apply plugin: 'edu.wpi.first.NativeUtils'
+
+ if (OperatingSystem.current().isWindows()) {
+ apply plugin: 'windows-resources'
+ }
+
+ ext {
+ nativeName = 'fieldImages'
+ baseId = nativeName
+ groupId = 'edu.wpi.first.fieldImages'
+ devMain = "edu.wpi.first.fieldImages.DevMain"
+ }
+
+ apply from: "${rootDir}/shared/resources.gradle"
+ apply from: "${rootDir}/shared/config.gradle"
+ apply from: "${rootDir}/shared/java/javacommon.gradle"
+
+ def generateTask = createGenerateResourcesTask('main', 'FIELDS', 'fields', project)
+
+ project(':').libraryBuild.dependsOn build
+ tasks.withType(CppCompile) {
+ dependsOn generateTask
+ }
+
+ sourceSets {
+ main {
+ resources {
+ srcDirs 'src/main/native/resources'
+ }
+ }
+ }
+
+ model {
+ components {
+ "${nativeName}"(NativeLibrarySpec) {
+ baseName = 'fieldImages'
+ sources {
+ cpp {
+ source {
+ srcDirs "$buildDir/generated/main/cpp"
+ include '**/*.cpp'
+ }
+ exportedHeaders {
+ srcDirs 'src/main/native/include'
+ }
+ }
+ if (OperatingSystem.current().isWindows()) {
+ rc {
+ source {
+ srcDirs 'src/main/native/win'
+ include '*.rc'
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+
+ apply from: 'publish.gradle'
+}
diff --git a/third_party/allwpilib/fieldImages/publish.gradle b/third_party/allwpilib/fieldImages/publish.gradle
new file mode 100644
index 0000000..56b9411
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/publish.gradle
@@ -0,0 +1,71 @@
+apply plugin: 'maven-publish'
+
+def baseArtifactId = project.nativeName
+def artifactGroupId = project.groupId
+def cppZipBaseName = "_GROUP_edu_wpi_first_fieldIimages_ID_${baseArtifactId}-cpp_CLS"
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+task cppSourcesZip(type: Zip) {
+ destinationDirectory = outputsFolder
+ archiveBaseName = cppZipBaseName
+ classifier = "sources"
+
+ from(licenseFile) {
+ into '/'
+ }
+
+ from('src/main/native/cpp') {
+ into '/'
+ }
+ from("$buildDir/generated/cpp") {
+ into '/'
+ }
+}
+
+task cppHeadersZip(type: Zip) {
+ destinationDirectory = outputsFolder
+ archiveBaseName = cppZipBaseName
+ classifier = "headers"
+
+ from(licenseFile) {
+ into '/'
+ }
+
+ ext.includeDirs = [
+ project.file('src/main/native/include')
+ ]
+
+ ext.includeDirs.each {
+ from(it) {
+ into '/'
+ }
+ }
+}
+
+build.dependsOn cppHeadersZip
+build.dependsOn cppSourcesZip
+
+addTaskToCopyAllOutputs(cppHeadersZip)
+addTaskToCopyAllOutputs(cppSourcesZip)
+
+model {
+ publishing {
+ def wpilibCTaskList = createComponentZipTasks($.components, ['fieldImages'], cppZipBaseName, Zip, project, includeStandardZipFormat)
+
+ publications {
+ cpp(MavenPublication) {
+ wpilibCTaskList.each {
+ artifact it
+ }
+
+ artifact cppHeadersZip
+ artifact cppSourcesZip
+
+ artifactId = "${baseArtifactId}-cpp"
+ groupId artifactGroupId
+ version wpilibVersioning.version.get()
+ }
+ }
+ }
+}
diff --git a/third_party/allwpilib/fieldImages/src/main/java/edu/wpi/fields/FieldImages.java b/third_party/allwpilib/fieldImages/src/main/java/edu/wpi/fields/FieldImages.java
new file mode 100644
index 0000000..f482478
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/java/edu/wpi/fields/FieldImages.java
@@ -0,0 +1,25 @@
+// 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.
+
+package edu.wpi.fields;
+
+public class FieldImages {
+ public static final String k2018PowerUpFieldConfig = "/edu/wpi/first/fields/2018-powerup.json";
+ public static final String k2019DeepSpaceFieldConfig =
+ "/edu/wpi/first/fields/2019-deepspace.json";
+ public static final String k2020InfiniteRechargeFieldConfig =
+ "/edu/wpi/first/fields/2020-infiniterecharge.json";
+ public static final String k2021InfiniteRechargeFieldConfig =
+ "/edu/wpi/first/fields/2021-infiniterecharge.json";
+ public static final String k2021BarrelFieldConfig =
+ "/edu/wpi/first/fields/2021-barrelracingpath.json";
+ public static final String k2021BounceFieldConfig = "/edu/wpi/first/fields/2021-bouncepath.json";
+ public static final String k2021GalacticSearchAFieldConfig =
+ "/edu/wpi/first/fields/2021-galacticsearcha.json";
+ public static final String k2021GalacticSearchBFieldConfig =
+ "/edu/wpi/first/fields/2021-galacticsearchb.json";
+ public static final String k2021SlalomFieldConfig = "/edu/wpi/first/fields/2021-slalompath.json";
+ public static final String k2022RapidReactFieldConfig =
+ "/edu/wpi/first/fields/2022-rapidreact.json";
+}
diff --git a/third_party/allwpilib/fieldImages/src/main/native/include/fields/2018-powerup.h b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2018-powerup.h
new file mode 100644
index 0000000..1f5b316
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2018-powerup.h
@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2018_powerup_json();
+std::string_view GetResource_2018_field_jpg();
+} // namespace fields
diff --git a/third_party/allwpilib/fieldImages/src/main/native/include/fields/2019-deepspace.h b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2019-deepspace.h
new file mode 100644
index 0000000..8d008d0
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2019-deepspace.h
@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2019_deepspace_json();
+std::string_view GetResource_2019_field_jpg();
+} // namespace fields
diff --git a/third_party/allwpilib/fieldImages/src/main/native/include/fields/2020-infiniterecharge.h b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2020-infiniterecharge.h
new file mode 100644
index 0000000..7d9a30c
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2020-infiniterecharge.h
@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2020_infiniterecharge_json();
+std::string_view GetResource_2020_field_png();
+} // namespace fields
diff --git a/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-barrel.h b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-barrel.h
new file mode 100644
index 0000000..8f5ba1c
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-barrel.h
@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_barrelracingpath_json();
+std::string_view GetResource_2021_barrel_png();
+} // namespace fields
diff --git a/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-bounce.h b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-bounce.h
new file mode 100644
index 0000000..66207fd
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-bounce.h
@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_bouncepath_json();
+std::string_view GetResource_2021_bounce_png();
+} // namespace fields
diff --git a/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-galacticsearcha.h b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-galacticsearcha.h
new file mode 100644
index 0000000..df74800
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-galacticsearcha.h
@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_galacticsearcha_json();
+std::string_view GetResource_2021_galacticsearcha_png();
+} // namespace fields
diff --git a/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-galacticsearchb.h b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-galacticsearchb.h
new file mode 100644
index 0000000..cbf6231
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-galacticsearchb.h
@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_galacticsearchb_json();
+std::string_view GetResource_2021_galacticsearchb_png();
+} // namespace fields
diff --git a/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-infiniterecharge.h b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-infiniterecharge.h
new file mode 100644
index 0000000..10ca658
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-infiniterecharge.h
@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_field_png();
+std::string_view GetResource_2021_infiniterecharge_json();
+} // namespace fields
diff --git a/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-slalom.h b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-slalom.h
new file mode 100644
index 0000000..a660f1b
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2021-slalom.h
@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_slalompath_json();
+std::string_view GetResource_2021_slalom_png();
+} // namespace fields
diff --git a/third_party/allwpilib/fieldImages/src/main/native/include/fields/2022-rapidreact.h b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2022-rapidreact.h
new file mode 100644
index 0000000..aa4995c
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/include/fields/2022-rapidreact.h
@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2022_rapidreact_json();
+std::string_view GetResource_2022_field_png();
+} // namespace fields
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2018-field.jpg b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2018-field.jpg
new file mode 100644
index 0000000..cf5bb91
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2018-field.jpg
Binary files differ
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2018-powerup.json b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2018-powerup.json
new file mode 100644
index 0000000..1b63c29
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2018-powerup.json
@@ -0,0 +1,10 @@
+{
+ "game": "FIRST Power Up",
+ "field-image": "2018-field.jpg",
+ "field-corners": {
+ "top-left": [125, 20],
+ "bottom-right": [827, 370]
+ },
+ "field-size": [54, 27],
+ "field-unit": "feet"
+}
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2019-deepspace.json b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2019-deepspace.json
new file mode 100644
index 0000000..96087f7
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2019-deepspace.json
@@ -0,0 +1,10 @@
+{
+"game" : "Destination: Deep Space",
+"field-image" : "2019-field.jpg",
+"field-corners": {
+ "top-left" : [217, 40],
+ "bottom-right" : [1372, 615]
+},
+"field-size" : [54, 27],
+"field-unit" : "foot"
+}
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2019-field.jpg b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2019-field.jpg
new file mode 100644
index 0000000..20b9662
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2019-field.jpg
Binary files differ
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2020-field.png b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2020-field.png
new file mode 100644
index 0000000..8b18648
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2020-field.png
Binary files differ
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2020-infiniterecharge.json b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2020-infiniterecharge.json
new file mode 100644
index 0000000..6187cae
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2020-infiniterecharge.json
@@ -0,0 +1,10 @@
+{
+ "game" : "Infinite Recharge",
+ "field-image" : "2020-field.png",
+ "field-corners": {
+ "top-left" : [96, 25],
+ "bottom-right" : [1040, 514]
+ },
+ "field-size" : [52.4375, 26.9375],
+ "field-unit" : "foot"
+ }
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-barrel.png b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-barrel.png
new file mode 100644
index 0000000..acfc96a
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-barrel.png
Binary files differ
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-barrelracingpath.json b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-barrelracingpath.json
new file mode 100644
index 0000000..c0e49dc
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-barrelracingpath.json
@@ -0,0 +1,10 @@
+{
+ "game": "Barrel Racing Path",
+ "field-image": "2021-barrel.png",
+ "field-corners": {
+ "top-left": [20, 20],
+ "bottom-right": [780, 400]
+ },
+ "field-size": [30, 15],
+ "field-unit": "feet"
+ }
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-bounce.png b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-bounce.png
new file mode 100644
index 0000000..8f9594a
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-bounce.png
Binary files differ
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-bouncepath.json b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-bouncepath.json
new file mode 100644
index 0000000..b02b855
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-bouncepath.json
@@ -0,0 +1,10 @@
+{
+ "game": "Bounce Path",
+ "field-image": "2021-bounce.png",
+ "field-corners": {
+ "top-left": [20, 20],
+ "bottom-right": [780, 400]
+ },
+ "field-size": [30, 15],
+ "field-unit": "feet"
+ }
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-field.png b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-field.png
new file mode 100644
index 0000000..3c74df8
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-field.png
Binary files differ
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearcha.json b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearcha.json
new file mode 100644
index 0000000..063d351
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearcha.json
@@ -0,0 +1,10 @@
+{
+ "game": "Galactic Search A",
+ "field-image": "2021-galacticsearcha.png",
+ "field-corners": {
+ "top-left": [20, 20],
+ "bottom-right": [780, 400]
+ },
+ "field-size": [30, 15],
+ "field-unit": "feet"
+ }
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearcha.png b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearcha.png
new file mode 100644
index 0000000..69b10d6
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearcha.png
Binary files differ
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearchb.json b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearchb.json
new file mode 100644
index 0000000..615ec45
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearchb.json
@@ -0,0 +1,10 @@
+{
+ "game": "Galactic Search B",
+ "field-image": "2021-galacticsearchb.png",
+ "field-corners": {
+ "top-left": [20, 20],
+ "bottom-right": [780, 400]
+ },
+ "field-size": [30, 15],
+ "field-unit": "feet"
+ }
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearchb.png b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearchb.png
new file mode 100644
index 0000000..90daef5
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearchb.png
Binary files differ
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-infiniterecharge.json b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-infiniterecharge.json
new file mode 100644
index 0000000..d34fc65
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-infiniterecharge.json
@@ -0,0 +1,10 @@
+{
+ "game": "Infinite Recharge 2021",
+ "field-image": "2021-field.png",
+ "field-corners": {
+ "top-left": [127, 34],
+ "bottom-right": [1323, 649]
+ },
+ "field-size": [52.4375, 26.9375],
+ "field-unit": "foot"
+ }
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-slalom.png b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-slalom.png
new file mode 100644
index 0000000..b175326
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-slalom.png
Binary files differ
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-slalompath.json b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-slalompath.json
new file mode 100644
index 0000000..bb80f55
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-slalompath.json
@@ -0,0 +1,10 @@
+{
+ "game": "Slalom Path",
+ "field-image": "2021-slalom.png",
+ "field-corners": {
+ "top-left": [20, 20],
+ "bottom-right": [780, 400]
+ },
+ "field-size": [30, 15],
+ "field-unit": "feet"
+ }
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2022-field.png b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2022-field.png
new file mode 100644
index 0000000..6cb5088
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2022-field.png
Binary files differ
diff --git a/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2022-rapidreact.json b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2022-rapidreact.json
new file mode 100644
index 0000000..7098c12
--- /dev/null
+++ b/third_party/allwpilib/fieldImages/src/main/native/resources/edu/wpi/first/fields/2022-rapidreact.json
@@ -0,0 +1,10 @@
+{
+ "game": "Rapid React",
+ "field-image": "2022-field.png",
+ "field-corners": {
+ "top-left": [74, 50],
+ "bottom-right": [1774, 900]
+ },
+ "field-size": [54, 27],
+ "field-unit": "foot"
+ }
\ No newline at end of file
diff --git a/third_party/allwpilib/glass/build.gradle b/third_party/allwpilib/glass/build.gradle
index ad977ad..cd77f45 100644
--- a/third_party/allwpilib/glass/build.gradle
+++ b/third_party/allwpilib/glass/build.gradle
@@ -185,15 +185,18 @@
it.buildable = false
return
}
+ lib project: ':cscore', library: 'cscore', linkage: 'static'
lib library: 'glassnt', linkage: 'static'
lib library: nativeName, linkage: 'static'
lib project: ':ntcore', library: 'ntcore', linkage: 'static'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
lib project: ':wpimath', library: 'wpimath', linkage: 'static'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+ nativeUtils.useRequiredLibrary(it, 'opencv_static')
nativeUtils.useRequiredLibrary(it, 'imgui_static')
if (it.targetPlatform.operatingSystem.isWindows()) {
it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
+ it.linker.args << '/DELAYLOAD:MF.dll' << '/DELAYLOAD:MFReadWrite.dll' << '/DELAYLOAD:MFPlat.dll' << '/delay:nobind'
} else if (it.targetPlatform.operatingSystem.isMacOsX()) {
it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
} else {
diff --git a/third_party/allwpilib/glass/publish.gradle b/third_party/allwpilib/glass/publish.gradle
index 909d4a2..f2e3da7 100644
--- a/third_party/allwpilib/glass/publish.gradle
+++ b/third_party/allwpilib/glass/publish.gradle
@@ -130,6 +130,14 @@
}
from(applicationPath)
+
+ if (binary.targetPlatform.operatingSystem.isWindows()) {
+ def exePath = binary.executable.file.absolutePath
+ exePath = exePath.substring(0, exePath.length() - 4)
+ def pdbPath = new File(exePath + '.pdb')
+ from(pdbPath)
+ }
+
into(nativeUtils.getPlatformPath(binary))
}
diff --git a/third_party/allwpilib/glass/src/app/native/cpp/camerasupport.cpp b/third_party/allwpilib/glass/src/app/native/cpp/camerasupport.cpp
new file mode 100644
index 0000000..eda3e6e
--- /dev/null
+++ b/third_party/allwpilib/glass/src/app/native/cpp/camerasupport.cpp
@@ -0,0 +1,52 @@
+// 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 "camerasupport.h"
+
+#ifdef _WIN32
+#include "Windows.h"
+#include "delayimp.h"
+#pragma comment(lib, "delayimp.lib")
+static int CheckDelayException(int exception_value) {
+ if (exception_value ==
+ VcppException(ERROR_SEVERITY_ERROR, ERROR_MOD_NOT_FOUND) ||
+ exception_value ==
+ VcppException(ERROR_SEVERITY_ERROR, ERROR_PROC_NOT_FOUND)) {
+ // This example just executes the handler.
+ return EXCEPTION_EXECUTE_HANDLER;
+ }
+ // Don't attempt to handle other errors
+ return EXCEPTION_CONTINUE_SEARCH;
+}
+static bool TryDelayLoadAllImports(LPCSTR szDll) {
+ __try {
+ HRESULT hr = __HrLoadAllImportsForDll(szDll);
+ if (FAILED(hr)) {
+ return false;
+ }
+ } __except (CheckDelayException(GetExceptionCode())) {
+ return false;
+ }
+ return true;
+}
+namespace glass {
+bool HasCameraSupport() {
+ bool hasCameraSupport = false;
+ hasCameraSupport = TryDelayLoadAllImports("MF.dll");
+ if (hasCameraSupport) {
+ hasCameraSupport = TryDelayLoadAllImports("MFPlat.dll");
+ }
+ if (hasCameraSupport) {
+ hasCameraSupport = TryDelayLoadAllImports("MFReadWrite.dll");
+ }
+ return hasCameraSupport;
+}
+} // namespace glass
+#else
+namespace glass {
+bool HasCameraSupport() {
+ return true;
+}
+} // namespace glass
+#endif
diff --git a/third_party/allwpilib/glass/src/app/native/cpp/camerasupport.h b/third_party/allwpilib/glass/src/app/native/cpp/camerasupport.h
new file mode 100644
index 0000000..0be62c7
--- /dev/null
+++ b/third_party/allwpilib/glass/src/app/native/cpp/camerasupport.h
@@ -0,0 +1,9 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+namespace glass {
+bool HasCameraSupport();
+} // namespace glass
diff --git a/third_party/allwpilib/glass/src/app/native/cpp/main.cpp b/third_party/allwpilib/glass/src/app/native/cpp/main.cpp
index 3e0adf1..b1569b8 100644
--- a/third_party/allwpilib/glass/src/app/native/cpp/main.cpp
+++ b/third_party/allwpilib/glass/src/app/native/cpp/main.cpp
@@ -11,7 +11,9 @@
#include <wpigui.h>
#include "glass/Context.h"
+#include "glass/MainMenuBar.h"
#include "glass/Model.h"
+#include "glass/Storage.h"
#include "glass/View.h"
#include "glass/networktables/NetworkTables.h"
#include "glass/networktables/NetworkTablesProvider.h"
@@ -39,9 +41,14 @@
static std::unique_ptr<glass::NetworkTablesModel> gNetworkTablesModel;
static std::unique_ptr<glass::NetworkTablesSettings> gNetworkTablesSettings;
static glass::LogData gNetworkTablesLog;
-static glass::Window* gNetworkTablesWindow;
-static glass::Window* gNetworkTablesSettingsWindow;
-static glass::Window* gNetworkTablesLogWindow;
+static std::unique_ptr<glass::Window> gNetworkTablesWindow;
+static std::unique_ptr<glass::Window> gNetworkTablesSettingsWindow;
+static std::unique_ptr<glass::Window> gNetworkTablesLogWindow;
+
+static glass::MainMenuBar gMainMenu;
+static bool gAbout = false;
+static bool gSetEnterKey = false;
+static bool gKeyEdit = false;
static void NtInitialize() {
// update window title when connection status changes
@@ -84,48 +91,65 @@
}
});
- gNetworkTablesLogWindow = gNtProvider->AddWindow(
- "NetworkTables Log",
+ gNetworkTablesLogWindow = std::make_unique<glass::Window>(
+ glass::GetStorageRoot().GetChild("NetworkTables Log"),
+ "NetworkTables Log", glass::Window::kHide);
+ gNetworkTablesLogWindow->SetView(
std::make_unique<glass::LogView>(&gNetworkTablesLog));
- if (gNetworkTablesLogWindow) {
- gNetworkTablesLogWindow->SetDefaultPos(250, 615);
- gNetworkTablesLogWindow->SetDefaultSize(600, 130);
- gNetworkTablesLogWindow->SetVisible(false);
- gNetworkTablesLogWindow->DisableRenamePopup();
- }
+ gNetworkTablesLogWindow->SetDefaultPos(250, 615);
+ gNetworkTablesLogWindow->SetDefaultSize(600, 130);
+ gNetworkTablesLogWindow->DisableRenamePopup();
+ gui::AddLateExecute([] { gNetworkTablesLogWindow->Display(); });
// NetworkTables table window
gNetworkTablesModel = std::make_unique<glass::NetworkTablesModel>();
gui::AddEarlyExecute([] { gNetworkTablesModel->Update(); });
- gNetworkTablesWindow = gNtProvider->AddWindow(
- "NetworkTables",
+ gNetworkTablesWindow = std::make_unique<glass::Window>(
+ glass::GetStorageRoot().GetChild("NetworkTables View"), "NetworkTables");
+ gNetworkTablesWindow->SetView(
std::make_unique<glass::NetworkTablesView>(gNetworkTablesModel.get()));
- if (gNetworkTablesWindow) {
- gNetworkTablesWindow->SetDefaultPos(250, 277);
- gNetworkTablesWindow->SetDefaultSize(750, 185);
- gNetworkTablesWindow->DisableRenamePopup();
- }
+ gNetworkTablesWindow->SetDefaultPos(250, 277);
+ gNetworkTablesWindow->SetDefaultSize(750, 185);
+ gNetworkTablesWindow->DisableRenamePopup();
+ gui::AddLateExecute([] { gNetworkTablesWindow->Display(); });
// NetworkTables settings window
- gNetworkTablesSettings = std::make_unique<glass::NetworkTablesSettings>();
+ gNetworkTablesSettings = std::make_unique<glass::NetworkTablesSettings>(
+ glass::GetStorageRoot().GetChild("NetworkTables Settings"));
gui::AddEarlyExecute([] { gNetworkTablesSettings->Update(); });
- gNetworkTablesSettingsWindow = gNtProvider->AddWindow(
- "NetworkTables Settings", [] { gNetworkTablesSettings->Display(); });
- if (gNetworkTablesSettingsWindow) {
- gNetworkTablesSettingsWindow->SetDefaultPos(30, 30);
- gNetworkTablesSettingsWindow->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
- gNetworkTablesSettingsWindow->DisableRenamePopup();
- }
+ gNetworkTablesSettingsWindow = std::make_unique<glass::Window>(
+ glass::GetStorageRoot().GetChild("NetworkTables Settings"),
+ "NetworkTables Settings");
+ gNetworkTablesSettingsWindow->SetView(
+ glass::MakeFunctionView([] { gNetworkTablesSettings->Display(); }));
+ gNetworkTablesSettingsWindow->SetDefaultPos(30, 30);
+ gNetworkTablesSettingsWindow->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
+ gNetworkTablesSettingsWindow->DisableRenamePopup();
+ gui::AddLateExecute([] { gNetworkTablesSettingsWindow->Display(); });
+
+ gui::AddWindowScaler([](float scale) {
+ // scale default window positions
+ gNetworkTablesLogWindow->ScaleDefault(scale);
+ gNetworkTablesWindow->ScaleDefault(scale);
+ gNetworkTablesSettingsWindow->ScaleDefault(scale);
+ });
}
#ifdef _WIN32
int __stdcall WinMain(void* hInstance, void* hPrevInstance, char* pCmdLine,
int nCmdShow) {
+ int argc = __argc;
+ char** argv = __argv;
#else
-int main() {
+int main(int argc, char** argv) {
#endif
+ std::string_view saveDir;
+ if (argc == 2) {
+ saveDir = argv[1];
+ }
+
gui::CreateContext();
glass::CreateContext();
@@ -137,21 +161,28 @@
gui::AddIcon(glass::GetResource_glass_256_png());
gui::AddIcon(glass::GetResource_glass_512_png());
- gPlotProvider = std::make_unique<glass::PlotProvider>("Plot");
- gNtProvider = std::make_unique<glass::NetworkTablesProvider>("NTProvider");
+ gPlotProvider = std::make_unique<glass::PlotProvider>(
+ glass::GetStorageRoot().GetChild("Plots"));
+ gNtProvider = std::make_unique<glass::NetworkTablesProvider>(
+ glass::GetStorageRoot().GetChild("NetworkTables"));
- gui::ConfigurePlatformSaveFile("glass.ini");
+ glass::SetStorageName("glass");
+ glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
+ : saveDir);
gPlotProvider->GlobalInit();
gui::AddInit([] { glass::ResetTime(); });
gNtProvider->GlobalInit();
- gui::AddInit(NtInitialize);
+ NtInitialize();
glass::AddStandardNetworkTablesViews(*gNtProvider);
- gui::AddLateExecute([] {
- ImGui::BeginMainMenuBar();
- gui::EmitViewMenu();
+ gui::AddLateExecute([] { gMainMenu.Display(); });
+
+ gMainMenu.AddMainMenu([] {
if (ImGui::BeginMenu("View")) {
+ if (ImGui::MenuItem("Set Enter Key")) {
+ gSetEnterKey = true;
+ }
if (ImGui::MenuItem("Reset Time")) {
glass::ResetTime();
}
@@ -181,38 +212,95 @@
ImGui::EndMenu();
}
- bool about = false;
if (ImGui::BeginMenu("Info")) {
if (ImGui::MenuItem("About")) {
- about = true;
+ gAbout = true;
}
ImGui::EndMenu();
}
- ImGui::EndMainMenuBar();
+ });
- if (about) {
+ gui::AddLateExecute([] {
+ if (gAbout) {
ImGui::OpenPopup("About");
- about = false;
+ gAbout = false;
}
if (ImGui::BeginPopupModal("About")) {
ImGui::Text("Glass: A different kind of dashboard");
ImGui::Separator();
ImGui::Text("v%s", GetWPILibVersion());
+ ImGui::Separator();
+ ImGui::Text("Save location: %s", glass::GetStorageDir().c_str());
if (ImGui::Button("Close")) {
ImGui::CloseCurrentPopup();
}
ImGui::EndPopup();
}
+
+ int& enterKey = glass::GetStorageRoot().GetInt("enterKey", GLFW_KEY_ENTER);
+
+ ImGuiIO& io = ImGui::GetIO();
+ io.KeyMap[ImGuiKey_Enter] = enterKey;
+
+ if (gSetEnterKey) {
+ ImGui::OpenPopup("Set Enter Key");
+ gSetEnterKey = false;
+ }
+ if (ImGui::BeginPopupModal("Set Enter Key")) {
+ ImGui::Text("Set the key to use to mean 'Enter'");
+ ImGui::Text("This is useful to edit values without the DS disabling");
+ ImGui::Separator();
+
+ if (gKeyEdit) {
+ for (int i = 0; i < IM_ARRAYSIZE(io.KeysDown); ++i) {
+ if (io.KeysDown[i]) {
+ // remove all other uses
+ enterKey = i;
+ gKeyEdit = false;
+ break;
+ }
+ }
+ }
+
+ ImGui::Text("Key:");
+ ImGui::SameLine();
+ char editLabel[40];
+ char nameBuf[32];
+ const char* name = glfwGetKeyName(enterKey, 0);
+ if (!name) {
+ std::snprintf(nameBuf, sizeof(nameBuf), "%d", enterKey);
+ name = nameBuf;
+ }
+ std::snprintf(editLabel, sizeof(editLabel), "%s###edit",
+ gKeyEdit ? "(press key)" : name);
+ if (ImGui::SmallButton(editLabel)) {
+ gKeyEdit = true;
+ }
+ ImGui::SameLine();
+ if (ImGui::SmallButton("Reset")) {
+ enterKey = GLFW_KEY_ENTER;
+ }
+
+ if (ImGui::Button("Close")) {
+ ImGui::CloseCurrentPopup();
+ gKeyEdit = false;
+ }
+ ImGui::EndPopup();
+ }
});
gui::Initialize("Glass - DISCONNECTED", 1024, 768);
gui::Main();
+ gNetworkTablesSettingsWindow.reset();
+ gNetworkTablesLogWindow.reset();
+ gNetworkTablesWindow.reset();
gNetworkTablesModel.reset();
- gNetworkTablesSettings.reset();
gNtProvider.reset();
gPlotProvider.reset();
glass::DestroyContext();
gui::DestroyContext();
+
+ return 0;
}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/Context.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/Context.cpp
index 936acb2..1de4af8 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/Context.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/Context.cpp
@@ -7,13 +7,21 @@
#include <algorithm>
#include <cinttypes>
#include <cstdio>
+#include <filesystem>
+#include <fmt/format.h>
#include <imgui.h>
#include <imgui_internal.h>
#include <imgui_stdlib.h>
#include <wpi/StringExtras.h>
+#include <wpi/fs.h>
+#include <wpi/json.h>
+#include <wpi/json_serializer.h>
+#include <wpi/raw_istream.h>
+#include <wpi/raw_ostream.h>
#include <wpi/timestamp.h>
#include <wpigui.h>
+#include <wpigui_internal.h>
#include "glass/ContextInternal.h"
@@ -21,172 +29,292 @@
Context* glass::gContext;
-static bool ConvertInt(Storage::Value* value) {
- value->type = Storage::Value::kInt;
- if (auto val = wpi::parse_integer<int>(value->stringVal, 10)) {
- value->intVal = val.value();
- return true;
+static void WorkspaceResetImpl() {
+ // call reset functions
+ for (auto&& reset : gContext->workspaceReset) {
+ if (reset) {
+ reset();
+ }
}
- return false;
+
+ // clear storage
+ for (auto&& root : gContext->storageRoots) {
+ root.second->Clear();
+ }
+
+ // ImGui reset
+ ImGui::ClearIniSettings();
}
-static bool ConvertInt64(Storage::Value* value) {
- value->type = Storage::Value::kInt64;
- if (auto val = wpi::parse_integer<int64_t>(value->stringVal, 10)) {
- value->int64Val = val.value();
- return true;
+static void WorkspaceInit() {
+ for (auto&& init : gContext->workspaceInit) {
+ if (init) {
+ init();
+ }
}
- return false;
+
+ for (auto&& root : gContext->storageRoots) {
+ root.getValue()->Apply();
+ }
}
-static bool ConvertBool(Storage::Value* value) {
- value->type = Storage::Value::kBool;
- if (auto val = wpi::parse_integer<int>(value->stringVal, 10)) {
- value->intVal = (val.value() != 0);
- return true;
+static bool JsonToWindow(const wpi::json& jfile, const char* filename) {
+ if (!jfile.is_object()) {
+ ImGui::LogText("%s top level is not object", filename);
+ return false;
}
- return false;
+
+ // loop over JSON and generate ini format
+ std::string iniStr;
+ wpi::raw_string_ostream ini{iniStr};
+
+ for (auto&& jsection : jfile.items()) {
+ if (!jsection.value().is_object()) {
+ ImGui::LogText("%s section %s is not object", filename,
+ jsection.key().c_str());
+ return false;
+ }
+ for (auto&& jsubsection : jsection.value().items()) {
+ if (!jsubsection.value().is_object()) {
+ ImGui::LogText("%s section %s subsection %s is not object", filename,
+ jsection.key().c_str(), jsubsection.key().c_str());
+ return false;
+ }
+ ini << '[' << jsection.key() << "][" << jsubsection.key() << "]\n";
+ for (auto&& jkv : jsubsection.value().items()) {
+ try {
+ auto& value = jkv.value().get_ref<const std::string&>();
+ ini << jkv.key() << '=' << value << "\n";
+ } catch (wpi::json::exception&) {
+ ImGui::LogText("%s section %s subsection %s value %s is not string",
+ filename, jsection.key().c_str(),
+ jsubsection.key().c_str(), jkv.key().c_str());
+ return false;
+ }
+ }
+ ini << '\n';
+ }
+ }
+ ini.flush();
+
+ ImGui::LoadIniSettingsFromMemory(iniStr.data(), iniStr.size());
+ return true;
}
-static bool ConvertFloat(Storage::Value* value) {
- value->type = Storage::Value::kFloat;
- if (auto val = wpi::parse_float<float>(value->stringVal)) {
- value->floatVal = val.value();
- return true;
- }
- return false;
-}
-
-static bool ConvertDouble(Storage::Value* value) {
- value->type = Storage::Value::kDouble;
- if (auto val = wpi::parse_float<double>(value->stringVal)) {
- value->doubleVal = val.value();
- return true;
- }
- return false;
-}
-
-static void* GlassStorageReadOpen(ImGuiContext*, ImGuiSettingsHandler* handler,
- const char* name) {
- auto ctx = static_cast<Context*>(handler->UserData);
- auto& storage = ctx->storage[name];
- if (!storage) {
- storage = std::make_unique<Storage>();
- }
- return storage.get();
-}
-
-static void GlassStorageReadLine(ImGuiContext*, ImGuiSettingsHandler*,
- void* entry, const char* line) {
- auto storage = static_cast<Storage*>(entry);
- auto [key, val] = wpi::split(line, '=');
- auto& keys = storage->GetKeys();
- auto& values = storage->GetValues();
- auto it = std::find(keys.begin(), keys.end(), key);
- if (it == keys.end()) {
- keys.emplace_back(key);
- values.emplace_back(std::make_unique<Storage::Value>(val));
+static bool LoadWindowStorageImpl(const std::string& filename) {
+ std::error_code ec;
+ wpi::raw_fd_istream is{filename, ec};
+ if (ec) {
+ ImGui::LogText("error opening %s: %s", filename.c_str(),
+ ec.message().c_str());
+ return false;
} else {
- auto& value = *values[it - keys.begin()];
- value.stringVal = val;
- switch (value.type) {
- case Storage::Value::kInt:
- ConvertInt(&value);
- break;
- case Storage::Value::kInt64:
- ConvertInt64(&value);
- break;
- case Storage::Value::kBool:
- ConvertBool(&value);
- break;
- case Storage::Value::kFloat:
- ConvertFloat(&value);
- break;
- case Storage::Value::kDouble:
- ConvertDouble(&value);
- break;
- default:
- break;
+ try {
+ return JsonToWindow(wpi::json::parse(is), filename.c_str());
+ } catch (wpi::json::parse_error& e) {
+ ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
+ return false;
}
}
}
-static void GlassStorageWriteAll(ImGuiContext*, ImGuiSettingsHandler* handler,
- ImGuiTextBuffer* out_buf) {
- auto ctx = static_cast<Context*>(handler->UserData);
-
- // sort for output
- std::vector<wpi::StringMapConstIterator<std::unique_ptr<Storage>>> sorted;
- for (auto it = ctx->storage.begin(); it != ctx->storage.end(); ++it) {
- sorted.emplace_back(it);
+static bool LoadStorageRootImpl(Context* ctx, const std::string& filename,
+ std::string_view rootName) {
+ std::error_code ec;
+ wpi::raw_fd_istream is{filename, ec};
+ if (ec) {
+ ImGui::LogText("error opening %s: %s", filename.c_str(),
+ ec.message().c_str());
+ return false;
+ } else {
+ auto& storage = ctx->storageRoots[rootName];
+ bool createdStorage = false;
+ if (!storage) {
+ storage = std::make_unique<Storage>();
+ createdStorage = true;
+ }
+ try {
+ storage->FromJson(wpi::json::parse(is), filename.c_str());
+ } catch (wpi::json::parse_error& e) {
+ ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
+ if (createdStorage) {
+ ctx->storageRoots.erase(rootName);
+ }
+ return false;
+ }
}
- std::sort(sorted.begin(), sorted.end(), [](const auto& a, const auto& b) {
- return a->getKey() < b->getKey();
- });
+ return true;
+}
- for (auto&& entryIt : sorted) {
- auto& entry = *entryIt;
- out_buf->append("[GlassStorage][");
- out_buf->append(entry.first().data(),
- entry.first().data() + entry.first().size());
- out_buf->append("]\n");
- auto& keys = entry.second->GetKeys();
- auto& values = entry.second->GetValues();
- for (size_t i = 0; i < keys.size(); ++i) {
- out_buf->append(keys[i].data(), keys[i].data() + keys[i].size());
- out_buf->append("=");
- auto& value = *values[i];
- switch (value.type) {
- case Storage::Value::kInt:
- out_buf->appendf("%d\n", value.intVal);
- break;
- case Storage::Value::kInt64:
- out_buf->appendf("%" PRId64 "\n", value.int64Val);
- break;
- case Storage::Value::kBool:
- out_buf->appendf("%d\n", value.boolVal ? 1 : 0);
- break;
- case Storage::Value::kFloat:
- out_buf->appendf("%f\n", value.floatVal);
- break;
- case Storage::Value::kDouble:
- out_buf->appendf("%f\n", value.doubleVal);
- break;
- case Storage::Value::kNone:
- case Storage::Value::kString:
- out_buf->append(value.stringVal.data(),
- value.stringVal.data() + value.stringVal.size());
- out_buf->append("\n");
- break;
+static bool LoadStorageImpl(Context* ctx, std::string_view dir,
+ std::string_view name) {
+ WorkspaceResetImpl();
+
+ bool rv = true;
+ for (auto&& root : ctx->storageRoots) {
+ std::string filename;
+ auto rootName = root.getKey();
+ if (rootName.empty()) {
+ filename = (fs::path{dir} / fmt::format("{}.json", name)).string();
+ } else {
+ filename =
+ (fs::path{dir} / fmt::format("{}-{}.json", name, rootName)).string();
+ }
+ if (!LoadStorageRootImpl(ctx, filename, rootName)) {
+ rv = false;
+ }
+ }
+
+ WorkspaceInit();
+ return rv;
+}
+
+static wpi::json WindowToJson() {
+ size_t iniLen;
+ const char* iniData = ImGui::SaveIniSettingsToMemory(&iniLen);
+ std::string_view ini{iniData, iniLen};
+
+ // parse the ini data and build JSON
+ // JSON format:
+ // {
+ // "Section": {
+ // "Subsection": {
+ // "Key": "Value" // all values are saved as strings
+ // }
+ // }
+ // }
+
+ wpi::json out = wpi::json::object();
+ wpi::json* curSection = nullptr;
+ while (!ini.empty()) {
+ std::string_view line;
+ std::tie(line, ini) = wpi::split(ini, '\n');
+ line = wpi::trim(line);
+ if (line.empty()) {
+ continue;
+ }
+ if (line[0] == '[') {
+ // new section
+ auto [section, subsection] = wpi::split(line, ']');
+ section = wpi::drop_front(section); // drop '['; ']' was dropped by split
+ subsection = wpi::drop_back(wpi::drop_front(subsection)); // drop []
+ auto& jsection = out[section];
+ if (jsection.is_null()) {
+ jsection = wpi::json::object();
+ }
+ curSection = &jsection[subsection];
+ if (curSection->is_null()) {
+ *curSection = wpi::json::object();
+ }
+ } else {
+ // value
+ if (!curSection) {
+ continue; // shouldn't happen, but just in case
+ }
+ auto [name, value] = wpi::split(line, '=');
+ (*curSection)[name] = value;
+ }
+ }
+
+ return out;
+}
+
+bool SaveWindowStorageImpl(const std::string& filename) {
+ std::error_code ec;
+ wpi::raw_fd_ostream os{filename, ec};
+ if (ec) {
+ ImGui::LogText("error opening %s: %s", filename.c_str(),
+ ec.message().c_str());
+ return false;
+ }
+ WindowToJson().dump(os, 2);
+ os << '\n';
+ return true;
+}
+
+static bool SaveStorageRootImpl(Context* ctx, const std::string& filename,
+ const Storage& storage) {
+ std::error_code ec;
+ wpi::raw_fd_ostream os{filename, ec};
+ if (ec) {
+ ImGui::LogText("error opening %s: %s", filename.c_str(),
+ ec.message().c_str());
+ return false;
+ }
+ storage.ToJson().dump(os, 2);
+ os << '\n';
+ return true;
+}
+
+static bool SaveStorageImpl(Context* ctx, std::string_view dir,
+ std::string_view name, bool exiting) {
+ fs::path dirPath{dir};
+
+ std::error_code ec;
+ fs::create_directories(dirPath, ec);
+ if (ec) {
+ return false;
+ }
+
+ // handle erasing save files on exit if requested
+ if (exiting && wpi::gui::gContext->resetOnExit) {
+ fs::remove(dirPath / fmt::format("{}-window.json", name), ec);
+ for (auto&& root : ctx->storageRoots) {
+ auto rootName = root.getKey();
+ if (rootName.empty()) {
+ fs::remove(dirPath / fmt::format("{}.json", name), ec);
+ } else {
+ fs::remove(dirPath / fmt::format("{}-{}.json", name, rootName), ec);
}
}
- out_buf->append("\n");
}
+
+ bool rv = SaveWindowStorageImpl(
+ (dirPath / fmt::format("{}-window.json", name)).string());
+
+ for (auto&& root : ctx->storageRoots) {
+ auto rootName = root.getKey();
+ std::string filename;
+ if (rootName.empty()) {
+ filename = (dirPath / fmt::format("{}.json", name)).string();
+ } else {
+ filename = (dirPath / fmt::format("{}-{}.json", name, rootName)).string();
+ }
+ if (!SaveStorageRootImpl(ctx, filename, *root.getValue())) {
+ rv = false;
+ }
+ }
+ return rv;
}
-static void Initialize(Context* ctx) {
- wpi::gui::AddInit([=] {
- ImGuiSettingsHandler ini_handler;
- ini_handler.TypeName = "GlassStorage";
- ini_handler.TypeHash = ImHashStr("GlassStorage");
- ini_handler.ReadOpenFn = GlassStorageReadOpen;
- ini_handler.ReadLineFn = GlassStorageReadLine;
- ini_handler.WriteAllFn = GlassStorageWriteAll;
- ini_handler.UserData = ctx;
- ImGui::GetCurrentContext()->SettingsHandlers.push_back(ini_handler);
+Context::Context()
+ : sourceNameStorage{storageRoots.insert({"", std::make_unique<Storage>()})
+ .first->getValue()
+ ->GetChild("sourceNames")} {
+ storageStack.emplace_back(storageRoots[""].get());
- ctx->sources.Initialize();
- });
+ // override ImGui ini saving
+ wpi::gui::ConfigureCustomSaveSettings(
+ [this] { LoadStorageImpl(this, storageLoadDir, storageName); },
+ [this] {
+ LoadWindowStorageImpl((fs::path{storageLoadDir} /
+ fmt::format("{}-window.json", storageName))
+ .string());
+ },
+ [this](bool exiting) {
+ SaveStorageImpl(this, storageAutoSaveDir, storageName, exiting);
+ });
}
-static void Shutdown(Context* ctx) {}
+Context::~Context() {
+ wpi::gui::ConfigureCustomSaveSettings(nullptr, nullptr, nullptr);
+}
Context* glass::CreateContext() {
Context* ctx = new Context;
if (!gContext) {
SetCurrentContext(ctx);
}
- Initialize(ctx);
return ctx;
}
@@ -194,7 +322,6 @@
if (!ctx) {
ctx = gContext;
}
- Shutdown(ctx);
if (gContext == ctx) {
SetCurrentContext(nullptr);
}
@@ -217,215 +344,167 @@
return gContext->zeroTime;
}
-Storage::Value& Storage::GetValue(std::string_view key) {
- auto it = std::find(m_keys.begin(), m_keys.end(), key);
- if (it == m_keys.end()) {
- m_keys.emplace_back(key);
- m_values.emplace_back(std::make_unique<Value>());
- return *m_values.back();
- } else {
- return *m_values[it - m_keys.begin()];
+void glass::WorkspaceReset() {
+ WorkspaceResetImpl();
+ WorkspaceInit();
+}
+
+void glass::AddWorkspaceInit(std::function<void()> init) {
+ if (init) {
+ gContext->workspaceInit.emplace_back(std::move(init));
}
}
-#define DEFUN(CapsName, LowerName, CType) \
- CType Storage::Get##CapsName(std::string_view key, CType defaultVal) const { \
- auto it = std::find(m_keys.begin(), m_keys.end(), key); \
- if (it == m_keys.end()) \
- return defaultVal; \
- Value& value = *m_values[it - m_keys.begin()]; \
- if (value.type != Value::k##CapsName) { \
- if (!Convert##CapsName(&value)) \
- value.LowerName##Val = defaultVal; \
- } \
- return value.LowerName##Val; \
- } \
- \
- void Storage::Set##CapsName(std::string_view key, CType val) { \
- auto it = std::find(m_keys.begin(), m_keys.end(), key); \
- if (it == m_keys.end()) { \
- m_keys.emplace_back(key); \
- m_values.emplace_back(std::make_unique<Value>()); \
- m_values.back()->type = Value::k##CapsName; \
- m_values.back()->LowerName##Val = val; \
- } else { \
- Value& value = *m_values[it - m_keys.begin()]; \
- value.type = Value::k##CapsName; \
- value.LowerName##Val = val; \
- } \
- } \
- \
- CType* Storage::Get##CapsName##Ref(std::string_view key, CType defaultVal) { \
- auto it = std::find(m_keys.begin(), m_keys.end(), key); \
- if (it == m_keys.end()) { \
- m_keys.emplace_back(key); \
- m_values.emplace_back(std::make_unique<Value>()); \
- m_values.back()->type = Value::k##CapsName; \
- m_values.back()->LowerName##Val = defaultVal; \
- return &m_values.back()->LowerName##Val; \
- } else { \
- Value& value = *m_values[it - m_keys.begin()]; \
- if (value.type != Value::k##CapsName) { \
- if (!Convert##CapsName(&value)) \
- value.LowerName##Val = defaultVal; \
- } \
- return &value.LowerName##Val; \
- } \
- }
-
-DEFUN(Int, int, int)
-DEFUN(Int64, int64, int64_t)
-DEFUN(Bool, bool, bool)
-DEFUN(Float, float, float)
-DEFUN(Double, double, double)
-
-std::string Storage::GetString(std::string_view key,
- std::string_view defaultVal) const {
- auto it = std::find(m_keys.begin(), m_keys.end(), key);
- if (it == m_keys.end()) {
- return std::string{defaultVal};
- }
- Value& value = *m_values[it - m_keys.begin()];
- value.type = Value::kString;
- return value.stringVal;
-}
-
-void Storage::SetString(std::string_view key, std::string_view val) {
- auto it = std::find(m_keys.begin(), m_keys.end(), key);
- if (it == m_keys.end()) {
- m_keys.emplace_back(key);
- m_values.emplace_back(std::make_unique<Value>(val));
- m_values.back()->type = Value::kString;
- } else {
- Value& value = *m_values[it - m_keys.begin()];
- value.type = Value::kString;
- value.stringVal = val;
+void glass::AddWorkspaceReset(std::function<void()> reset) {
+ if (reset) {
+ gContext->workspaceReset.emplace_back(std::move(reset));
}
}
-std::string* Storage::GetStringRef(std::string_view key,
- std::string_view defaultVal) {
- auto it = std::find(m_keys.begin(), m_keys.end(), key);
- if (it == m_keys.end()) {
- m_keys.emplace_back(key);
- m_values.emplace_back(std::make_unique<Value>(defaultVal));
- m_values.back()->type = Value::kString;
- return &m_values.back()->stringVal;
+void glass::SetStorageName(std::string_view name) {
+ gContext->storageName = name;
+}
+
+void glass::SetStorageDir(std::string_view dir) {
+ if (dir.empty()) {
+ gContext->storageLoadDir = ".";
+ gContext->storageAutoSaveDir = ".";
} else {
- Value& value = *m_values[it - m_keys.begin()];
- value.type = Value::kString;
- return &value.stringVal;
+ gContext->storageLoadDir = dir;
+ gContext->storageAutoSaveDir = dir;
+ gContext->isPlatformSaveDir = (dir == wpi::gui::GetPlatformSaveFileDir());
}
}
+std::string glass::GetStorageDir() {
+ return gContext->storageAutoSaveDir;
+}
+
+bool glass::LoadStorage(std::string_view dir) {
+ SaveStorage();
+ SetStorageDir(dir);
+ LoadWindowStorageImpl((fs::path{gContext->storageLoadDir} /
+ fmt::format("{}-window.json", gContext->storageName))
+ .string());
+ return LoadStorageImpl(gContext, dir, gContext->storageName);
+}
+
+bool glass::SaveStorage() {
+ return SaveStorageImpl(gContext, gContext->storageAutoSaveDir,
+ gContext->storageName, false);
+}
+
+bool glass::SaveStorage(std::string_view dir) {
+ return SaveStorageImpl(gContext, dir, gContext->storageName, false);
+}
+
+Storage& glass::GetCurStorageRoot() {
+ return *gContext->storageStack.front();
+}
+
+Storage& glass::GetStorageRoot(std::string_view rootName) {
+ auto& storage = gContext->storageRoots[rootName];
+ if (!storage) {
+ storage = std::make_unique<Storage>();
+ }
+ return *storage;
+}
+
+void glass::ResetStorageStack(std::string_view rootName) {
+ if (gContext->storageStack.size() != 1) {
+ ImGui::LogText("resetting non-empty storage stack");
+ }
+ gContext->storageStack.clear();
+ gContext->storageStack.emplace_back(&GetStorageRoot(rootName));
+}
+
Storage& glass::GetStorage() {
- auto& storage = gContext->storage[gContext->curId];
- if (!storage) {
- storage = std::make_unique<Storage>();
- }
- return *storage;
+ return *gContext->storageStack.back();
}
-Storage& glass::GetStorage(std::string_view id) {
- auto& storage = gContext->storage[id];
- if (!storage) {
- storage = std::make_unique<Storage>();
- }
- return *storage;
+void glass::PushStorageStack(std::string_view label_id) {
+ gContext->storageStack.emplace_back(
+ &gContext->storageStack.back()->GetChild(label_id));
}
-static void PushIDStack(std::string_view label_id) {
- gContext->idStack.emplace_back(gContext->curId.size());
-
- auto [label, id] = wpi::split(label_id, "###");
- // if no ###id, use label as id
- if (id.empty()) {
- id = label;
- }
- if (!gContext->curId.empty()) {
- gContext->curId += "###";
- }
- gContext->curId += id;
+void glass::PushStorageStack(Storage& storage) {
+ gContext->storageStack.emplace_back(&storage);
}
-static void PopIDStack() {
- gContext->curId.resize(gContext->idStack.back());
- gContext->idStack.pop_back();
+void glass::PopStorageStack() {
+ if (gContext->storageStack.size() <= 1) {
+ ImGui::LogText("attempted to pop empty storage stack, mismatch push/pop?");
+ return; // ignore
+ }
+ gContext->storageStack.pop_back();
}
bool glass::Begin(const char* name, bool* p_open, ImGuiWindowFlags flags) {
- PushIDStack(name);
+ PushStorageStack(name);
return ImGui::Begin(name, p_open, flags);
}
void glass::End() {
ImGui::End();
- PopIDStack();
+ PopStorageStack();
}
bool glass::BeginChild(const char* str_id, const ImVec2& size, bool border,
ImGuiWindowFlags flags) {
- PushIDStack(str_id);
+ PushStorageStack(str_id);
return ImGui::BeginChild(str_id, size, border, flags);
}
void glass::EndChild() {
ImGui::EndChild();
- PopIDStack();
+ PopStorageStack();
}
bool glass::CollapsingHeader(const char* label, ImGuiTreeNodeFlags flags) {
- wpi::SmallString<64> openKey;
- auto [name, id] = wpi::split(label, "###");
- // if no ###id, use name as id
- if (id.empty()) {
- id = name;
- }
- openKey = id;
- openKey += "###open";
-
- bool* open = GetStorage().GetBoolRef(openKey.str());
- *open = ImGui::CollapsingHeader(
- label, flags | (*open ? ImGuiTreeNodeFlags_DefaultOpen : 0));
- return *open;
+ bool& open = GetStorage().GetChild(label).GetBool(
+ "open", (flags & ImGuiTreeNodeFlags_DefaultOpen) != 0);
+ ImGui::SetNextItemOpen(open);
+ open = ImGui::CollapsingHeader(label, flags);
+ return open;
}
bool glass::TreeNodeEx(const char* label, ImGuiTreeNodeFlags flags) {
- PushIDStack(label);
- bool* open = GetStorage().GetBoolRef("open");
- *open = ImGui::TreeNodeEx(
- label, flags | (*open ? ImGuiTreeNodeFlags_DefaultOpen : 0));
- if (!*open) {
- PopIDStack();
+ PushStorageStack(label);
+ bool& open = GetStorage().GetBool(
+ "open", (flags & ImGuiTreeNodeFlags_DefaultOpen) != 0);
+ ImGui::SetNextItemOpen(open);
+ open = ImGui::TreeNodeEx(label, flags);
+ if (!open) {
+ PopStorageStack();
}
- return *open;
+ return open;
}
void glass::TreePop() {
ImGui::TreePop();
- PopIDStack();
+ PopStorageStack();
}
void glass::PushID(const char* str_id) {
- PushIDStack(str_id);
+ PushStorageStack(str_id);
ImGui::PushID(str_id);
}
void glass::PushID(const char* str_id_begin, const char* str_id_end) {
- PushIDStack(std::string_view(str_id_begin, str_id_end - str_id_begin));
+ PushStorageStack(std::string_view(str_id_begin, str_id_end - str_id_begin));
ImGui::PushID(str_id_begin, str_id_end);
}
void glass::PushID(int int_id) {
char buf[16];
std::snprintf(buf, sizeof(buf), "%d", int_id);
- PushIDStack(buf);
+ PushStorageStack(buf);
ImGui::PushID(int_id);
}
void glass::PopID() {
ImGui::PopID();
- PopIDStack();
+ PopStorageStack();
}
bool glass::PopupEditName(const char* label, std::string* name) {
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/DataSource.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/DataSource.cpp
index adab6e7..d9bee62 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/DataSource.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/DataSource.cpp
@@ -12,13 +12,9 @@
wpi::sig::Signal<const char*, DataSource*> DataSource::sourceCreated;
-DataSource::DataSource(std::string_view id) : m_id{id} {
- auto it = gContext->sources.try_emplace(m_id, this);
- auto& srcName = it.first->getValue();
- m_name = srcName.name.get();
- if (!srcName.source) {
- srcName.source = this;
- }
+DataSource::DataSource(std::string_view id)
+ : m_id{id}, m_name{gContext->sourceNameStorage.GetString(m_id)} {
+ gContext->sources.try_emplace(m_id, this);
sourceCreated(m_id.c_str(), this);
}
@@ -32,43 +28,7 @@
if (!gContext) {
return;
}
- auto it = gContext->sources.find(m_id);
- if (it == gContext->sources.end()) {
- return;
- }
- auto& srcName = it->getValue();
- if (srcName.source == this) {
- srcName.source = nullptr;
- }
-}
-
-void DataSource::SetName(std::string_view name) {
- m_name->SetName(name);
-}
-
-const char* DataSource::GetName() const {
- return m_name->GetName();
-}
-
-void DataSource::PushEditNameId(int index) {
- m_name->PushEditNameId(index);
-}
-
-void DataSource::PushEditNameId(const char* name) {
- m_name->PushEditNameId(name);
-}
-
-bool DataSource::PopupEditName(int index) {
- return m_name->PopupEditName(index);
-}
-
-bool DataSource::PopupEditName(const char* name) {
- return m_name->PopupEditName(name);
-}
-
-bool DataSource::InputTextName(const char* label_id,
- ImGuiInputTextFlags flags) {
- return m_name->InputTextName(label_id, flags);
+ gContext->sources.erase(m_id);
}
void DataSource::LabelText(const char* label, const char* fmt, ...) const {
@@ -82,7 +42,7 @@
void DataSource::LabelTextV(const char* label, const char* fmt,
va_list args) const {
ImGui::PushID(label);
- ImGui::LabelTextV("##input", fmt, args);
+ ImGui::LabelTextV("##input", fmt, args); // NOLINT
ImGui::SameLine(0, ImGui::GetStyle().ItemInnerSpacing.x);
ImGui::Selectable(label);
ImGui::PopID();
@@ -141,7 +101,7 @@
if (ImGui::BeginDragDropSource(flags)) {
auto self = this;
ImGui::SetDragDropPayload("DataSource", &self, sizeof(self)); // NOLINT
- const char* name = GetName();
+ const char* name = GetName().c_str();
ImGui::TextUnformatted(name[0] == '\0' ? m_id.c_str() : name);
ImGui::EndDragDropSource();
}
@@ -152,5 +112,5 @@
if (it == gContext->sources.end()) {
return nullptr;
}
- return it->getValue().source;
+ return it->getValue();
}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/MainMenuBar.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/MainMenuBar.cpp
index 2c4d371..879f664 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/MainMenuBar.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/MainMenuBar.cpp
@@ -6,8 +6,12 @@
#include <cstdio>
+#include <imgui.h>
#include <wpigui.h>
+#include "glass/Context.h"
+#include "glass/ContextInternal.h"
+
using namespace glass;
void MainMenuBar::AddMainMenu(std::function<void()> menu) {
@@ -25,6 +29,8 @@
void MainMenuBar::Display() {
ImGui::BeginMainMenuBar();
+ WorkspaceMenu();
+
if (!m_optionMenus.empty()) {
if (ImGui::BeginMenu("Options")) {
for (auto&& menu : m_optionMenus) {
@@ -55,3 +61,46 @@
#endif
ImGui::EndMainMenuBar();
}
+
+void MainMenuBar::WorkspaceMenu() {
+ if (ImGui::BeginMenu("Workspace")) {
+ if (ImGui::MenuItem("Open...")) {
+ m_openFolder =
+ std::make_unique<pfd::select_folder>("Choose folder to open");
+ }
+ if (ImGui::MenuItem("Save As...")) {
+ m_saveFolder = std::make_unique<pfd::select_folder>("Choose save folder");
+ }
+ if (ImGui::MenuItem("Save As Global", nullptr, false,
+ !gContext->isPlatformSaveDir)) {
+ SetStorageDir(wpi::gui::GetPlatformSaveFileDir());
+ SaveStorage();
+ }
+ ImGui::Separator();
+ if (ImGui::MenuItem("Reset")) {
+ WorkspaceReset();
+ }
+ ImGui::Separator();
+ if (ImGui::MenuItem("Exit")) {
+ wpi::gui::Exit();
+ }
+ ImGui::EndMenu();
+ }
+
+ if (m_openFolder && m_openFolder->ready(0)) {
+ auto result = m_openFolder->result();
+ if (!result.empty()) {
+ LoadStorage(result);
+ }
+ m_openFolder.reset();
+ }
+
+ if (m_saveFolder && m_saveFolder->ready(0)) {
+ auto result = m_saveFolder->result();
+ if (!result.empty()) {
+ SetStorageDir(result);
+ SaveStorage(result);
+ }
+ m_saveFolder.reset();
+ }
+}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/Storage.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/Storage.cpp
new file mode 100644
index 0000000..28af20b
--- /dev/null
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/Storage.cpp
@@ -0,0 +1,688 @@
+// 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 "glass/Storage.h"
+
+#include <type_traits>
+
+#include <imgui.h>
+#include <wpi/StringExtras.h>
+#include <wpi/json.h>
+
+using namespace glass;
+
+template <typename To>
+bool ConvertFromString(To* out, std::string_view str) {
+ if constexpr (std::is_same_v<To, bool>) {
+ if (str == "true") {
+ *out = true;
+ } else if (str == "false") {
+ *out = false;
+ } else if (auto val = wpi::parse_integer<int>(str, 10)) {
+ *out = val.value() != 0;
+ } else {
+ return false;
+ }
+ } else if constexpr (std::is_floating_point_v<To>) {
+ if (auto val = wpi::parse_float<To>(str)) {
+ *out = val.value();
+ } else {
+ return false;
+ }
+ } else {
+ if (auto val = wpi::parse_integer<To>(str, 10)) {
+ *out = val.value();
+ } else {
+ return false;
+ }
+ }
+ return true;
+}
+
+#define CONVERT(CapsName, LowerName, CType) \
+ static bool Convert##CapsName(Storage::Value* value) { \
+ switch (value->type) { \
+ case Storage::Value::kBool: \
+ value->LowerName##Val = value->boolVal; \
+ value->LowerName##Default = value->boolDefault; \
+ break; \
+ case Storage::Value::kDouble: \
+ value->LowerName##Val = value->doubleVal; \
+ value->LowerName##Default = value->doubleDefault; \
+ break; \
+ case Storage::Value::kFloat: \
+ value->LowerName##Val = value->floatVal; \
+ value->LowerName##Default = value->floatDefault; \
+ break; \
+ case Storage::Value::kInt: \
+ value->LowerName##Val = value->intVal; \
+ value->LowerName##Default = value->intDefault; \
+ break; \
+ case Storage::Value::kInt64: \
+ value->LowerName##Val = value->int64Val; \
+ value->LowerName##Default = value->int64Default; \
+ break; \
+ case Storage::Value::kString: \
+ if (!ConvertFromString(&value->LowerName##Val, value->stringVal)) { \
+ return false; \
+ } \
+ if (!ConvertFromString(&value->LowerName##Default, \
+ value->stringDefault)) { \
+ return false; \
+ } \
+ break; \
+ default: \
+ return false; \
+ } \
+ value->type = Storage::Value::k##CapsName; \
+ return true; \
+ }
+
+CONVERT(Int, int, int)
+CONVERT(Int64, int64, int64_t)
+CONVERT(Float, float, float)
+CONVERT(Double, double, double)
+CONVERT(Bool, bool, bool)
+
+static inline bool ConvertString(Storage::Value* value) {
+ return false;
+}
+
+// Arrays can only come from JSON, so we only have to worry about conversions
+// between the various number types, not bool or string
+
+template <typename From, typename To>
+static void ConvertArray(std::vector<To>** outPtr, std::vector<From>** inPtr) {
+ if (*inPtr) {
+ std::vector<To>* tmp;
+ tmp = new std::vector<To>{(*inPtr)->begin(), (*inPtr)->end()};
+ delete *inPtr;
+ *outPtr = tmp;
+ } else {
+ *outPtr = nullptr;
+ }
+}
+
+#define CONVERT_ARRAY(CapsName, LowerName) \
+ static bool Convert##CapsName##Array(Storage::Value* value) { \
+ switch (value->type) { \
+ case Storage::Value::kDoubleArray: \
+ ConvertArray(&value->LowerName##Array, &value->doubleArray); \
+ ConvertArray(&value->LowerName##ArrayDefault, \
+ &value->doubleArrayDefault); \
+ break; \
+ case Storage::Value::kFloatArray: \
+ ConvertArray(&value->LowerName##Array, &value->floatArray); \
+ ConvertArray(&value->LowerName##ArrayDefault, \
+ &value->floatArrayDefault); \
+ break; \
+ case Storage::Value::kIntArray: \
+ ConvertArray(&value->LowerName##Array, &value->intArray); \
+ ConvertArray(&value->LowerName##ArrayDefault, \
+ &value->intArrayDefault); \
+ break; \
+ case Storage::Value::kInt64Array: \
+ ConvertArray(&value->LowerName##Array, &value->int64Array); \
+ ConvertArray(&value->LowerName##ArrayDefault, \
+ &value->int64ArrayDefault); \
+ break; \
+ default: \
+ return false; \
+ } \
+ value->type = Storage::Value::k##CapsName##Array; \
+ return true; \
+ }
+
+CONVERT_ARRAY(Int, int)
+CONVERT_ARRAY(Int64, int64)
+CONVERT_ARRAY(Float, float)
+CONVERT_ARRAY(Double, double)
+
+static inline bool ConvertBoolArray(Storage::Value* value) {
+ return false;
+}
+
+static inline bool ConvertStringArray(Storage::Value* value) {
+ return false;
+}
+
+void Storage::Value::Reset(Type newType) {
+ switch (type) {
+ case kChild:
+ delete child;
+ break;
+ case kIntArray:
+ delete intArray;
+ delete intArrayDefault;
+ break;
+ case kInt64Array:
+ delete int64Array;
+ delete int64ArrayDefault;
+ break;
+ case kBoolArray:
+ delete boolArray;
+ delete boolArrayDefault;
+ break;
+ case kFloatArray:
+ delete floatArray;
+ delete floatArrayDefault;
+ break;
+ case kDoubleArray:
+ delete doubleArray;
+ delete doubleArrayDefault;
+ break;
+ case kStringArray:
+ delete stringArray;
+ delete stringArrayDefault;
+ break;
+ case kChildArray:
+ delete childArray;
+ break;
+ default:
+ break;
+ }
+ type = newType;
+}
+
+Storage::Value* Storage::FindValue(std::string_view key) {
+ auto it = m_values.find(key);
+ if (it == m_values.end()) {
+ return nullptr;
+ }
+ return it->second.get();
+}
+
+Storage::Value& Storage::GetValue(std::string_view key) {
+ auto& val = m_values[key];
+ if (!val) {
+ val = std::make_unique<Value>();
+ }
+ return *val;
+}
+
+#define DEFUN(CapsName, LowerName, CType, CParamType, ArrCType) \
+ CType Storage::Read##CapsName(std::string_view key, CParamType defaultVal) \
+ const { \
+ auto it = m_values.find(key); \
+ if (it == m_values.end()) { \
+ return CType{defaultVal}; \
+ } \
+ Value& value = *it->second; \
+ if (value.type != Value::k##CapsName) { \
+ if (!Convert##CapsName(&value)) { \
+ value.Reset(Value::k##CapsName); \
+ value.LowerName##Val = defaultVal; \
+ value.LowerName##Default = defaultVal; \
+ value.hasDefault = true; \
+ } \
+ } \
+ return value.LowerName##Val; \
+ } \
+ \
+ void Storage::Set##CapsName(std::string_view key, CParamType val) { \
+ auto& valuePtr = m_values[key]; \
+ if (!valuePtr) { \
+ valuePtr = std::make_unique<Value>(Value::k##CapsName); \
+ } else { \
+ valuePtr->Reset(Value::k##CapsName); \
+ } \
+ valuePtr->LowerName##Val = val; \
+ valuePtr->LowerName##Default = {}; \
+ } \
+ \
+ CType& Storage::Get##CapsName(std::string_view key, CParamType defaultVal) { \
+ auto& valuePtr = m_values[key]; \
+ bool setValue = false; \
+ if (!valuePtr) { \
+ valuePtr = std::make_unique<Value>(Value::k##CapsName); \
+ setValue = true; \
+ } else if (valuePtr->type != Value::k##CapsName) { \
+ if (!Convert##CapsName(valuePtr.get())) { \
+ valuePtr->Reset(Value::k##CapsName); \
+ setValue = true; \
+ } \
+ } \
+ if (setValue) { \
+ valuePtr->LowerName##Val = defaultVal; \
+ } \
+ if (!valuePtr->hasDefault) { \
+ valuePtr->LowerName##Default = defaultVal; \
+ valuePtr->hasDefault = true; \
+ } \
+ return valuePtr->LowerName##Val; \
+ } \
+ \
+ std::vector<ArrCType>& Storage::Get##CapsName##Array( \
+ std::string_view key, wpi::span<const ArrCType> defaultVal) { \
+ auto& valuePtr = m_values[key]; \
+ bool setValue = false; \
+ if (!valuePtr) { \
+ valuePtr = std::make_unique<Value>(Value::k##CapsName##Array); \
+ setValue = true; \
+ } else if (valuePtr->type != Value::k##CapsName##Array) { \
+ if (!Convert##CapsName##Array(valuePtr.get())) { \
+ valuePtr->Reset(Value::k##CapsName##Array); \
+ setValue = true; \
+ } \
+ } \
+ if (setValue) { \
+ valuePtr->LowerName##Array = \
+ new std::vector<ArrCType>{defaultVal.begin(), defaultVal.end()}; \
+ } \
+ if (!valuePtr->hasDefault) { \
+ if (defaultVal.empty()) { \
+ valuePtr->LowerName##ArrayDefault = nullptr; \
+ } else { \
+ valuePtr->LowerName##ArrayDefault = \
+ new std::vector<ArrCType>{defaultVal.begin(), defaultVal.end()}; \
+ } \
+ valuePtr->hasDefault = true; \
+ } \
+ assert(valuePtr->LowerName##Array); \
+ return *valuePtr->LowerName##Array; \
+ }
+
+DEFUN(Int, int, int, int, int)
+DEFUN(Int64, int64, int64_t, int64_t, int64_t)
+DEFUN(Bool, bool, bool, bool, int)
+DEFUN(Float, float, float, float, float)
+DEFUN(Double, double, double, double, double)
+DEFUN(String, string, std::string, std::string_view, std::string)
+
+Storage& Storage::GetChild(std::string_view label_id) {
+ auto [label, id] = wpi::split(label_id, "###");
+ if (id.empty()) {
+ id = label;
+ }
+ auto& childPtr = m_values[id];
+ if (!childPtr) {
+ childPtr = std::make_unique<Value>();
+ }
+ if (childPtr->type != Value::kChild) {
+ childPtr->type = Value::kChild;
+ childPtr->child = new Storage;
+ }
+ return *childPtr->child;
+}
+
+std::vector<std::unique_ptr<Storage>>& Storage::GetChildArray(
+ std::string_view key) {
+ auto& valuePtr = m_values[key];
+ if (!valuePtr) {
+ valuePtr = std::make_unique<Value>(Value::kChildArray);
+ valuePtr->childArray = new std::vector<std::unique_ptr<Storage>>();
+ } else if (valuePtr->type != Value::kChildArray) {
+ valuePtr->Reset(Value::kChildArray);
+ valuePtr->childArray = new std::vector<std::unique_ptr<Storage>>();
+ }
+
+ return *valuePtr->childArray;
+}
+
+std::unique_ptr<Storage::Value> Storage::Erase(std::string_view key) {
+ auto it = m_values.find(key);
+ if (it != m_values.end()) {
+ auto rv = std::move(it->getValue());
+ m_values.erase(it);
+ return rv;
+ }
+ return nullptr;
+}
+
+void Storage::EraseChildren() {
+ for (auto&& kv : m_values) {
+ if (kv.getValue()->type == Value::kChild) {
+ m_values.remove(&kv);
+ }
+ }
+}
+
+static bool JsonArrayToStorage(Storage::Value* valuePtr, const wpi::json& jarr,
+ const char* filename) {
+ auto& arr = jarr.get_ref<const wpi::json::array_t&>();
+ if (arr.empty()) {
+ ImGui::LogText("empty array in %s, ignoring", filename);
+ return false;
+ }
+
+ // guess array type from first element
+ switch (arr[0].type()) {
+ case wpi::json::value_t::boolean:
+ if (valuePtr->type != Storage::Value::kBoolArray) {
+ valuePtr->Reset(Storage::Value::kBoolArray);
+ valuePtr->boolArray = new std::vector<int>();
+ valuePtr->boolArrayDefault = nullptr;
+ }
+ break;
+ case wpi::json::value_t::number_float:
+ if (valuePtr->type != Storage::Value::kDoubleArray) {
+ valuePtr->Reset(Storage::Value::kDoubleArray);
+ valuePtr->doubleArray = new std::vector<double>();
+ valuePtr->doubleArrayDefault = nullptr;
+ }
+ break;
+ case wpi::json::value_t::number_integer:
+ case wpi::json::value_t::number_unsigned:
+ if (valuePtr->type != Storage::Value::kInt64Array) {
+ valuePtr->Reset(Storage::Value::kInt64Array);
+ valuePtr->int64Array = new std::vector<int64_t>();
+ valuePtr->int64ArrayDefault = nullptr;
+ }
+ break;
+ case wpi::json::value_t::string:
+ if (valuePtr->type != Storage::Value::kStringArray) {
+ valuePtr->Reset(Storage::Value::kStringArray);
+ valuePtr->stringArray = new std::vector<std::string>();
+ valuePtr->stringArrayDefault = nullptr;
+ }
+ break;
+ case wpi::json::value_t::object:
+ if (valuePtr->type != Storage::Value::kChildArray) {
+ valuePtr->Reset(Storage::Value::kChildArray);
+ valuePtr->childArray = new std::vector<std::unique_ptr<Storage>>();
+ }
+ break;
+ case wpi::json::value_t::array:
+ ImGui::LogText("nested array in %s, ignoring", filename);
+ return false;
+ default:
+ ImGui::LogText("null value in %s, ignoring", filename);
+ return false;
+ }
+
+ // loop over array to store elements
+ for (auto jvalue : arr) {
+ switch (jvalue.type()) {
+ case wpi::json::value_t::boolean:
+ if (valuePtr->type == Storage::Value::kBoolArray) {
+ valuePtr->boolArray->push_back(jvalue.get<bool>());
+ } else {
+ goto error;
+ }
+ break;
+ case wpi::json::value_t::number_float:
+ if (valuePtr->type == Storage::Value::kDoubleArray) {
+ valuePtr->doubleArray->push_back(jvalue.get<double>());
+ } else {
+ goto error;
+ }
+ break;
+ case wpi::json::value_t::number_integer:
+ if (valuePtr->type == Storage::Value::kInt64Array) {
+ valuePtr->int64Array->push_back(jvalue.get<int64_t>());
+ } else if (valuePtr->type == Storage::Value::kDoubleArray) {
+ valuePtr->doubleArray->push_back(jvalue.get<int64_t>());
+ } else {
+ goto error;
+ }
+ break;
+ case wpi::json::value_t::number_unsigned:
+ if (valuePtr->type == Storage::Value::kInt64Array) {
+ valuePtr->int64Array->push_back(jvalue.get<uint64_t>());
+ } else if (valuePtr->type == Storage::Value::kDoubleArray) {
+ valuePtr->doubleArray->push_back(jvalue.get<uint64_t>());
+ } else {
+ goto error;
+ }
+ break;
+ case wpi::json::value_t::string:
+ if (valuePtr->type == Storage::Value::kStringArray) {
+ valuePtr->stringArray->emplace_back(
+ jvalue.get_ref<const std::string&>());
+ } else {
+ goto error;
+ }
+ break;
+ case wpi::json::value_t::object:
+ if (valuePtr->type == Storage::Value::kChildArray) {
+ valuePtr->childArray->emplace_back(std::make_unique<Storage>());
+ valuePtr->childArray->back()->FromJson(jvalue, filename);
+ } else {
+ goto error;
+ }
+ break;
+ case wpi::json::value_t::array:
+ ImGui::LogText("nested array in %s, ignoring", filename);
+ return false;
+ default:
+ ImGui::LogText("null value in %s, ignoring", filename);
+ return false;
+ }
+ }
+ return true;
+
+error:
+ ImGui::LogText("array with variant types in %s, ignoring", filename);
+ return false;
+}
+
+bool Storage::FromJson(const wpi::json& json, const char* filename) {
+ if (m_fromJson) {
+ return m_fromJson(json, filename);
+ }
+
+ if (!json.is_object()) {
+ ImGui::LogText("non-object in %s", filename);
+ return false;
+ }
+ for (auto&& jkv : json.items()) {
+ auto& valuePtr = m_values[jkv.key()];
+ bool created = false;
+ if (!valuePtr) {
+ valuePtr = std::make_unique<Value>();
+ created = true;
+ }
+ auto& jvalue = jkv.value();
+ switch (jvalue.type()) {
+ case wpi::json::value_t::boolean:
+ valuePtr->Reset(Value::kBool);
+ valuePtr->boolVal = jvalue.get<bool>();
+ break;
+ case wpi::json::value_t::number_float:
+ valuePtr->Reset(Value::kDouble);
+ valuePtr->doubleVal = jvalue.get<double>();
+ break;
+ case wpi::json::value_t::number_integer:
+ valuePtr->Reset(Value::kInt64);
+ valuePtr->int64Val = jvalue.get<int64_t>();
+ break;
+ case wpi::json::value_t::number_unsigned:
+ valuePtr->Reset(Value::kInt64);
+ valuePtr->int64Val = jvalue.get<uint64_t>();
+ break;
+ case wpi::json::value_t::string:
+ valuePtr->Reset(Value::kString);
+ valuePtr->stringVal = jvalue.get_ref<const std::string&>();
+ break;
+ case wpi::json::value_t::object:
+ if (valuePtr->type != Value::kChild) {
+ valuePtr->Reset(Value::kChild);
+ valuePtr->child = new Storage;
+ }
+ valuePtr->child->FromJson(jvalue, filename); // recurse
+ break;
+ case wpi::json::value_t::array:
+ if (!JsonArrayToStorage(valuePtr.get(), jvalue, filename)) {
+ if (created) {
+ m_values.erase(jkv.key());
+ }
+ }
+ break;
+ default:
+ ImGui::LogText("null value in %s, ignoring", filename);
+ if (created) {
+ m_values.erase(jkv.key());
+ }
+ break;
+ }
+ }
+ return true;
+}
+
+template <typename T>
+static wpi::json StorageToJsonArray(const std::vector<T>& arr) {
+ wpi::json jarr = wpi::json::array();
+ for (auto&& v : arr) {
+ jarr.emplace_back(v);
+ }
+ return jarr;
+}
+
+template <>
+wpi::json StorageToJsonArray<std::unique_ptr<Storage>>(
+ const std::vector<std::unique_ptr<Storage>>& arr) {
+ wpi::json jarr = wpi::json::array();
+ for (auto&& v : arr) {
+ jarr.emplace_back(v->ToJson());
+ }
+ // remove any trailing empty items
+ while (!jarr.empty() && jarr.back().empty()) {
+ jarr.get_ref<wpi::json::array_t&>().pop_back();
+ }
+ return jarr;
+}
+
+wpi::json Storage::ToJson() const {
+ if (m_toJson) {
+ return m_toJson();
+ }
+
+ wpi::json j = wpi::json::object();
+ for (auto&& kv : m_values) {
+ wpi::json jelem;
+ auto& value = *kv.getValue();
+ switch (value.type) {
+#define CASE(CapsName, LowerName) \
+ case Value::k##CapsName: \
+ if (value.hasDefault && \
+ value.LowerName##Val == value.LowerName##Default) { \
+ continue; \
+ } \
+ jelem = value.LowerName##Val; \
+ break; \
+ case Value::k##CapsName##Array: \
+ if (value.hasDefault && \
+ ((!value.LowerName##ArrayDefault && \
+ value.LowerName##Array->empty()) || \
+ (value.LowerName##ArrayDefault && \
+ *value.LowerName##Array == *value.LowerName##ArrayDefault))) { \
+ continue; \
+ } \
+ jelem = StorageToJsonArray(*value.LowerName##Array); \
+ break;
+
+ CASE(Int, int)
+ CASE(Int64, int64)
+ CASE(Bool, bool)
+ CASE(Float, float)
+ CASE(Double, double)
+ CASE(String, string)
+
+ case Value::kChild:
+ jelem = value.child->ToJson(); // recurse
+ if (jelem.empty()) {
+ continue;
+ }
+ break;
+ case Value::kChildArray:
+ jelem = StorageToJsonArray(*value.childArray);
+ if (jelem.empty()) {
+ continue;
+ }
+ break;
+ default:
+ continue;
+ }
+ j.emplace(kv.getKey(), std::move(jelem));
+ }
+ return j;
+}
+
+void Storage::Clear() {
+ if (m_clear) {
+ return m_clear();
+ }
+
+ ClearValues();
+}
+
+void Storage::ClearValues() {
+ for (auto&& kv : m_values) {
+ auto& value = *kv.getValue();
+ switch (value.type) {
+ case Value::kInt:
+ value.intVal = value.intDefault;
+ break;
+ case Value::kInt64:
+ value.int64Val = value.int64Default;
+ break;
+ case Value::kBool:
+ value.boolVal = value.boolDefault;
+ break;
+ case Value::kFloat:
+ value.floatVal = value.floatDefault;
+ break;
+ case Value::kDouble:
+ value.doubleVal = value.doubleDefault;
+ break;
+ case Value::kString:
+ value.stringVal = value.stringDefault;
+ break;
+ case Value::kIntArray:
+ *value.intArray = *value.intArrayDefault;
+ break;
+ case Value::kInt64Array:
+ *value.int64Array = *value.int64ArrayDefault;
+ break;
+ case Value::kBoolArray:
+ *value.boolArray = *value.boolArrayDefault;
+ break;
+ case Value::kFloatArray:
+ *value.floatArray = *value.floatArrayDefault;
+ break;
+ case Value::kDoubleArray:
+ *value.doubleArray = *value.doubleArrayDefault;
+ break;
+ case Value::kStringArray:
+ *value.stringArray = *value.stringArrayDefault;
+ break;
+ case Value::kChild:
+ value.child->Clear();
+ break;
+ case Value::kChildArray:
+ for (auto&& child : *value.childArray) {
+ child->Clear();
+ }
+ break;
+ default:
+ break;
+ }
+ }
+}
+
+void Storage::Apply() {
+ if (m_apply) {
+ return m_apply();
+ }
+
+ ApplyChildren();
+}
+
+void Storage::ApplyChildren() {
+ for (auto&& kv : m_values) {
+ auto& value = *kv.getValue();
+ switch (value.type) {
+ case Value::kChild:
+ value.child->Apply();
+ break;
+ case Value::kChildArray:
+ for (auto&& child : *value.childArray) {
+ child->Apply();
+ }
+ break;
+ default:
+ break;
+ }
+ }
+}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/Window.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/Window.cpp
index 5c014eb..6296fab 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/Window.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/Window.cpp
@@ -8,23 +8,28 @@
#include <wpi/StringExtras.h>
#include "glass/Context.h"
+#include "glass/Storage.h"
using namespace glass;
+Window::Window(Storage& storage, std::string_view id,
+ Visibility defaultVisibility)
+ : m_id{id},
+ m_name{storage.GetString("name")},
+ m_defaultName{id},
+ m_visible{storage.GetBool("visible", defaultVisibility != kHide)},
+ m_enabled{storage.GetBool("enabled", defaultVisibility != kDisabled)},
+ m_defaultVisible{storage.GetValue("visible").boolDefault},
+ m_defaultEnabled{storage.GetValue("enabled").boolDefault} {}
+
void Window::SetVisibility(Visibility visibility) {
- switch (visibility) {
- case kHide:
- m_visible = false;
- m_enabled = true;
- break;
- case kShow:
- m_visible = true;
- m_enabled = true;
- break;
- case kDisabled:
- m_enabled = false;
- break;
- }
+ m_visible = visibility != kHide;
+ m_enabled = visibility != kDisabled;
+}
+
+void Window::SetDefaultVisibility(Visibility visibility) {
+ m_defaultVisible = visibility != kHide;
+ m_defaultEnabled = visibility != kDisabled;
}
void Window::Display() {
@@ -85,27 +90,3 @@
m_size.y *= scale;
}
}
-
-void Window::IniReadLine(const char* line) {
- auto [name, value] = wpi::split(line, '=');
- name = wpi::trim(name);
- value = wpi::trim(value);
-
- if (name == "name") {
- m_name = value;
- } else if (name == "visible") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_visible = num.value();
- }
- } else if (name == "enabled") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_enabled = num.value();
- }
- }
-}
-
-void Window::IniWriteAll(const char* typeName, ImGuiTextBuffer* out_buf) {
- out_buf->appendf("[%s][%s]\nname=%s\nvisible=%d\nenabled=%d\n\n", typeName,
- m_id.c_str(), m_name.c_str(), m_visible ? 1 : 0,
- m_enabled ? 1 : 0);
-}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/WindowManager.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/WindowManager.cpp
index 037b9bd..333dad4 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/WindowManager.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/WindowManager.cpp
@@ -10,30 +10,23 @@
#include <fmt/format.h>
#include <wpigui.h>
+#include "glass/Context.h"
+#include "glass/Storage.h"
+
using namespace glass;
-WindowManager::WindowManager(std::string_view iniName)
- : m_iniSaver{iniName, this} {}
-
-// read/write open state to ini file
-void* WindowManager::IniSaver::IniReadOpen(const char* name) {
- return m_manager->GetOrAddWindow(name, true);
-}
-
-void WindowManager::IniSaver::IniReadLine(void* entry, const char* lineStr) {
- static_cast<Window*>(entry)->IniReadLine(lineStr);
-}
-
-void WindowManager::IniSaver::IniWriteAll(ImGuiTextBuffer* out_buf) {
- const char* typeName = GetTypeName();
- for (auto&& window : m_manager->m_windows) {
- window->IniWriteAll(typeName, out_buf);
- }
+WindowManager::WindowManager(Storage& storage) : m_storage{storage} {
+ storage.SetCustomApply([this] {
+ for (auto&& childIt : m_storage.GetChildren()) {
+ GetOrAddWindow(childIt.key(), true);
+ }
+ });
}
Window* WindowManager::AddWindow(std::string_view id,
- wpi::unique_function<void()> display) {
- auto win = GetOrAddWindow(id, false);
+ wpi::unique_function<void()> display,
+ Window::Visibility defaultVisibility) {
+ auto win = GetOrAddWindow(id, false, defaultVisibility);
if (!win) {
return nullptr;
}
@@ -46,8 +39,9 @@
}
Window* WindowManager::AddWindow(std::string_view id,
- std::unique_ptr<View> view) {
- auto win = GetOrAddWindow(id, false);
+ std::unique_ptr<View> view,
+ Window::Visibility defaultVisibility) {
+ auto win = GetOrAddWindow(id, false, defaultVisibility);
if (!win) {
return nullptr;
}
@@ -59,7 +53,8 @@
return win;
}
-Window* WindowManager::GetOrAddWindow(std::string_view id, bool duplicateOk) {
+Window* WindowManager::GetOrAddWindow(std::string_view id, bool duplicateOk,
+ Window::Visibility defaultVisibility) {
// binary search
auto it = std::lower_bound(
m_windows.begin(), m_windows.end(), id,
@@ -72,7 +67,11 @@
return it->get();
}
// insert before (keeps sort)
- return m_windows.emplace(it, std::make_unique<Window>(id))->get();
+ return m_windows
+ .emplace(it, std::make_unique<Window>(
+ m_storage.GetChild(id).GetChild("window"), id,
+ defaultVisibility))
+ ->get();
}
Window* WindowManager::GetWindow(std::string_view id) {
@@ -86,8 +85,12 @@
return it->get();
}
+void WindowManager::RemoveWindow(size_t index) {
+ m_storage.Erase(m_windows[index]->GetId());
+ m_windows.erase(m_windows.begin() + index);
+}
+
void WindowManager::GlobalInit() {
- wpi::gui::AddInit([this] { m_iniSaver.Initialize(); });
wpi::gui::AddWindowScaler([this](float scale) {
// scale default window positions
for (auto&& window : m_windows) {
@@ -104,7 +107,9 @@
}
void WindowManager::DisplayWindows() {
+ PushStorageStack(m_storage);
for (auto&& window : m_windows) {
window->Display();
}
+ PopStorageStack();
}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/AnalogInput.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
index b9699a4..af22511 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
@@ -8,6 +8,7 @@
#include "glass/Context.h"
#include "glass/DataSource.h"
+#include "glass/Storage.h"
using namespace glass;
@@ -18,10 +19,10 @@
}
// build label
- std::string* name = GetStorage().GetStringRef("name");
+ std::string& name = GetStorage().GetString("name");
char label[128];
- if (!name->empty()) {
- std::snprintf(label, sizeof(label), "%s [%d]###name", name->c_str(), index);
+ if (!name.empty()) {
+ std::snprintf(label, sizeof(label), "%s [%d]###name", name.c_str(), index);
} else {
std::snprintf(label, sizeof(label), "In[%d]###name", index);
}
@@ -42,8 +43,8 @@
}
// context menu to change name
- if (PopupEditName("name", name)) {
- voltageData->SetName(name->c_str());
+ if (PopupEditName("name", &name)) {
+ voltageData->SetName(name);
}
}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/AnalogOutput.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/AnalogOutput.cpp
index 3a9594b..174e013 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/AnalogOutput.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/AnalogOutput.cpp
@@ -6,6 +6,7 @@
#include "glass/Context.h"
#include "glass/DataSource.h"
+#include "glass/Storage.h"
#include "glass/other/DeviceTree.h"
using namespace glass;
@@ -26,10 +27,10 @@
PushID(i);
// build label
- std::string* name = GetStorage().GetStringRef("name");
+ std::string& name = GetStorage().GetString("name");
char label[128];
- if (!name->empty()) {
- std::snprintf(label, sizeof(label), "%s [%d]###name", name->c_str(), i);
+ if (!name.empty()) {
+ std::snprintf(label, sizeof(label), "%s [%d]###name", name.c_str(), i);
} else {
std::snprintf(label, sizeof(label), "Out[%d]###name", i);
}
@@ -37,9 +38,9 @@
double value = analogOutData->GetValue();
DeviceDouble(label, true, &value, analogOutData);
- if (PopupEditName("name", name)) {
+ if (PopupEditName("name", &name)) {
if (analogOutData) {
- analogOutData->SetName(name->c_str());
+ analogOutData->SetName(name);
}
}
PopID();
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/DIO.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/DIO.cpp
index 59d71f8..f52974a 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/DIO.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/DIO.cpp
@@ -8,7 +8,7 @@
#include "glass/DataSource.h"
#include "glass/hardware/Encoder.h"
-#include "glass/support/IniSaverInfo.h"
+#include "glass/support/NameSetting.h"
using namespace glass;
@@ -28,17 +28,18 @@
auto dutyCycleData = dutyCycle ? dutyCycle->GetValueData() : nullptr;
bool exists = model->Exists();
- auto& info = dioData->GetNameInfo();
+ NameSetting dioName{dioData->GetName()};
char label[128];
if (exists && dpwmData) {
- dpwmData->GetNameInfo().GetLabel(label, sizeof(label), "PWM", index);
+ NameSetting{dpwmData->GetName()}.GetLabel(label, sizeof(label), "PWM",
+ index);
if (auto simDevice = dpwm->GetSimDevice()) {
LabelSimDevice(label, simDevice);
} else {
dpwmData->LabelText(label, "%0.3f", dpwmData->GetValue());
}
} else if (exists && encoder) {
- info.GetLabel(label, sizeof(label), " In", index);
+ dioName.GetLabel(label, sizeof(label), " In", index);
if (auto simDevice = encoder->GetSimDevice()) {
LabelSimDevice(label, simDevice);
} else {
@@ -48,7 +49,8 @@
ImGui::PopStyleColor();
}
} else if (exists && dutyCycleData) {
- dutyCycleData->GetNameInfo().GetLabel(label, sizeof(label), "Dty", index);
+ NameSetting{dutyCycleData->GetName()}.GetLabel(label, sizeof(label), "Dty",
+ index);
if (auto simDevice = dutyCycle->GetSimDevice()) {
LabelSimDevice(label, simDevice);
} else {
@@ -60,10 +62,10 @@
} else {
const char* name = model->GetName();
if (name[0] != '\0') {
- info.GetLabel(label, sizeof(label), name);
+ dioName.GetLabel(label, sizeof(label), name);
} else {
- info.GetLabel(label, sizeof(label), model->IsInput() ? " In" : "Out",
- index);
+ dioName.GetLabel(label, sizeof(label), model->IsInput() ? " In" : "Out",
+ index);
}
if (auto simDevice = model->GetSimDevice()) {
LabelSimDevice(label, simDevice);
@@ -87,12 +89,12 @@
}
}
}
- if (info.PopupEditName(index)) {
+ if (dioName.PopupEditName(index)) {
if (dpwmData) {
- dpwmData->SetName(info.GetName());
+ dpwmData->SetName(dioName.GetName());
}
if (dutyCycleData) {
- dutyCycleData->SetName(info.GetName());
+ dutyCycleData->SetName(dioName.GetName());
}
}
}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/Encoder.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/Encoder.cpp
index 599a5b8..7032636 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/Encoder.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/Encoder.cpp
@@ -9,6 +9,7 @@
#include "glass/Context.h"
#include "glass/DataSource.h"
+#include "glass/Storage.h"
using namespace glass;
@@ -66,21 +67,21 @@
int chB = model->GetChannelB();
// build header label
- std::string* name = GetStorage().GetStringRef("name");
+ std::string& name = GetStorage().GetString("name");
char label[128];
- if (!name->empty()) {
- std::snprintf(label, sizeof(label), "%s [%d,%d]###name", name->c_str(), chA,
- chB);
+ if (!name.empty()) {
+ std::snprintf(label, sizeof(label), "%s [%d,%d]###header", name.c_str(),
+ chA, chB);
} else {
- std::snprintf(label, sizeof(label), "Encoder[%d,%d]###name", chA, chB);
+ std::snprintf(label, sizeof(label), "Encoder[%d,%d]###header", chA, chB);
}
// header
bool open = CollapsingHeader(label);
// context menu to change name
- if (PopupEditName("name", name)) {
- model->SetName(name->c_str());
+ if (PopupEditName("header", &name)) {
+ model->SetName(name);
}
if (!open) {
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp
index c1ece3a..c3c2406 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp
@@ -7,6 +7,7 @@
#include <wpi/SmallVector.h>
#include "glass/Context.h"
+#include "glass/Storage.h"
#include "glass/support/ExtraGuiWidgets.h"
using namespace glass;
@@ -25,27 +26,27 @@
bool running = model->IsRunning();
auto& storage = GetStorage();
- int* numColumns = storage.GetIntRef("columns", 10);
- bool* serpentine = storage.GetBoolRef("serpentine", false);
- int* order = storage.GetIntRef("order", LEDConfig::RowMajor);
- int* start = storage.GetIntRef("start", LEDConfig::UpperLeft);
+ int& numColumns = storage.GetInt("columns", 10);
+ bool& serpentine = storage.GetBool("serpentine", false);
+ int& order = storage.GetInt("order", LEDConfig::RowMajor);
+ int& start = storage.GetInt("start", LEDConfig::UpperLeft);
ImGui::PushItemWidth(ImGui::GetFontSize() * 6);
ImGui::LabelText("Length", "%d", length);
ImGui::LabelText("Running", "%s", running ? "Yes" : "No");
- ImGui::InputInt("Columns", numColumns);
+ ImGui::InputInt("Columns", &numColumns);
{
static const char* options[] = {"Row Major", "Column Major"};
- ImGui::Combo("Order", order, options, 2);
+ ImGui::Combo("Order", &order, options, 2);
}
{
static const char* options[] = {"Upper Left", "Lower Left", "Upper Right",
"Lower Right"};
- ImGui::Combo("Start", start, options, 4);
+ ImGui::Combo("Start", &start, options, 4);
}
- ImGui::Checkbox("Serpentine", serpentine);
- if (*numColumns < 1) {
- *numColumns = 1;
+ ImGui::Checkbox("Serpentine", &serpentine);
+ if (numColumns < 1) {
+ numColumns = 1;
}
ImGui::PopItemWidth();
@@ -74,12 +75,12 @@
}
LEDConfig config;
- config.serpentine = *serpentine;
- config.order = static_cast<LEDConfig::Order>(*order);
- config.start = static_cast<LEDConfig::Start>(*start);
+ config.serpentine = serpentine;
+ config.order = static_cast<LEDConfig::Order>(order);
+ config.start = static_cast<LEDConfig::Start>(start);
- DrawLEDs(iData->values.data(), length, *numColumns, iData->colors.data(), 0,
- 0, config);
+ DrawLEDs(iData->values.data(), length, numColumns, iData->colors.data(), 0, 0,
+ config);
}
void glass::DisplayLEDDisplays(LEDDisplaysModel* model) {
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/PCM.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/PCM.cpp
index 23746be..d260bda 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/PCM.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/PCM.cpp
@@ -12,9 +12,10 @@
#include "glass/Context.h"
#include "glass/DataSource.h"
+#include "glass/Storage.h"
#include "glass/other/DeviceTree.h"
#include "glass/support/ExtraGuiWidgets.h"
-#include "glass/support/IniSaverInfo.h"
+#include "glass/support/NameSetting.h"
using namespace glass;
@@ -42,18 +43,19 @@
}
// build header label
- std::string* name = GetStorage().GetStringRef("name");
+ std::string& name = GetStorage().GetString("name");
char label[128];
- if (!name->empty()) {
- std::snprintf(label, sizeof(label), "%s [%d]###name", name->c_str(), index);
+ if (!name.empty()) {
+ std::snprintf(label, sizeof(label), "%s [%d]###header", name.c_str(),
+ index);
} else {
- std::snprintf(label, sizeof(label), "PCM[%d]###name", index);
+ std::snprintf(label, sizeof(label), "PCM[%d]###header", index);
}
// header
bool open = CollapsingHeader(label);
- PopupEditName("name", name);
+ PopupEditName("header", &name);
ImGui::SetItemAllowOverlap();
ImGui::SameLine();
@@ -68,11 +70,11 @@
model->ForEachSolenoid([&](SolenoidModel& solenoid, int j) {
if (auto data = solenoid.GetOutputData()) {
PushID(j);
- char solenoidName[64];
- auto& info = data->GetNameInfo();
- info.GetLabel(solenoidName, sizeof(solenoidName), "Solenoid", j);
- data->LabelText(solenoidName, "%s", channels[j] == 1 ? "On" : "Off");
- info.PopupEditName(j);
+ char label[64];
+ NameSetting name{data->GetName()};
+ name.GetLabel(label, sizeof(label), "Solenoid", j);
+ data->LabelText(label, "%s", channels[j] == 1 ? "On" : "Off");
+ name.PopupEditName(j);
PopID();
}
});
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/PWM.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/PWM.cpp
index 3ff8e52..0200ac6 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/PWM.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/PWM.cpp
@@ -8,6 +8,7 @@
#include "glass/Context.h"
#include "glass/DataSource.h"
+#include "glass/Storage.h"
using namespace glass;
@@ -18,10 +19,10 @@
}
// build label
- std::string* name = GetStorage().GetStringRef("name");
+ std::string& name = GetStorage().GetString("name");
char label[128];
- if (!name->empty()) {
- std::snprintf(label, sizeof(label), "%s [%d]###name", name->c_str(), index);
+ if (!name.empty()) {
+ std::snprintf(label, sizeof(label), "%s [%d]###name", name.c_str(), index);
} else {
std::snprintf(label, sizeof(label), "PWM[%d]###name", index);
}
@@ -35,8 +36,8 @@
float val = outputsEnabled ? data->GetValue() : 0;
data->LabelText(label, "%0.3f", val);
}
- if (PopupEditName("name", name)) {
- data->SetName(name->c_str());
+ if (PopupEditName("name", &name)) {
+ data->SetName(name);
}
}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp
index 46e550b..f1de461 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/PowerDistribution.cpp
@@ -11,7 +11,7 @@
#include "glass/Context.h"
#include "glass/DataSource.h"
-#include "glass/support/IniSaverInfo.h"
+#include "glass/support/NameSetting.h"
using namespace glass;
@@ -19,16 +19,16 @@
float width = 0;
if (auto currentData = pdp.GetCurrentData(channel)) {
ImGui::PushID(channel);
- auto& leftInfo = currentData->GetNameInfo();
+ NameSetting leftName{currentData->GetName()};
char name[64];
- leftInfo.GetLabel(name, sizeof(name), "", channel);
+ leftName.GetLabel(name, sizeof(name), "", channel);
double val = currentData->GetValue();
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
if (currentData->InputDouble(name, &val, 0, 0, "%.3f")) {
pdp.SetCurrent(channel, val);
}
width = ImGui::GetItemRectSize().x;
- leftInfo.PopupEditName(channel);
+ leftName.PopupEditName(channel);
ImGui::PopID();
}
return width;
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/Relay.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/Relay.cpp
index 59bbc51..e071de7 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/hardware/Relay.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/hardware/Relay.cpp
@@ -8,6 +8,7 @@
#include "glass/Context.h"
#include "glass/DataSource.h"
+#include "glass/Storage.h"
#include "glass/support/ExtraGuiWidgets.h"
using namespace glass;
@@ -31,20 +32,20 @@
}
}
- std::string* name = GetStorage().GetStringRef("name");
+ std::string& name = GetStorage().GetString("name");
ImGui::PushID("name");
- if (!name->empty()) {
- ImGui::Text("%s [%d]", name->c_str(), index);
+ if (!name.empty()) {
+ ImGui::Text("%s [%d]", name.c_str(), index);
} else {
ImGui::Text("Relay[%d]", index);
}
ImGui::PopID();
- if (PopupEditName("name", name)) {
+ if (PopupEditName("name", &name)) {
if (forwardData) {
- forwardData->SetName(name->c_str());
+ forwardData->SetName(name);
}
if (reverseData) {
- reverseData->SetName(name->c_str());
+ reverseData->SetName(name);
}
}
ImGui::SameLine();
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/other/DeviceTree.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/other/DeviceTree.cpp
index cd69eb7..cfce8c4 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/other/DeviceTree.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/other/DeviceTree.cpp
@@ -51,13 +51,13 @@
PushID(id);
// build label
- std::string* name = GetStorage().GetStringRef("name");
+ std::string& name = GetStorage().GetString("name");
char label[128];
- std::snprintf(label, sizeof(label), "%s###name",
- name->empty() ? id : name->c_str());
+ std::snprintf(label, sizeof(label), "%s###header",
+ name.empty() ? id : name.c_str());
bool open = CollapsingHeader(label, flags);
- PopupEditName("name", name);
+ PopupEditName("header", &name);
if (!open) {
PopID();
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/other/Drive.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/other/Drive.cpp
index 9dc1675..a73c6de 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/other/Drive.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/other/Drive.cpp
@@ -90,11 +90,20 @@
double a1 = 0.0;
double a2 = wpi::numbers::pi / 2 * rotation;
- draw->PathArcTo(center, radius, a1, a2, 20);
- draw->PathStroke(color, false);
- draw->PathArcTo(center, radius, a1 + wpi::numbers::pi,
- a2 + wpi::numbers::pi, 20);
- draw->PathStroke(color, false);
+ // PathArcTo requires a_min <= a_max, and rotation can be negative
+ if (a1 > a2) {
+ draw->PathArcTo(center, radius, a2, a1, 20);
+ draw->PathStroke(color, false);
+ draw->PathArcTo(center, radius, a2 + wpi::numbers::pi,
+ a1 + wpi::numbers::pi, 20);
+ draw->PathStroke(color, false);
+ } else {
+ draw->PathArcTo(center, radius, a1, a2, 20);
+ draw->PathStroke(color, false);
+ draw->PathArcTo(center, radius, a1 + wpi::numbers::pi,
+ a2 + wpi::numbers::pi, 20);
+ draw->PathStroke(color, false);
+ }
double adder = rotation < 0 ? wpi::numbers::pi : 0;
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/other/FMS.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/other/FMS.cpp
index a19cad4..fbd504e 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/other/FMS.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/other/FMS.cpp
@@ -14,7 +14,7 @@
static const char* stations[] = {"Red 1", "Red 2", "Red 3",
"Blue 1", "Blue 2", "Blue 3"};
-void glass::DisplayFMS(FMSModel* model, bool* matchTimeEnabled) {
+void glass::DisplayFMS(FMSModel* model) {
if (!model->Exists() || model->IsReadOnly()) {
return DisplayFMSReadOnly(model);
}
@@ -49,10 +49,6 @@
// Match Time
if (auto data = model->GetMatchTimeData()) {
- if (matchTimeEnabled) {
- ImGui::Checkbox("Match Time Enabled", matchTimeEnabled);
- }
-
double val = data->GetValue();
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
if (ImGui::InputDouble("Match Time", &val, 0, 0, "%.1f",
@@ -60,9 +56,17 @@
model->SetMatchTime(val);
}
data->EmitDrag();
+ bool enabled = false;
+ if (auto enabledData = model->GetEnabledData()) {
+ enabled = enabledData->GetValue();
+ }
ImGui::SameLine();
- if (ImGui::Button("Reset")) {
- model->SetMatchTime(0.0);
+ if (ImGui::Button("Auto") && !enabled) {
+ model->SetMatchTime(15.0);
+ }
+ ImGui::SameLine();
+ if (ImGui::Button("Teleop") && !enabled) {
+ model->SetMatchTime(135.0);
}
}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/other/Field2D.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/other/Field2D.cpp
index ec0210e..c3ef860 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/other/Field2D.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/other/Field2D.cpp
@@ -32,6 +32,9 @@
#include <wpigui.h>
#include "glass/Context.h"
+#include "glass/Storage.h"
+#include "glass/support/ColorSetting.h"
+#include "glass/support/EnumSetting.h"
using namespace glass;
@@ -114,12 +117,14 @@
static constexpr Style kDefaultStyle = kBoxImage;
static constexpr float kDefaultWeight = 4.0f;
+ static constexpr float kDefaultColorFloat[] = {255, 0, 0, 255};
static constexpr ImU32 kDefaultColor = IM_COL32(255, 0, 0, 255);
static constexpr auto kDefaultWidth = 0.6858_m;
static constexpr auto kDefaultLength = 0.8204_m;
static constexpr bool kDefaultArrows = true;
static constexpr int kDefaultArrowSize = 50;
static constexpr float kDefaultArrowWeight = 4.0f;
+ static constexpr float kDefaultArrowColorFloat[] = {0, 255, 0, 255};
static constexpr ImU32 kDefaultArrowColor = IM_COL32(0, 255, 0, 255);
static constexpr bool kDefaultSelectable = true;
@@ -180,7 +185,7 @@
class ObjectInfo {
public:
- ObjectInfo();
+ explicit ObjectInfo(Storage& storage);
DisplayOptions GetDisplayOptions() const;
void DisplaySettings();
@@ -191,26 +196,26 @@
private:
void Reset();
- bool LoadImageImpl(const char* fn);
+ bool LoadImageImpl(const std::string& fn);
std::unique_ptr<pfd::open_file> m_fileOpener;
// in meters
- float* m_pWidth;
- float* m_pLength;
+ float& m_width;
+ float& m_length;
- int* m_pStyle; // DisplayOptions::Style
- float* m_pWeight;
- int* m_pColor;
+ EnumSetting m_style; // DisplayOptions::Style
+ float& m_weight;
+ ColorSetting m_color;
- bool* m_pArrows;
- int* m_pArrowSize;
- float* m_pArrowWeight;
- int* m_pArrowColor;
+ bool& m_arrows;
+ int& m_arrowSize;
+ float& m_arrowWeight;
+ ColorSetting m_arrowColor;
- bool* m_pSelectable;
+ bool& m_selectable;
- std::string* m_pFilename;
+ std::string& m_filename;
gui::Texture m_texture;
};
@@ -219,7 +224,7 @@
static constexpr auto kDefaultWidth = 15.98_m;
static constexpr auto kDefaultHeight = 8.21_m;
- FieldInfo();
+ explicit FieldInfo(Storage& storage);
void DisplaySettings();
@@ -231,25 +236,25 @@
private:
void Reset();
- bool LoadImageImpl(const char* fn);
+ bool LoadImageImpl(const std::string& fn);
void LoadJson(std::string_view jsonfile);
std::unique_ptr<pfd::open_file> m_fileOpener;
- std::string* m_pFilename;
+ std::string& m_filename;
gui::Texture m_texture;
// in meters
- float* m_pWidth;
- float* m_pHeight;
+ float& m_width;
+ float& m_height;
// in image pixels
int m_imageWidth;
int m_imageHeight;
- int* m_pTop;
- int* m_pLeft;
- int* m_pBottom;
- int* m_pRight;
+ int& m_top;
+ int& m_left;
+ int& m_bottom;
+ int& m_right;
};
} // namespace
@@ -334,16 +339,14 @@
return changed;
}
-FieldInfo::FieldInfo() {
- auto& storage = GetStorage();
- m_pFilename = storage.GetStringRef("image");
- m_pTop = storage.GetIntRef("top", 0);
- m_pLeft = storage.GetIntRef("left", 0);
- m_pBottom = storage.GetIntRef("bottom", -1);
- m_pRight = storage.GetIntRef("right", -1);
- m_pWidth = storage.GetFloatRef("width", kDefaultWidth.to<float>());
- m_pHeight = storage.GetFloatRef("height", kDefaultHeight.to<float>());
-}
+FieldInfo::FieldInfo(Storage& storage)
+ : m_filename{storage.GetString("image")},
+ m_width{storage.GetFloat("width", kDefaultWidth.to<float>())},
+ m_height{storage.GetFloat("height", kDefaultHeight.to<float>())},
+ m_top{storage.GetInt("top", 0)},
+ m_left{storage.GetInt("left", 0)},
+ m_bottom{storage.GetInt("bottom", -1)},
+ m_right{storage.GetInt("right", -1)} {}
void FieldInfo::DisplaySettings() {
if (ImGui::Button("Choose image...")) {
@@ -357,23 +360,23 @@
if (ImGui::Button("Reset image")) {
Reset();
}
- InputFloatLength("Field Width", m_pWidth);
- InputFloatLength("Field Height", m_pHeight);
- // ImGui::InputInt("Field Top", m_pTop);
- // ImGui::InputInt("Field Left", m_pLeft);
- // ImGui::InputInt("Field Right", m_pRight);
- // ImGui::InputInt("Field Bottom", m_pBottom);
+ InputFloatLength("Field Width", &m_width);
+ InputFloatLength("Field Height", &m_height);
+ // ImGui::InputInt("Field Top", &m_top);
+ // ImGui::InputInt("Field Left", &m_left);
+ // ImGui::InputInt("Field Right", &m_right);
+ // ImGui::InputInt("Field Bottom", &m_bottom);
}
void FieldInfo::Reset() {
m_texture = gui::Texture{};
- m_pFilename->clear();
+ m_filename.clear();
m_imageWidth = 0;
m_imageHeight = 0;
- *m_pTop = 0;
- *m_pLeft = 0;
- *m_pBottom = -1;
- *m_pRight = -1;
+ m_top = 0;
+ m_left = 0;
+ m_bottom = -1;
+ m_right = -1;
}
void FieldInfo::LoadImage() {
@@ -384,17 +387,17 @@
LoadJson(result[0]);
} else {
LoadImageImpl(result[0].c_str());
- *m_pTop = 0;
- *m_pLeft = 0;
- *m_pBottom = -1;
- *m_pRight = -1;
+ m_top = 0;
+ m_left = 0;
+ m_bottom = -1;
+ m_right = -1;
}
}
m_fileOpener.reset();
}
- if (!m_texture && !m_pFilename->empty()) {
- if (!LoadImageImpl(m_pFilename->c_str())) {
- m_pFilename->clear();
+ if (!m_texture && !m_filename.empty()) {
+ if (!LoadImageImpl(m_filename)) {
+ m_filename.clear();
}
}
}
@@ -478,18 +481,18 @@
}
// save to field info
- *m_pFilename = pathname;
- *m_pTop = top;
- *m_pLeft = left;
- *m_pBottom = bottom;
- *m_pRight = right;
- *m_pWidth = width;
- *m_pHeight = height;
+ m_filename = pathname;
+ m_top = top;
+ m_left = left;
+ m_bottom = bottom;
+ m_right = right;
+ m_width = width;
+ m_height = height;
}
-bool FieldInfo::LoadImageImpl(const char* fn) {
+bool FieldInfo::LoadImageImpl(const std::string& fn) {
fmt::print("GUI: loading field image '{}'\n", fn);
- auto texture = gui::Texture::CreateFromFile(fn);
+ auto texture = gui::Texture::CreateFromFile(fn.c_str());
if (!texture) {
std::puts("GUI: could not read field image");
return false;
@@ -497,7 +500,7 @@
m_texture = std::move(texture);
m_imageWidth = m_texture.GetWidth();
m_imageHeight = m_texture.GetHeight();
- *m_pFilename = fn;
+ m_filename = fn;
return true;
}
@@ -512,19 +515,19 @@
ffd.imageMax = max;
// size down the box by the image corners (if any)
- if (*m_pBottom > 0 && *m_pRight > 0) {
- min.x += *m_pLeft * (max.x - min.x) / m_imageWidth;
- min.y += *m_pTop * (max.y - min.y) / m_imageHeight;
- max.x -= (m_imageWidth - *m_pRight) * (max.x - min.x) / m_imageWidth;
- max.y -= (m_imageHeight - *m_pBottom) * (max.y - min.y) / m_imageHeight;
+ if (m_bottom > 0 && m_right > 0) {
+ min.x += m_left * (max.x - min.x) / m_imageWidth;
+ min.y += m_top * (max.y - min.y) / m_imageHeight;
+ max.x -= (m_imageWidth - m_right) * (max.x - min.x) / m_imageWidth;
+ max.y -= (m_imageHeight - m_bottom) * (max.y - min.y) / m_imageHeight;
}
// draw the field "active area" as a yellow boundary box
- gui::MaxFit(&min, &max, *m_pWidth, *m_pHeight);
+ gui::MaxFit(&min, &max, m_width, m_height);
ffd.min = min;
ffd.max = max;
- ffd.scale = (max.x - min.x) / *m_pWidth;
+ ffd.scale = (max.x - min.x) / m_width;
return ffd;
}
@@ -537,48 +540,47 @@
drawList->AddRect(ffd.min, ffd.max, IM_COL32(255, 255, 0, 255));
}
-ObjectInfo::ObjectInfo() {
- auto& storage = GetStorage();
- m_pFilename = storage.GetStringRef("image");
- m_pWidth =
- storage.GetFloatRef("width", DisplayOptions::kDefaultWidth.to<float>());
- m_pLength =
- storage.GetFloatRef("length", DisplayOptions::kDefaultLength.to<float>());
- m_pStyle = storage.GetIntRef("style", DisplayOptions::kDefaultStyle);
- m_pWeight = storage.GetFloatRef("weight", DisplayOptions::kDefaultWeight);
- m_pColor = storage.GetIntRef("color", DisplayOptions::kDefaultColor);
- m_pArrows = storage.GetBoolRef("arrows", DisplayOptions::kDefaultArrows);
- m_pArrowSize =
- storage.GetIntRef("arrowSize", DisplayOptions::kDefaultArrowSize);
- m_pArrowWeight =
- storage.GetFloatRef("arrowWeight", DisplayOptions::kDefaultArrowWeight);
- m_pArrowColor =
- storage.GetIntRef("arrowColor", DisplayOptions::kDefaultArrowColor);
- m_pSelectable =
- storage.GetBoolRef("selectable", DisplayOptions::kDefaultSelectable);
-}
+ObjectInfo::ObjectInfo(Storage& storage)
+ : m_width{storage.GetFloat("width",
+ DisplayOptions::kDefaultWidth.to<float>())},
+ m_length{storage.GetFloat("length",
+ DisplayOptions::kDefaultLength.to<float>())},
+ m_style{storage.GetString("style"),
+ DisplayOptions::kDefaultStyle,
+ {"Box/Image", "Line", "Line (Closed)", "Track"}},
+ m_weight{storage.GetFloat("weight", DisplayOptions::kDefaultWeight)},
+ m_color{
+ storage.GetFloatArray("color", DisplayOptions::kDefaultColorFloat)},
+ m_arrows{storage.GetBool("arrows", DisplayOptions::kDefaultArrows)},
+ m_arrowSize{
+ storage.GetInt("arrowSize", DisplayOptions::kDefaultArrowSize)},
+ m_arrowWeight{
+ storage.GetFloat("arrowWeight", DisplayOptions::kDefaultArrowWeight)},
+ m_arrowColor{storage.GetFloatArray(
+ "arrowColor", DisplayOptions::kDefaultArrowColorFloat)},
+ m_selectable{
+ storage.GetBool("selectable", DisplayOptions::kDefaultSelectable)},
+ m_filename{storage.GetString("image")} {}
DisplayOptions ObjectInfo::GetDisplayOptions() const {
DisplayOptions rv{m_texture};
- rv.style = static_cast<DisplayOptions::Style>(*m_pStyle);
- rv.weight = *m_pWeight;
- rv.color = *m_pColor;
- rv.width = units::meter_t{*m_pWidth};
- rv.length = units::meter_t{*m_pLength};
- rv.arrows = *m_pArrows;
- rv.arrowSize = *m_pArrowSize;
- rv.arrowWeight = *m_pArrowWeight;
- rv.arrowColor = *m_pArrowColor;
- rv.selectable = *m_pSelectable;
+ rv.style = static_cast<DisplayOptions::Style>(m_style.GetValue());
+ rv.weight = m_weight;
+ rv.color = ImGui::ColorConvertFloat4ToU32(m_color.GetColor());
+ rv.width = units::meter_t{m_width};
+ rv.length = units::meter_t{m_length};
+ rv.arrows = m_arrows;
+ rv.arrowSize = m_arrowSize;
+ rv.arrowWeight = m_arrowWeight;
+ rv.arrowColor = ImGui::ColorConvertFloat4ToU32(m_arrowColor.GetColor());
+ rv.selectable = m_selectable;
return rv;
}
void ObjectInfo::DisplaySettings() {
- static const char* styleChoices[] = {"Box/Image", "Line", "Line (Closed)",
- "Track"};
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
- ImGui::Combo("Style", m_pStyle, styleChoices, IM_ARRAYSIZE(styleChoices));
- switch (*m_pStyle) {
+ m_style.Combo("Style");
+ switch (m_style.GetValue()) {
case DisplayOptions::kBoxImage:
if (ImGui::Button("Choose image...")) {
m_fileOpener = std::make_unique<pfd::open_file>(
@@ -591,35 +593,27 @@
if (ImGui::Button("Reset image")) {
Reset();
}
- InputFloatLength("Width", m_pWidth);
- InputFloatLength("Length", m_pLength);
+ InputFloatLength("Width", &m_width);
+ InputFloatLength("Length", &m_length);
break;
case DisplayOptions::kTrack:
- InputFloatLength("Width", m_pWidth);
+ InputFloatLength("Width", &m_width);
break;
default:
break;
}
- ImGui::InputFloat("Line Weight", m_pWeight);
- ImColor col(*m_pColor);
- if (ImGui::ColorEdit3("Line Color", &col.Value.x,
- ImGuiColorEditFlags_NoInputs)) {
- *m_pColor = col;
- }
- ImGui::Checkbox("Arrows", m_pArrows);
- if (*m_pArrows) {
- ImGui::SliderInt("Arrow Size", m_pArrowSize, 0, 100, "%d%%",
+ ImGui::InputFloat("Line Weight", &m_weight);
+ m_color.ColorEdit3("Line Color", ImGuiColorEditFlags_NoInputs);
+ ImGui::Checkbox("Arrows", &m_arrows);
+ if (m_arrows) {
+ ImGui::SliderInt("Arrow Size", &m_arrowSize, 0, 100, "%d%%",
ImGuiSliderFlags_AlwaysClamp);
- ImGui::InputFloat("Arrow Weight", m_pArrowWeight);
- ImColor col(*m_pArrowColor);
- if (ImGui::ColorEdit3("Arrow Color", &col.Value.x,
- ImGuiColorEditFlags_NoInputs)) {
- *m_pArrowColor = col;
- }
+ ImGui::InputFloat("Arrow Weight", &m_arrowWeight);
+ m_arrowColor.ColorEdit3("Arrow Color", ImGuiColorEditFlags_NoInputs);
}
- ImGui::Checkbox("Selectable", m_pSelectable);
+ ImGui::Checkbox("Selectable", &m_selectable);
}
void ObjectInfo::DrawLine(ImDrawList* drawList,
@@ -629,10 +623,12 @@
}
if (points.size() == 1) {
- drawList->AddCircleFilled(points.front(), *m_pWeight, *m_pWeight);
+ drawList->AddCircleFilled(points.front(), m_weight, m_weight);
return;
}
+ ImU32 color = ImGui::ColorConvertFloat4ToU32(m_color.GetColor());
+
// PolyLine doesn't handle acute angles well; workaround from
// https://github.com/ocornut/imgui/issues/3366
size_t i = 0;
@@ -651,18 +647,18 @@
++nlin;
}
- drawList->AddPolyline(&points[i], nlin, *m_pColor, false, *m_pWeight);
+ drawList->AddPolyline(&points[i], nlin, color, false, m_weight);
i += nlin - 1;
}
- if (points.size() > 2 && *m_pStyle == DisplayOptions::kLineClosed) {
- drawList->AddLine(points.back(), points.front(), *m_pColor, *m_pWeight);
+ if (points.size() > 2 && m_style.GetValue() == DisplayOptions::kLineClosed) {
+ drawList->AddLine(points.back(), points.front(), color, m_weight);
}
}
void ObjectInfo::Reset() {
m_texture = gui::Texture{};
- m_pFilename->clear();
+ m_filename.clear();
}
void ObjectInfo::LoadImage() {
@@ -673,22 +669,22 @@
}
m_fileOpener.reset();
}
- if (!m_texture && !m_pFilename->empty()) {
- if (!LoadImageImpl(m_pFilename->c_str())) {
- m_pFilename->clear();
+ if (!m_texture && !m_filename.empty()) {
+ if (!LoadImageImpl(m_filename)) {
+ m_filename.clear();
}
}
}
-bool ObjectInfo::LoadImageImpl(const char* fn) {
+bool ObjectInfo::LoadImageImpl(const std::string& fn) {
fmt::print("GUI: loading object image '{}'\n", fn);
- auto texture = gui::Texture::CreateFromFile(fn);
+ auto texture = gui::Texture::CreateFromFile(fn.c_str());
if (!texture) {
std::fputs("GUI: could not read object image\n", stderr);
return false;
}
m_texture = std::move(texture);
- *m_pFilename = fn;
+ m_filename = fn;
return true;
}
@@ -857,15 +853,16 @@
auto& storage = GetStorage();
auto field = storage.GetData<FieldInfo>();
if (!field) {
- storage.SetData(std::make_shared<FieldInfo>());
+ storage.SetData(std::make_shared<FieldInfo>(storage));
field = storage.GetData<FieldInfo>();
}
- static const char* unitNames[] = {"meters", "feet", "inches"};
- int* pDisplayUnits = GetStorage().GetIntRef("units", kDisplayMeters);
+ EnumSetting displayUnits{GetStorage().GetString("units"),
+ kDisplayMeters,
+ {"meters", "feet", "inches"}};
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
- ImGui::Combo("Units", pDisplayUnits, unitNames, IM_ARRAYSIZE(unitNames));
- gDisplayUnits = static_cast<DisplayUnits>(*pDisplayUnits);
+ displayUnits.Combo("Units");
+ gDisplayUnits = static_cast<DisplayUnits>(displayUnits.GetValue());
ImGui::PushItemWidth(ImGui::GetFontSize() * 4);
if (ImGui::CollapsingHeader("Field")) {
@@ -881,7 +878,7 @@
PushID(name);
auto& objRef = field->m_objects[name];
if (!objRef) {
- objRef = std::make_unique<ObjectInfo>();
+ objRef = std::make_unique<ObjectInfo>(GetStorage());
}
auto obj = objRef.get();
@@ -1025,7 +1022,7 @@
PushID(name);
auto& objRef = m_field->m_objects[name];
if (!objRef) {
- objRef = std::make_unique<ObjectInfo>();
+ objRef = std::make_unique<ObjectInfo>(GetStorage());
}
auto obj = objRef.get();
obj->LoadImage();
@@ -1205,7 +1202,7 @@
auto& storage = GetStorage();
auto field = storage.GetData<FieldInfo>();
if (!field) {
- storage.SetData(std::make_shared<FieldInfo>());
+ storage.SetData(std::make_shared<FieldInfo>(storage));
field = storage.GetData<FieldInfo>();
}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/other/Mechanism2D.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/other/Mechanism2D.cpp
index 07e83e2..aa801a7 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/other/Mechanism2D.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/other/Mechanism2D.cpp
@@ -27,6 +27,7 @@
#include <wpigui.h>
#include "glass/Context.h"
+#include "glass/Storage.h"
using namespace glass;
@@ -61,7 +62,7 @@
class BackgroundInfo {
public:
- BackgroundInfo();
+ explicit BackgroundInfo(Storage& storage);
void DisplaySettings();
@@ -72,11 +73,11 @@
private:
void Reset();
- bool LoadImageImpl(const char* fn);
+ bool LoadImageImpl(const std::string& fn);
std::unique_ptr<pfd::open_file> m_fileOpener;
- std::string* m_pFilename;
+ std::string& m_filename;
gui::Texture m_texture;
// in image pixels
@@ -86,10 +87,8 @@
} // namespace
-BackgroundInfo::BackgroundInfo() {
- auto& storage = GetStorage();
- m_pFilename = storage.GetStringRef("image");
-}
+BackgroundInfo::BackgroundInfo(Storage& storage)
+ : m_filename{storage.GetString("image")} {}
void BackgroundInfo::DisplaySettings() {
if (ImGui::Button("Choose image...")) {
@@ -106,7 +105,7 @@
void BackgroundInfo::Reset() {
m_texture = gui::Texture{};
- m_pFilename->clear();
+ m_filename.clear();
m_imageWidth = 0;
m_imageHeight = 0;
}
@@ -119,16 +118,16 @@
}
m_fileOpener.reset();
}
- if (!m_texture && !m_pFilename->empty()) {
- if (!LoadImageImpl(m_pFilename->c_str())) {
- m_pFilename->clear();
+ if (!m_texture && !m_filename.empty()) {
+ if (!LoadImageImpl(m_filename)) {
+ m_filename.clear();
}
}
}
-bool BackgroundInfo::LoadImageImpl(const char* fn) {
+bool BackgroundInfo::LoadImageImpl(const std::string& fn) {
fmt::print("GUI: loading background image '{}'\n", fn);
- auto texture = gui::Texture::CreateFromFile(fn);
+ auto texture = gui::Texture::CreateFromFile(fn.c_str());
if (!texture) {
std::puts("GUI: could not read background image");
return false;
@@ -136,7 +135,7 @@
m_texture = std::move(texture);
m_imageWidth = m_texture.GetWidth();
m_imageHeight = m_texture.GetHeight();
- *m_pFilename = fn;
+ m_filename = fn;
return true;
}
@@ -175,7 +174,7 @@
auto& storage = GetStorage();
auto bg = storage.GetData<BackgroundInfo>();
if (!bg) {
- storage.SetData(std::make_shared<BackgroundInfo>());
+ storage.SetData(std::make_shared<BackgroundInfo>(storage));
bg = storage.GetData<BackgroundInfo>();
}
bg->DisplaySettings();
@@ -208,7 +207,7 @@
auto& storage = GetStorage();
auto bg = storage.GetData<BackgroundInfo>();
if (!bg) {
- storage.SetData(std::make_shared<BackgroundInfo>());
+ storage.SetData(std::make_shared<BackgroundInfo>(storage));
bg = storage.GetData<BackgroundInfo>();
}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/other/Plot.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/other/Plot.cpp
index 372f8c9..bff55b7 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/other/Plot.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/other/Plot.cpp
@@ -17,12 +17,15 @@
#include <fmt/format.h>
+#if defined(__GNUC__)
+#pragma GCC diagnostic ignored "-Wformat-nonliteral"
+#endif
+
#define IMGUI_DEFINE_MATH_OPERATORS
#include <imgui.h>
-#include <imgui_internal.h>
#include <imgui_stdlib.h>
#include <implot.h>
-#include <wpigui.h>
+#include <implot_internal.h>
#include <wpi/Signal.h>
#include <wpi/SmallString.h>
#include <wpi/SmallVector.h>
@@ -31,10 +34,15 @@
#include "glass/Context.h"
#include "glass/DataSource.h"
+#include "glass/Storage.h"
+#include "glass/support/ColorSetting.h"
+#include "glass/support/EnumSetting.h"
#include "glass/support/ExtraGuiWidgets.h"
using namespace glass;
+static constexpr int kAxisCount = 3;
+
namespace {
class PlotView;
@@ -45,9 +53,11 @@
};
class PlotSeries {
+ explicit PlotSeries(Storage& storage, int yAxis = 0);
+
public:
- explicit PlotSeries(std::string_view id);
- explicit PlotSeries(DataSource* source, int yAxis = 0);
+ PlotSeries(Storage& storage, std::string_view id);
+ PlotSeries(Storage& storage, DataSource* source, int yAxis = 0);
const std::string& GetId() const { return m_id; }
@@ -56,9 +66,6 @@
void SetSource(DataSource* source);
DataSource* GetSource() const { return m_source; }
- bool ReadIni(std::string_view name, std::string_view value);
- void WriteIni(ImGuiTextBuffer* out);
-
enum Action { kNone, kMoveUp, kMoveDown, kDelete };
Action EmitPlot(PlotView& view, double now, size_t i, size_t plotIndex);
void EmitSettings(size_t i);
@@ -69,10 +76,12 @@
int GetYAxis() const { return m_yAxis; }
void SetYAxis(int yAxis) { m_yAxis = yAxis; }
+ void SetColor(const ImVec4& color) { m_color.SetColor(color); }
+
private:
bool IsDigital() const {
- return m_digital == kDigital ||
- (m_digital == kAuto && m_source && m_source->IsDigital());
+ return m_digital.GetValue() == kDigital ||
+ (m_digital.GetValue() == kAuto && m_source && m_source->IsDigital());
}
void AppendValue(double value, uint64_t time);
@@ -80,22 +89,23 @@
DataSource* m_source = nullptr;
wpi::sig::ScopedConnection m_sourceCreatedConn;
wpi::sig::ScopedConnection m_newValueConn;
- std::string m_id;
+ std::string& m_id;
// user settings
- std::string m_name;
- int m_yAxis = 0;
- ImVec4 m_color = IMPLOT_AUTO_COL;
- int m_marker = 0;
- float m_weight = IMPLOT_AUTO;
+ std::string& m_name;
+ int& m_yAxis;
+ static constexpr float kDefaultColor[4] = {0.0, 0.0, 0.0, IMPLOT_AUTO};
+ ColorSetting m_color;
+ EnumSetting m_marker;
+ float& m_weight;
enum Digital { kAuto, kDigital, kAnalog };
- int m_digital = 0;
- int m_digitalBitHeight = 8;
- int m_digitalBitGap = 4;
+ EnumSetting m_digital;
+ int& m_digitalBitHeight;
+ int& m_digitalBitGap;
// value storage
- static constexpr int kMaxSize = 2000;
+ static constexpr int kMaxSize = 20000;
static constexpr double kTimeGap = 0.05;
std::atomic<int> m_size = 0;
std::atomic<int> m_offset = 0;
@@ -104,10 +114,7 @@
class Plot {
public:
- Plot();
-
- bool ReadIni(std::string_view name, std::string_view value);
- void WriteIni(ImGuiTextBuffer* out);
+ explicit Plot(Storage& storage);
void DragDropTarget(PlotView& view, size_t i, bool inPlot);
void EmitPlot(PlotView& view, double now, bool paused, size_t i);
@@ -116,6 +123,7 @@
const std::string& GetName() const { return m_name; }
std::vector<std::unique_ptr<PlotSeries>> m_series;
+ std::vector<std::unique_ptr<Storage>>& m_seriesStorage;
// Returns base height; does not include actual plot height if auto-sized.
int GetAutoBaseHeight(bool* isAuto, size_t i);
@@ -128,31 +136,50 @@
private:
void EmitSettingsLimits(int axis);
+ void DragDropAccept(PlotView& view, size_t i, int yAxis);
- std::string m_name;
- bool m_visible = true;
- bool m_showPause = true;
- unsigned int m_plotFlags = ImPlotFlags_None;
- bool m_lockPrevX = false;
bool m_paused = false;
- float m_viewTime = 10;
- bool m_autoHeight = true;
- int m_height = 300;
- struct PlotRange {
- double min = 0;
- double max = 1;
- bool lockMin = false;
- bool lockMax = false;
+
+ std::string& m_name;
+ bool& m_visible;
+ bool& m_showPause;
+ bool& m_lockPrevX;
+ bool& m_legend;
+ bool& m_legendOutside;
+ bool& m_legendHorizontal;
+ int& m_legendLocation;
+ bool& m_crosshairs;
+ bool& m_antialiased;
+ bool& m_mousePosition;
+ bool& m_yAxis2;
+ bool& m_yAxis3;
+ float& m_viewTime;
+ bool& m_autoHeight;
+ int& m_height;
+ struct PlotAxis {
+ PlotAxis(Storage& storage, int num);
+
+ std::string& label;
+ double& min;
+ double& max;
+ bool& lockMin;
+ bool& lockMax;
bool apply = false;
+ bool& autoFit;
+ bool& logScale;
+ bool& invert;
+ bool& opposite;
+ bool& gridLines;
+ bool& tickMarks;
+ bool& tickLabels;
};
- std::string m_axisLabel[3];
- PlotRange m_axisRange[3];
+ std::vector<PlotAxis> m_axis;
ImPlotRange m_xaxisRange; // read from plot, used for lockPrevX
};
class PlotView : public View {
public:
- explicit PlotView(PlotProvider* provider) : m_provider{provider} {}
+ PlotView(PlotProvider* provider, Storage& storage);
void Display() override;
@@ -163,12 +190,32 @@
size_t toSeriesIndex, int yAxis = -1);
PlotProvider* m_provider;
+ std::vector<std::unique_ptr<Storage>>& m_plotsStorage;
std::vector<std::unique_ptr<Plot>> m_plots;
};
} // namespace
-PlotSeries::PlotSeries(std::string_view id) : m_id(id) {
+PlotSeries::PlotSeries(Storage& storage, int yAxis)
+ : m_id{storage.GetString("id")},
+ m_name{storage.GetString("name")},
+ m_yAxis{storage.GetInt("yAxis", 0)},
+ m_color{storage.GetFloatArray("color", kDefaultColor)},
+ m_marker{storage.GetString("marker"),
+ 0,
+ {"None", "Circle", "Square", "Diamond", "Up", "Down", "Left",
+ "Right", "Cross", "Plus", "Asterisk"}},
+ m_weight{storage.GetFloat("weight", IMPLOT_AUTO)},
+ m_digital{
+ storage.GetString("digital"), kAuto, {"Auto", "Digital", "Analog"}},
+ m_digitalBitHeight{storage.GetInt("digitalBitHeight", 8)},
+ m_digitalBitGap{storage.GetInt("digitalBitGap", 4)} {
+ m_yAxis = yAxis;
+}
+
+PlotSeries::PlotSeries(Storage& storage, std::string_view id)
+ : PlotSeries{storage, 0} {
+ m_id = id;
if (DataSource* source = DataSource::Find(id)) {
SetSource(source);
return;
@@ -176,7 +223,8 @@
CheckSource();
}
-PlotSeries::PlotSeries(DataSource* source, int yAxis) : m_yAxis(yAxis) {
+PlotSeries::PlotSeries(Storage& storage, DataSource* source, int yAxis)
+ : PlotSeries{storage, yAxis} {
SetSource(source);
m_id = source->GetId();
}
@@ -198,7 +246,7 @@
m_source = source;
// add initial value
- m_data[m_size++] = ImPlotPoint{wpi::Now() * 1.0e-6, source->GetValue()};
+ AppendValue(source->GetValue(), 0);
m_newValueConn = source->valueChanged.connect_connection(
[this](double value, uint64_t time) { AppendValue(value, time); });
@@ -245,66 +293,14 @@
}
}
-bool PlotSeries::ReadIni(std::string_view name, std::string_view value) {
- if (name == "name") {
- m_name = value;
- return true;
- }
- if (name == "yAxis") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_yAxis = num.value();
- }
- return true;
- } else if (name == "color") {
- if (auto num = wpi::parse_integer<unsigned int>(value, 10)) {
- m_color = ImColor(num.value());
- }
- return true;
- } else if (name == "marker") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_marker = num.value();
- }
- return true;
- } else if (name == "weight") {
- if (auto num = wpi::parse_float<float>(value)) {
- m_weight = num.value();
- }
- return true;
- } else if (name == "digital") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_digital = num.value();
- }
- return true;
- } else if (name == "digitalBitHeight") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_digitalBitHeight = num.value();
- }
- return true;
- } else if (name == "digitalBitGap") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_digitalBitGap = num.value();
- }
- return true;
- }
- return false;
-}
-
-void PlotSeries::WriteIni(ImGuiTextBuffer* out) {
- out->appendf(
- "name=%s\nyAxis=%d\ncolor=%u\nmarker=%d\nweight=%f\ndigital=%d\n"
- "digitalBitHeight=%d\ndigitalBitGap=%d\n",
- m_name.c_str(), m_yAxis, static_cast<ImU32>(ImColor(m_color)), m_marker,
- m_weight, m_digital, m_digitalBitHeight, m_digitalBitGap);
-}
-
const char* PlotSeries::GetName() const {
if (!m_name.empty()) {
return m_name.c_str();
}
if (m_newValueConn.connected()) {
- auto sourceName = m_source->GetName();
- if (sourceName[0] != '\0') {
- return sourceName;
+ auto& sourceName = m_source->GetName();
+ if (!sourceName.empty()) {
+ return sourceName.c_str();
}
}
return m_id.c_str();
@@ -315,7 +311,8 @@
CheckSource();
char label[128];
- std::snprintf(label, sizeof(label), "%s###name", GetName());
+ std::snprintf(label, sizeof(label), "%s###name%d_%d", GetName(),
+ static_cast<int>(i), static_cast<int>(plotIndex));
int size = m_size;
int offset = m_offset;
@@ -346,10 +343,10 @@
return ImPlotPoint{point->x - d->zeroTime, point->y};
};
- if (m_color.w == IMPLOT_AUTO_COL.w) {
- m_color = ImPlot::GetColormapColor(i);
+ if (m_color.GetColorFloat()[3] == IMPLOT_AUTO) {
+ SetColor(ImPlot::GetColormapColor(i));
}
- ImPlot::SetNextLineStyle(m_color, m_weight);
+ ImPlot::SetNextLineStyle(m_color.GetColor(), m_weight);
if (IsDigital()) {
ImPlot::PushStyleVar(ImPlotStyleVar_DigitalBitHeight, m_digitalBitHeight);
ImPlot::PushStyleVar(ImPlotStyleVar_DigitalBitGap, m_digitalBitGap);
@@ -357,8 +354,12 @@
ImPlot::PopStyleVar();
ImPlot::PopStyleVar();
} else {
- ImPlot::SetPlotYAxis(m_yAxis);
- ImPlot::SetNextMarkerStyle(m_marker - 1);
+ if (ImPlot::GetCurrentPlot()->YAxis(m_yAxis).Enabled) {
+ ImPlot::SetAxis(ImAxis_Y1 + m_yAxis);
+ } else {
+ ImPlot::SetAxis(ImAxis_Y1);
+ }
+ ImPlot::SetNextMarkerStyle(m_marker.GetValue() - 1);
ImPlot::PlotLineG(label, getter, &getterData, size + 1);
}
@@ -413,10 +414,10 @@
void PlotSeries::EmitSettings(size_t i) {
// Line color
{
- ImGui::ColorEdit3("Color", &m_color.x, ImGuiColorEditFlags_NoInputs);
+ m_color.ColorEdit3("Color", ImGuiColorEditFlags_NoInputs);
ImGui::SameLine();
if (ImGui::Button("Default")) {
- m_color = ImPlot::GetColormapColor(i);
+ SetColor(ImPlot::GetColormapColor(i));
}
}
@@ -428,10 +429,8 @@
// Digital
{
- static const char* const options[] = {"Auto", "Digital", "Analog"};
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 6);
- ImGui::Combo("Digital", &m_digital, options,
- sizeof(options) / sizeof(options[0]));
+ m_digital.Combo("Digital");
}
if (IsDigital()) {
@@ -456,152 +455,62 @@
// Marker
{
- static const char* const options[] = {
- "None", "Circle", "Square", "Diamond", "Up", "Down",
- "Left", "Right", "Cross", "Plus", "Asterisk"};
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
- ImGui::Combo("Marker", &m_marker, options,
- sizeof(options) / sizeof(options[0]));
+ m_marker.Combo("Marker");
}
}
}
-Plot::Plot() {
- for (int i = 0; i < 3; ++i) {
- m_axisRange[i] = PlotRange{};
+Plot::PlotAxis::PlotAxis(Storage& storage, int num)
+ : label{storage.GetString("label")},
+ min{storage.GetDouble("min", 0)},
+ max{storage.GetDouble("max", 1)},
+ lockMin{storage.GetBool("lockMin", false)},
+ lockMax{storage.GetBool("lockMax", false)},
+ autoFit{storage.GetBool("autoFit", false)},
+ logScale{storage.GetBool("logScale", false)},
+ invert{storage.GetBool("invert", false)},
+ opposite{storage.GetBool("opposite", num != 0)},
+ gridLines{storage.GetBool("gridLines", num == 0)},
+ tickMarks{storage.GetBool("tickMarks", true)},
+ tickLabels{storage.GetBool("tickLabels", true)} {}
+
+Plot::Plot(Storage& storage)
+ : m_seriesStorage{storage.GetChildArray("series")},
+ m_name{storage.GetString("name")},
+ m_visible{storage.GetBool("visible", true)},
+ m_showPause{storage.GetBool("showPause", true)},
+ m_lockPrevX{storage.GetBool("lockPrevX", false)},
+ m_legend{storage.GetBool("legend", true)},
+ m_legendOutside{storage.GetBool("legendOutside", false)},
+ m_legendHorizontal{storage.GetBool("legendHorizontal", false)},
+ m_legendLocation{
+ storage.GetInt("legendLocation", ImPlotLocation_NorthWest)},
+ m_crosshairs{storage.GetBool("crosshairs", false)},
+ m_antialiased{storage.GetBool("antialiased", false)},
+ m_mousePosition{storage.GetBool("mousePosition", true)},
+ m_yAxis2{storage.GetBool("yaxis2", false)},
+ m_yAxis3{storage.GetBool("yaxis3", false)},
+ m_viewTime{storage.GetFloat("viewTime", 10)},
+ m_autoHeight{storage.GetBool("autoHeight", true)},
+ m_height{storage.GetInt("height", 300)} {
+ auto& axesStorage = storage.GetChildArray("axis");
+ axesStorage.resize(kAxisCount);
+ for (int i = 0; i < kAxisCount; ++i) {
+ if (!axesStorage[i]) {
+ axesStorage[i] = std::make_unique<Storage>();
+ }
+ m_axis.emplace_back(*axesStorage[i], i);
+ }
+
+ // loop over series
+ for (auto&& v : m_seriesStorage) {
+ m_series.emplace_back(
+ std::make_unique<PlotSeries>(*v, v->ReadString("id")));
}
}
-bool Plot::ReadIni(std::string_view name, std::string_view value) {
- if (name == "name") {
- m_name = value;
- return true;
- } else if (name == "visible") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_visible = num.value() != 0;
- }
- return true;
- } else if (name == "showPause") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_showPause = num.value() != 0;
- }
- return true;
- } else if (name == "lockPrevX") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_lockPrevX = num.value() != 0;
- }
- return true;
- } else if (name == "legend") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- if (num.value() == 0) {
- m_plotFlags |= ImPlotFlags_NoLegend;
- } else {
- m_plotFlags &= ~ImPlotFlags_NoLegend;
- }
- }
- return true;
- } else if (name == "yaxis2") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- if (num.value() == 0) {
- m_plotFlags &= ~ImPlotFlags_YAxis2;
- } else {
- m_plotFlags |= ImPlotFlags_YAxis2;
- }
- }
- return true;
- } else if (name == "yaxis3") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- if (num.value() == 0) {
- m_plotFlags &= ~ImPlotFlags_YAxis3;
- } else {
- m_plotFlags |= ImPlotFlags_YAxis3;
- }
- }
- return true;
- } else if (name == "viewTime") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_viewTime = num.value() / 1000.0;
- }
- return true;
- } else if (name == "autoHeight") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_autoHeight = num.value() != 0;
- }
- return true;
- } else if (name == "height") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_height = num.value();
- }
- return true;
- } else if (wpi::starts_with(name, 'y')) {
- auto [yAxisStr, yName] = wpi::split(name, '_');
- int yAxis =
- wpi::parse_integer<int>(wpi::drop_front(yAxisStr), 10).value_or(-1);
- if (yAxis < 0 || yAxis > 3) {
- return false;
- }
- if (yName == "min") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_axisRange[yAxis].min = num.value() / 1000.0;
- }
- return true;
- } else if (yName == "max") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_axisRange[yAxis].max = num.value() / 1000.0;
- }
- return true;
- } else if (yName == "lockMin") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_axisRange[yAxis].lockMin = num.value() != 0;
- }
- return true;
- } else if (yName == "lockMax") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_axisRange[yAxis].lockMax = num.value() != 0;
- }
- return true;
- } else if (yName == "label") {
- m_axisLabel[yAxis] = value;
- return true;
- }
- }
- return false;
-}
-
-void Plot::WriteIni(ImGuiTextBuffer* out) {
- out->appendf(
- "name=%s\nvisible=%d\nshowPause=%d\nlockPrevX=%d\nlegend=%d\n"
- "yaxis2=%d\nyaxis3=%d\nviewTime=%d\nautoHeight=%d\nheight=%d\n",
- m_name.c_str(), m_visible ? 1 : 0, m_showPause ? 1 : 0,
- m_lockPrevX ? 1 : 0, (m_plotFlags & ImPlotFlags_NoLegend) ? 0 : 1,
- (m_plotFlags & ImPlotFlags_YAxis2) ? 1 : 0,
- (m_plotFlags & ImPlotFlags_YAxis3) ? 1 : 0,
- static_cast<int>(m_viewTime * 1000), m_autoHeight ? 1 : 0, m_height);
- for (int i = 0; i < 3; ++i) {
- out->appendf(
- "y%d_min=%d\ny%d_max=%d\ny%d_lockMin=%d\ny%d_lockMax=%d\n"
- "y%d_label=%s\n",
- i, static_cast<int>(m_axisRange[i].min * 1000), i,
- static_cast<int>(m_axisRange[i].max * 1000), i,
- m_axisRange[i].lockMin ? 1 : 0, i, m_axisRange[i].lockMax ? 1 : 0, i,
- m_axisLabel[i].c_str());
- }
-}
-
-void Plot::DragDropTarget(PlotView& view, size_t i, bool inPlot) {
- if (!ImGui::BeginDragDropTarget()) {
- return;
- }
- // handle dragging onto a specific Y axis
- int yAxis = -1;
- if (inPlot) {
- for (int y = 0; y < 3; ++y) {
- if (ImPlot::IsPlotYAxisHovered(y)) {
- yAxis = y;
- break;
- }
- }
- }
+void Plot::DragDropAccept(PlotView& view, size_t i, int yAxis) {
if (const ImGuiPayload* payload =
ImGui::AcceptDragDropPayload("DataSource")) {
auto source = *static_cast<DataSource**>(payload->Data);
@@ -612,8 +521,9 @@
(yAxis == -1 || elem->GetYAxis() == yAxis);
});
if (it == m_series.end()) {
- m_series.emplace_back(
- std::make_unique<PlotSeries>(source, yAxis == -1 ? 0 : yAxis));
+ m_seriesStorage.emplace_back(std::make_unique<Storage>());
+ m_series.emplace_back(std::make_unique<PlotSeries>(
+ *m_seriesStorage.back(), source, yAxis == -1 ? 0 : yAxis));
}
} else if (const ImGuiPayload* payload =
ImGui::AcceptDragDropPayload("PlotSeries")) {
@@ -627,6 +537,26 @@
}
}
+void Plot::DragDropTarget(PlotView& view, size_t i, bool inPlot) {
+ if (inPlot) {
+ if (ImPlot::BeginDragDropTargetPlot() ||
+ ImPlot::BeginDragDropTargetLegend()) {
+ DragDropAccept(view, i, -1);
+ ImPlot::EndDragDropTarget();
+ }
+ for (int y = 0; y < kAxisCount; ++y) {
+ if (ImPlot::GetCurrentPlot()->YAxis(y).Enabled &&
+ ImPlot::BeginDragDropTargetAxis(ImAxis_Y1 + y)) {
+ DragDropAccept(view, i, y);
+ ImPlot::EndDragDropTarget();
+ }
+ }
+ } else if (ImGui::BeginDragDropTarget()) {
+ DragDropAccept(view, i, -1);
+ ImGui::EndDragDropTarget();
+ }
+}
+
void Plot::EmitPlot(PlotView& view, double now, bool paused, size_t i) {
if (!m_visible) {
return;
@@ -639,67 +569,115 @@
}
char label[128];
- std::snprintf(label, sizeof(label), "%s##plot", m_name.c_str());
+ std::snprintf(label, sizeof(label), "%s###plot%d", m_name.c_str(),
+ static_cast<int>(i));
+ ImPlotFlags plotFlags = (m_legend ? 0 : ImPlotFlags_NoLegend) |
+ (m_crosshairs ? ImPlotFlags_Crosshairs : 0) |
+ (m_antialiased ? ImPlotFlags_AntiAliased : 0) |
+ (m_mousePosition ? 0 : ImPlotFlags_NoMouseText);
- if (lockX) {
- ImPlot::SetNextPlotLimitsX(view.m_plots[i - 1]->m_xaxisRange.Min,
- view.m_plots[i - 1]->m_xaxisRange.Max,
- ImGuiCond_Always);
- } else {
- // also force-pause plots if overall timing is paused
- double zeroTime = GetZeroTime() * 1.0e-6;
- ImPlot::SetNextPlotLimitsX(
- now - zeroTime - m_viewTime, now - zeroTime,
- (paused || m_paused) ? ImGuiCond_Once : ImGuiCond_Always);
- }
-
- ImPlotAxisFlags yFlags[3] = {ImPlotAxisFlags_None,
- ImPlotAxisFlags_NoGridLines,
- ImPlotAxisFlags_NoGridLines};
- for (int i = 0; i < 3; ++i) {
- ImPlot::SetNextPlotLimitsY(
- m_axisRange[i].min, m_axisRange[i].max,
- m_axisRange[i].apply ? ImGuiCond_Always : ImGuiCond_Once, i);
- m_axisRange[i].apply = false;
- if (m_axisRange[i].lockMin) {
- yFlags[i] |= ImPlotAxisFlags_LockMin;
+ if (ImPlot::BeginPlot(label, ImVec2(-1, m_height), plotFlags)) {
+ // setup legend
+ if (m_legend) {
+ ImPlotLegendFlags legendFlags =
+ (m_legendOutside ? ImPlotLegendFlags_Outside : 0) |
+ (m_legendHorizontal ? ImPlotLegendFlags_Horizontal : 0);
+ ImPlot::SetupLegend(m_legendLocation, legendFlags);
}
- if (m_axisRange[i].lockMax) {
- yFlags[i] |= ImPlotAxisFlags_LockMax;
- }
- }
- if (ImPlot::BeginPlot(
- label, nullptr,
- m_axisLabel[0].empty() ? nullptr : m_axisLabel[0].c_str(),
- ImVec2(-1, m_height), m_plotFlags, ImPlotAxisFlags_None, yFlags[0],
- yFlags[1], yFlags[2],
- m_axisLabel[1].empty() ? nullptr : m_axisLabel[1].c_str(),
- m_axisLabel[2].empty() ? nullptr : m_axisLabel[2].c_str())) {
+ // setup x axis
+ ImPlot::SetupAxis(ImAxis_X1, nullptr, ImPlotAxisFlags_NoMenus);
+ if (lockX) {
+ ImPlot::SetupAxisLimits(ImAxis_X1, view.m_plots[i - 1]->m_xaxisRange.Min,
+ view.m_plots[i - 1]->m_xaxisRange.Max,
+ ImGuiCond_Always);
+ } else {
+ // also force-pause plots if overall timing is paused
+ double zeroTime = GetZeroTime() * 1.0e-6;
+ ImPlot::SetupAxisLimits(
+ ImAxis_X1, now - zeroTime - m_viewTime, now - zeroTime,
+ (paused || m_paused) ? ImGuiCond_Once : ImGuiCond_Always);
+ }
+
+ // setup y axes
+ for (int i = 0; i < kAxisCount; ++i) {
+ if ((i == 1 && !m_yAxis2) || (i == 2 && !m_yAxis3)) {
+ continue;
+ }
+ ImPlotAxisFlags flags =
+ (m_axis[i].lockMin ? ImPlotAxisFlags_LockMin : 0) |
+ (m_axis[i].lockMax ? ImPlotAxisFlags_LockMax : 0) |
+ (m_axis[i].autoFit ? ImPlotAxisFlags_AutoFit : 0) |
+ (m_axis[i].logScale ? ImPlotAxisFlags_AutoFit : 0) |
+ (m_axis[i].invert ? ImPlotAxisFlags_Invert : 0) |
+ (m_axis[i].opposite ? ImPlotAxisFlags_Opposite : 0) |
+ (m_axis[i].gridLines ? 0 : ImPlotAxisFlags_NoGridLines) |
+ (m_axis[i].tickMarks ? 0 : ImPlotAxisFlags_NoTickMarks) |
+ (m_axis[i].tickLabels ? 0 : ImPlotAxisFlags_NoTickLabels);
+ ImPlot::SetupAxis(
+ ImAxis_Y1 + i,
+ m_axis[i].label.empty() ? nullptr : m_axis[i].label.c_str(), flags);
+ ImPlot::SetupAxisLimits(
+ ImAxis_Y1 + i, m_axis[i].min, m_axis[i].max,
+ m_axis[i].apply ? ImGuiCond_Always : ImGuiCond_Once);
+ m_axis[i].apply = false;
+ }
+
+ ImPlot::SetupFinish();
+
for (size_t j = 0; j < m_series.size(); ++j) {
- ImGui::PushID(j);
switch (m_series[j]->EmitPlot(view, now, j, i)) {
case PlotSeries::kMoveUp:
if (j > 0) {
+ std::swap(m_seriesStorage[j - 1], m_seriesStorage[j]);
std::swap(m_series[j - 1], m_series[j]);
}
break;
case PlotSeries::kMoveDown:
if (j < (m_series.size() - 1)) {
+ std::swap(m_seriesStorage[j], m_seriesStorage[j + 1]);
std::swap(m_series[j], m_series[j + 1]);
}
break;
case PlotSeries::kDelete:
+ m_seriesStorage.erase(m_seriesStorage.begin() + j);
m_series.erase(m_series.begin() + j);
break;
default:
break;
}
- ImGui::PopID();
}
DragDropTarget(view, i, true);
m_xaxisRange = ImPlot::GetPlotLimits().X;
+
+ ImPlotPlot* plot = ImPlot::GetCurrentPlot();
ImPlot::EndPlot();
+
+ // copy plot settings back to storage
+ m_legend = (plot->Flags & ImPlotFlags_NoLegend) == 0;
+ m_crosshairs = (plot->Flags & ImPlotFlags_Crosshairs) != 0;
+ m_antialiased = (plot->Flags & ImPlotFlags_AntiAliased) != 0;
+ m_legendOutside =
+ (plot->Items.Legend.Flags & ImPlotLegendFlags_Outside) != 0;
+ m_legendHorizontal =
+ (plot->Items.Legend.Flags & ImPlotLegendFlags_Horizontal) != 0;
+ m_legendLocation = plot->Items.Legend.Location;
+
+ for (int i = 0; i < kAxisCount; ++i) {
+ if ((i == 1 && !m_yAxis2) || (i == 2 && !m_yAxis3)) {
+ continue;
+ }
+ auto flags = plot->Axes[ImAxis_Y1 + i].Flags;
+ m_axis[i].lockMin = (flags & ImPlotAxisFlags_LockMin) != 0;
+ m_axis[i].lockMax = (flags & ImPlotAxisFlags_LockMax) != 0;
+ m_axis[i].autoFit = (flags & ImPlotAxisFlags_AutoFit) != 0;
+ m_axis[i].logScale = (flags & ImPlotAxisFlags_LogScale) != 0;
+ m_axis[i].invert = (flags & ImPlotAxisFlags_Invert) != 0;
+ m_axis[i].opposite = (flags & ImPlotAxisFlags_Opposite) != 0;
+ m_axis[i].gridLines = (flags & ImPlotAxisFlags_NoGridLines) == 0;
+ m_axis[i].tickMarks = (flags & ImPlotAxisFlags_NoTickMarks) == 0;
+ m_axis[i].tickLabels = (flags & ImPlotAxisFlags_NoTickLabels) == 0;
+ }
}
}
@@ -708,22 +686,22 @@
ImGui::PushID(axis);
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 10);
- ImGui::InputText("Label", &m_axisLabel[axis]);
+ ImGui::InputText("Label", &m_axis[axis].label);
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 3.5);
- ImGui::InputDouble("Min", &m_axisRange[axis].min, 0, 0, "%.3f");
+ ImGui::InputDouble("Min", &m_axis[axis].min, 0, 0, "%.3f");
ImGui::SameLine();
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 3.5);
- ImGui::InputDouble("Max", &m_axisRange[axis].max, 0, 0, "%.3f");
+ ImGui::InputDouble("Max", &m_axis[axis].max, 0, 0, "%.3f");
ImGui::SameLine();
if (ImGui::Button("Apply")) {
- m_axisRange[axis].apply = true;
+ m_axis[axis].apply = true;
}
ImGui::TextUnformatted("Lock Axis");
ImGui::SameLine();
- ImGui::Checkbox("Min##minlock", &m_axisRange[axis].lockMin);
+ ImGui::Checkbox("Min##minlock", &m_axis[axis].lockMin);
ImGui::SameLine();
- ImGui::Checkbox("Max##maxlock", &m_axisRange[axis].lockMax);
+ ImGui::Checkbox("Max##maxlock", &m_axis[axis].lockMax);
ImGui::PopID();
ImGui::Unindent();
@@ -734,18 +712,17 @@
ImGui::InputText("##editname", &m_name);
ImGui::Checkbox("Visible", &m_visible);
ImGui::Checkbox("Show Pause Button", &m_showPause);
- ImGui::CheckboxFlags("Hide Legend", &m_plotFlags, ImPlotFlags_NoLegend);
if (i != 0) {
ImGui::Checkbox("Lock X-axis to previous plot", &m_lockPrevX);
}
ImGui::TextUnformatted("Primary Y-Axis");
EmitSettingsLimits(0);
- ImGui::CheckboxFlags("2nd Y-Axis", &m_plotFlags, ImPlotFlags_YAxis2);
- if ((m_plotFlags & ImPlotFlags_YAxis2) != 0) {
+ ImGui::Checkbox("2nd Y-Axis", &m_yAxis2);
+ if (m_yAxis2) {
EmitSettingsLimits(1);
}
- ImGui::CheckboxFlags("3rd Y-Axis", &m_plotFlags, ImPlotFlags_YAxis3);
- if ((m_plotFlags & ImPlotFlags_YAxis3) != 0) {
+ ImGui::Checkbox("3rd Y-Axis", &m_yAxis3);
+ if (m_yAxis3) {
EmitSettingsLimits(2);
}
ImGui::SetNextItemWidth(ImGui::GetFontSize() * 6);
@@ -778,10 +755,20 @@
return height;
}
+PlotView::PlotView(PlotProvider* provider, Storage& storage)
+ : m_provider{provider}, m_plotsStorage{storage.GetChildArray("plots")} {
+ // loop over plots
+ for (auto&& v : m_plotsStorage) {
+ // create plot
+ m_plots.emplace_back(std::make_unique<Plot>(*v));
+ }
+}
+
void PlotView::Display() {
if (ImGui::BeginPopupContextItem()) {
if (ImGui::Button("Add plot")) {
- m_plots.emplace_back(std::make_unique<Plot>());
+ m_plotsStorage.emplace_back(std::make_unique<Storage>());
+ m_plots.emplace_back(std::make_unique<Plot>(*m_plotsStorage.back()));
}
for (size_t i = 0; i < m_plots.size(); ++i) {
@@ -813,6 +800,7 @@
if (open) {
if (ImGui::Button("Move Up")) {
if (i > 0) {
+ std::swap(m_plotsStorage[i - 1], m_plotsStorage[i]);
std::swap(m_plots[i - 1], plot);
}
}
@@ -820,12 +808,14 @@
ImGui::SameLine();
if (ImGui::Button("Move Down")) {
if (i < (m_plots.size() - 1)) {
+ std::swap(m_plotsStorage[i], m_plotsStorage[i + 1]);
std::swap(plot, m_plots[i + 1]);
}
}
ImGui::SameLine();
if (ImGui::Button("Delete")) {
+ m_plotsStorage.erase(m_plotsStorage.begin() + i);
m_plots.erase(m_plots.begin() + i);
ImGui::PopID();
continue;
@@ -842,7 +832,8 @@
if (m_plots.empty()) {
if (ImGui::Button("Add plot")) {
- m_plots.emplace_back(std::make_unique<Plot>());
+ m_plotsStorage.emplace_back(std::make_unique<Storage>());
+ m_plots.emplace_back(std::make_unique<Plot>(*m_plotsStorage.back()));
}
// Make "add plot" button a DND target for Plot
@@ -889,10 +880,21 @@
if (fromIndex == toIndex) {
return;
}
+
+ auto st = std::move(m_plotsStorage[fromIndex]);
+ m_plotsStorage.insert(m_plotsStorage.begin() + toIndex, std::move(st));
+ m_plotsStorage.erase(m_plotsStorage.begin() + fromIndex +
+ (fromIndex > toIndex ? 1 : 0));
+
auto val = std::move(m_plots[fromIndex]);
m_plots.insert(m_plots.begin() + toIndex, std::move(val));
m_plots.erase(m_plots.begin() + fromIndex + (fromIndex > toIndex ? 1 : 0));
} else {
+ auto st = std::move(fromView->m_plotsStorage[fromIndex]);
+ m_plotsStorage.insert(m_plotsStorage.begin() + toIndex, std::move(st));
+ fromView->m_plotsStorage.erase(fromView->m_plotsStorage.begin() +
+ fromIndex);
+
auto val = std::move(fromView->m_plots[fromIndex]);
m_plots.insert(m_plots.begin() + toIndex, std::move(val));
fromView->m_plots.erase(fromView->m_plots.begin() + fromIndex);
@@ -905,6 +907,13 @@
if (fromView == this && fromPlotIndex == toPlotIndex) {
// need to handle this specially as the index of the old location changes
if (fromSeriesIndex != toSeriesIndex) {
+ auto& seriesStorage = m_plots[fromPlotIndex]->m_seriesStorage;
+ auto st = std::move(seriesStorage[fromSeriesIndex]);
+ seriesStorage.insert(seriesStorage.begin() + toSeriesIndex,
+ std::move(st));
+ seriesStorage.erase(seriesStorage.begin() + fromSeriesIndex +
+ (fromSeriesIndex > toSeriesIndex ? 1 : 0));
+
auto& plotSeries = m_plots[fromPlotIndex]->m_series;
auto val = std::move(plotSeries[fromSeriesIndex]);
// only set Y-axis if actually set
@@ -920,34 +929,53 @@
auto& toPlot = *m_plots[toPlotIndex];
// always set Y-axis if moving plots
fromPlot.m_series[fromSeriesIndex]->SetYAxis(yAxis == -1 ? 0 : yAxis);
+
+ toPlot.m_seriesStorage.insert(
+ toPlot.m_seriesStorage.begin() + toSeriesIndex,
+ std::move(fromPlot.m_seriesStorage[fromSeriesIndex]));
+ fromPlot.m_seriesStorage.erase(fromPlot.m_seriesStorage.begin() +
+ fromSeriesIndex);
+
toPlot.m_series.insert(toPlot.m_series.begin() + toSeriesIndex,
std::move(fromPlot.m_series[fromSeriesIndex]));
fromPlot.m_series.erase(fromPlot.m_series.begin() + fromSeriesIndex);
}
}
-PlotProvider::PlotProvider(std::string_view iniName)
- : WindowManager{fmt::format("{}Window", iniName)},
- m_plotSaver{iniName, this, false},
- m_seriesSaver{fmt::format("{}Series", iniName), this, true} {}
+PlotProvider::PlotProvider(Storage& storage) : WindowManager{storage} {
+ storage.SetCustomApply([this] {
+ // loop over windows
+ for (auto&& windowkv : m_storage.GetChildren()) {
+ // get or create window
+ auto win = GetOrAddWindow(windowkv.key(), true);
+ if (!win) {
+ continue;
+ }
-PlotProvider::~PlotProvider() = default;
-
-void PlotProvider::GlobalInit() {
- WindowManager::GlobalInit();
- wpi::gui::AddInit([this] {
- m_plotSaver.Initialize();
- m_seriesSaver.Initialize();
+ // get or create view
+ auto view = static_cast<PlotView*>(win->GetView());
+ if (!view) {
+ win->SetView(std::make_unique<PlotView>(this, windowkv.value()));
+ view = static_cast<PlotView*>(win->GetView());
+ }
+ }
+ });
+ storage.SetCustomClear([this] {
+ EraseWindows();
+ m_storage.EraseChildren();
});
}
+PlotProvider::~PlotProvider() = default;
+
void PlotProvider::DisplayMenu() {
+ // use index-based loop due to possible RemoveWindow call
for (size_t i = 0; i < m_windows.size(); ++i) {
m_windows[i]->DisplayMenuItem();
// provide method to destroy the plot window
if (ImGui::BeginPopupContextItem()) {
if (ImGui::Selectable("Destroy Plot Window")) {
- m_windows.erase(m_windows.begin() + i);
+ RemoveWindow(i);
ImGui::CloseCurrentPopup();
}
ImGui::EndPopup();
@@ -971,105 +999,9 @@
break;
}
}
- if (auto win = AddWindow(id, std::make_unique<PlotView>(this))) {
+ if (auto win = AddWindow(
+ id, std::make_unique<PlotView>(this, m_storage.GetChild(id)))) {
win->SetDefaultSize(700, 400);
}
}
}
-
-void PlotProvider::DisplayWindows() {
- // create views if not already created
- for (auto&& window : m_windows) {
- if (!window->HasView()) {
- window->SetView(std::make_unique<PlotView>(this));
- }
- }
- WindowManager::DisplayWindows();
-}
-
-PlotProvider::IniSaver::IniSaver(std::string_view typeName,
- PlotProvider* provider, bool forSeries)
- : IniSaverBase{typeName}, m_provider{provider}, m_forSeries{forSeries} {}
-
-void* PlotProvider::IniSaver::IniReadOpen(const char* name) {
- auto [viewId, plotNumStr] = wpi::split(name, '#');
- std::string_view seriesId;
- if (m_forSeries) {
- std::tie(plotNumStr, seriesId) = wpi::split(plotNumStr, '#');
- if (seriesId.empty()) {
- return nullptr;
- }
- }
- unsigned int plotNum;
- if (auto plotNumOpt = wpi::parse_integer<unsigned int>(plotNumStr, 10)) {
- plotNum = plotNumOpt.value();
- } else {
- return nullptr;
- }
-
- // get or create window
- auto win = m_provider->GetOrAddWindow(viewId, true);
- if (!win) {
- return nullptr;
- }
-
- // get or create view
- auto view = static_cast<PlotView*>(win->GetView());
- if (!view) {
- win->SetView(std::make_unique<PlotView>(m_provider));
- view = static_cast<PlotView*>(win->GetView());
- }
-
- // get or create plot
- if (view->m_plots.size() <= plotNum) {
- view->m_plots.resize(plotNum + 1);
- }
- auto& plot = view->m_plots[plotNum];
- if (!plot) {
- plot = std::make_unique<Plot>();
- }
-
- // early exit for plot data
- if (!m_forSeries) {
- return plot.get();
- }
-
- // get or create series
- return plot->m_series.emplace_back(std::make_unique<PlotSeries>(seriesId))
- .get();
-}
-
-void PlotProvider::IniSaver::IniReadLine(void* entry, const char* line) {
- auto [name, value] = wpi::split(line, '=');
- name = wpi::trim(name);
- value = wpi::trim(value);
- if (m_forSeries) {
- static_cast<PlotSeries*>(entry)->ReadIni(name, value);
- } else {
- static_cast<Plot*>(entry)->ReadIni(name, value);
- }
-}
-
-void PlotProvider::IniSaver::IniWriteAll(ImGuiTextBuffer* out_buf) {
- for (auto&& win : m_provider->m_windows) {
- auto view = static_cast<PlotView*>(win->GetView());
- auto id = win->GetId();
- for (size_t i = 0; i < view->m_plots.size(); ++i) {
- if (m_forSeries) {
- // Loop over series
- for (auto&& series : view->m_plots[i]->m_series) {
- out_buf->appendf("[%s][%s#%d#%s]\n", GetTypeName(), id.data(),
- static_cast<int>(i), series->GetId().c_str());
- series->WriteIni(out_buf);
- out_buf->append("\n");
- }
- } else {
- // Just the plot
- out_buf->appendf("[%s][%s#%d]\n", GetTypeName(), id.data(),
- static_cast<int>(i));
- view->m_plots[i]->WriteIni(out_buf);
- out_buf->append("\n");
- }
- }
- }
-}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/support/ColorSetting.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/support/ColorSetting.cpp
new file mode 100644
index 0000000..9f20a0b
--- /dev/null
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/support/ColorSetting.cpp
@@ -0,0 +1,11 @@
+// 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 "glass/support/ColorSetting.h"
+
+using namespace glass;
+
+ColorSetting::ColorSetting(std::vector<float>& color) : m_color{color} {
+ m_color.resize(4);
+}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/support/EnumSetting.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/support/EnumSetting.cpp
new file mode 100644
index 0000000..848b588
--- /dev/null
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/support/EnumSetting.cpp
@@ -0,0 +1,40 @@
+// 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 "glass/support/EnumSetting.h"
+
+#include <imgui.h>
+
+using namespace glass;
+
+EnumSetting::EnumSetting(std::string& str, int defaultValue,
+ std::initializer_list<const char*> choices)
+ : m_str{str}, m_choices{choices}, m_value{defaultValue} {
+ // override default value if str is one of the choices
+ int i = 0;
+ for (auto choice : choices) {
+ if (str == choice) {
+ m_value = i;
+ break;
+ }
+ ++i;
+ }
+}
+
+void EnumSetting::SetValue(int value) {
+ m_value = value;
+ m_str = m_choices[m_value];
+}
+
+bool EnumSetting::Combo(const char* label, int numOptions,
+ int popup_max_height_in_items) {
+ if (ImGui::Combo(
+ label, &m_value, m_choices.data(),
+ numOptions < 0 ? m_choices.size() : static_cast<size_t>(numOptions),
+ popup_max_height_in_items)) {
+ m_str = m_choices[m_value]; // update stored string
+ return true;
+ }
+ return false;
+}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp
index 2af6e5e..56f4e77 100644
--- a/third_party/allwpilib/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/support/ExtraGuiWidgets.cpp
@@ -160,17 +160,17 @@
bool HeaderDeleteButton(const char* label) {
ImGuiWindow* window = ImGui::GetCurrentWindow();
ImGuiContext& g = *GImGui;
- ImGuiLastItemDataBackup last_item_backup;
+ ImGuiLastItemData last_item_backup = g.LastItemData;
ImGuiID id = window->GetID(label);
float button_size = g.FontSize;
- float button_x = ImMax(window->DC.LastItemRect.Min.x,
- window->DC.LastItemRect.Max.x -
- g.Style.FramePadding.x * 2.0f - button_size);
- float button_y = window->DC.LastItemRect.Min.y;
+ float button_x = ImMax(
+ g.LastItemData.Rect.Min.x,
+ g.LastItemData.Rect.Max.x - g.Style.FramePadding.x * 2.0f - button_size);
+ float button_y = g.LastItemData.Rect.Min.y;
bool rv = DeleteButton(
window->GetID(reinterpret_cast<void*>(static_cast<intptr_t>(id) + 1)),
ImVec2(button_x, button_y));
- last_item_backup.Restore();
+ g.LastItemData = last_item_backup;
return rv;
}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/support/IniSaverBase.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/support/IniSaverBase.cpp
deleted file mode 100644
index ae8d811..0000000
--- a/third_party/allwpilib/glass/src/lib/native/cpp/support/IniSaverBase.cpp
+++ /dev/null
@@ -1,62 +0,0 @@
-// 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 "glass/support/IniSaverBase.h"
-
-#include <imgui_internal.h>
-
-using namespace glass;
-
-namespace {
-class ImGuiSaver : public IniSaverBackend {
- public:
- void Register(IniSaverBase* iniSaver) override;
- void Unregister(IniSaverBase* iniSaver) override;
-};
-} // namespace
-
-void ImGuiSaver::Register(IniSaverBase* iniSaver) {
- // hook ini handler to save settings
- ImGuiSettingsHandler iniHandler;
- iniHandler.TypeName = iniSaver->GetTypeName();
- iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
- iniHandler.ReadOpenFn = [](ImGuiContext* ctx, ImGuiSettingsHandler* handler,
- const char* name) {
- return static_cast<IniSaverBase*>(handler->UserData)->IniReadOpen(name);
- };
- iniHandler.ReadLineFn = [](ImGuiContext* ctx, ImGuiSettingsHandler* handler,
- void* entry, const char* line) {
- static_cast<IniSaverBase*>(handler->UserData)->IniReadLine(entry, line);
- };
- iniHandler.WriteAllFn = [](ImGuiContext* ctx, ImGuiSettingsHandler* handler,
- ImGuiTextBuffer* out_buf) {
- static_cast<IniSaverBase*>(handler->UserData)->IniWriteAll(out_buf);
- };
- iniHandler.UserData = iniSaver;
- ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
-}
-
-void ImGuiSaver::Unregister(IniSaverBase* iniSaver) {
- if (auto ctx = ImGui::GetCurrentContext()) {
- auto& handlers = ctx->SettingsHandlers;
- for (auto it = handlers.begin(), end = handlers.end(); it != end; ++it) {
- if (it->UserData == iniSaver) {
- handlers.erase(it);
- return;
- }
- }
- }
-}
-
-static ImGuiSaver* GetSaverInstance() {
- static ImGuiSaver* inst = new ImGuiSaver;
- return inst;
-}
-
-IniSaverBase::IniSaverBase(std::string_view typeName, IniSaverBackend* backend)
- : m_typeName(typeName), m_backend{backend ? backend : GetSaverInstance()} {}
-
-IniSaverBase::~IniSaverBase() {
- m_backend->Unregister(this);
-}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/support/IniSaverInfo.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/support/IniSaverInfo.cpp
deleted file mode 100644
index 6525e8e..0000000
--- a/third_party/allwpilib/glass/src/lib/native/cpp/support/IniSaverInfo.cpp
+++ /dev/null
@@ -1,168 +0,0 @@
-// 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 "glass/support/IniSaverInfo.h"
-
-#include <cstdio>
-#include <cstring>
-
-#include <imgui_internal.h>
-#include <wpi/StringExtras.h>
-
-using namespace glass;
-
-void NameInfo::SetName(std::string_view name) {
- size_t len = (std::min)(name.size(), sizeof(m_name) - 1);
- std::memcpy(m_name, name.data(), len);
- m_name[len] = '\0';
-}
-
-void NameInfo::GetName(char* buf, size_t size, const char* defaultName) const {
- if (m_name[0] != '\0') {
- std::snprintf(buf, size, "%s", m_name);
- } else {
- std::snprintf(buf, size, "%s", defaultName);
- }
-}
-
-void NameInfo::GetName(char* buf, size_t size, const char* defaultName,
- int index) const {
- if (m_name[0] != '\0') {
- std::snprintf(buf, size, "%s [%d]", m_name, index);
- } else {
- std::snprintf(buf, size, "%s[%d]", defaultName, index);
- }
-}
-
-void NameInfo::GetName(char* buf, size_t size, const char* defaultName,
- int index, int index2) const {
- if (m_name[0] != '\0') {
- std::snprintf(buf, size, "%s [%d,%d]", m_name, index, index2);
- } else {
- std::snprintf(buf, size, "%s[%d,%d]", defaultName, index, index2);
- }
-}
-
-void NameInfo::GetLabel(char* buf, size_t size, const char* defaultName) const {
- if (m_name[0] != '\0') {
- std::snprintf(buf, size, "%s###Name%s", m_name, defaultName);
- } else {
- std::snprintf(buf, size, "%s###Name%s", defaultName, defaultName);
- }
-}
-
-void NameInfo::GetLabel(char* buf, size_t size, const char* defaultName,
- int index) const {
- if (m_name[0] != '\0') {
- std::snprintf(buf, size, "%s [%d]###Name%d", m_name, index, index);
- } else {
- std::snprintf(buf, size, "%s[%d]###Name%d", defaultName, index, index);
- }
-}
-
-void NameInfo::GetLabel(char* buf, size_t size, const char* defaultName,
- int index, int index2) const {
- if (m_name[0] != '\0') {
- std::snprintf(buf, size, "%s [%d,%d]###Name%d", m_name, index, index2,
- index);
- } else {
- std::snprintf(buf, size, "%s[%d,%d]###Name%d", defaultName, index, index2,
- index);
- }
-}
-
-bool NameInfo::ReadIni(std::string_view name, std::string_view value) {
- if (name != "name") {
- return false;
- }
- size_t len = (std::min)(value.size(), sizeof(m_name) - 1);
- std::memcpy(m_name, value.data(), len);
- m_name[len] = '\0';
- return true;
-}
-
-void NameInfo::WriteIni(ImGuiTextBuffer* out) {
- out->appendf("name=%s\n", m_name);
-}
-
-void NameInfo::PushEditNameId(int index) {
- char id[64];
- std::snprintf(id, sizeof(id), "Name%d", index);
- ImGui::PushID(id);
-}
-
-void NameInfo::PushEditNameId(const char* name) {
- char id[128];
- std::snprintf(id, sizeof(id), "Name%s", name);
- ImGui::PushID(id);
-}
-
-bool NameInfo::PopupEditName(int index) {
- bool rv = false;
- char id[64];
- std::snprintf(id, sizeof(id), "Name%d", index);
- if (ImGui::BeginPopupContextItem(id)) {
- ImGui::Text("Edit name:");
- if (InputTextName("##edit")) {
- rv = true;
- }
- if (ImGui::Button("Close") || ImGui::IsKeyPressedMap(ImGuiKey_Enter) ||
- ImGui::IsKeyPressedMap(ImGuiKey_KeyPadEnter)) {
- ImGui::CloseCurrentPopup();
- }
- ImGui::EndPopup();
- }
- return rv;
-}
-
-bool NameInfo::PopupEditName(const char* name) {
- bool rv = false;
- char id[128];
- std::snprintf(id, sizeof(id), "Name%s", name);
- if (ImGui::BeginPopupContextItem(id)) {
- ImGui::Text("Edit name:");
- if (InputTextName("##edit")) {
- rv = true;
- }
- if (ImGui::Button("Close") || ImGui::IsKeyPressedMap(ImGuiKey_Enter) ||
- ImGui::IsKeyPressedMap(ImGuiKey_KeyPadEnter)) {
- ImGui::CloseCurrentPopup();
- }
- ImGui::EndPopup();
- }
- return rv;
-}
-
-bool NameInfo::InputTextName(const char* label_id, ImGuiInputTextFlags flags) {
- return ImGui::InputText(label_id, m_name, sizeof(m_name), flags);
-}
-
-bool OpenInfo::ReadIni(std::string_view name, std::string_view value) {
- if (name != "open") {
- return false;
- }
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- m_open = num.value();
- }
- return true;
-}
-
-void OpenInfo::WriteIni(ImGuiTextBuffer* out) {
- out->appendf("open=%d\n", m_open ? 1 : 0);
-}
-
-bool NameOpenInfo::ReadIni(std::string_view name, std::string_view value) {
- if (NameInfo::ReadIni(name, value)) {
- return true;
- }
- if (OpenInfo::ReadIni(name, value)) {
- return true;
- }
- return false;
-}
-
-void NameOpenInfo::WriteIni(ImGuiTextBuffer* out) {
- NameInfo::WriteIni(out);
- OpenInfo::WriteIni(out);
-}
diff --git a/third_party/allwpilib/glass/src/lib/native/cpp/support/NameSetting.cpp b/third_party/allwpilib/glass/src/lib/native/cpp/support/NameSetting.cpp
new file mode 100644
index 0000000..1dc1d20
--- /dev/null
+++ b/third_party/allwpilib/glass/src/lib/native/cpp/support/NameSetting.cpp
@@ -0,0 +1,123 @@
+// 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 "glass/support/NameSetting.h"
+
+#include <cstdio>
+#include <cstring>
+
+#include <imgui_internal.h>
+#include <imgui_stdlib.h>
+#include <wpi/StringExtras.h>
+
+using namespace glass;
+
+void NameSetting::GetName(char* buf, size_t size,
+ const char* defaultName) const {
+ if (!m_name.empty()) {
+ std::snprintf(buf, size, "%s", m_name.c_str());
+ } else {
+ std::snprintf(buf, size, "%s", defaultName);
+ }
+}
+
+void NameSetting::GetName(char* buf, size_t size, const char* defaultName,
+ int index) const {
+ if (!m_name.empty()) {
+ std::snprintf(buf, size, "%s [%d]", m_name.c_str(), index);
+ } else {
+ std::snprintf(buf, size, "%s[%d]", defaultName, index);
+ }
+}
+
+void NameSetting::GetName(char* buf, size_t size, const char* defaultName,
+ int index, int index2) const {
+ if (!m_name.empty()) {
+ std::snprintf(buf, size, "%s [%d,%d]", m_name.c_str(), index, index2);
+ } else {
+ std::snprintf(buf, size, "%s[%d,%d]", defaultName, index, index2);
+ }
+}
+
+void NameSetting::GetLabel(char* buf, size_t size,
+ const char* defaultName) const {
+ if (!m_name.empty()) {
+ std::snprintf(buf, size, "%s###Name%s", m_name.c_str(), defaultName);
+ } else {
+ std::snprintf(buf, size, "%s###Name%s", defaultName, defaultName);
+ }
+}
+
+void NameSetting::GetLabel(char* buf, size_t size, const char* defaultName,
+ int index) const {
+ if (!m_name.empty()) {
+ std::snprintf(buf, size, "%s [%d]###Name%d", m_name.c_str(), index, index);
+ } else {
+ std::snprintf(buf, size, "%s[%d]###Name%d", defaultName, index, index);
+ }
+}
+
+void NameSetting::GetLabel(char* buf, size_t size, const char* defaultName,
+ int index, int index2) const {
+ if (!m_name.empty()) {
+ std::snprintf(buf, size, "%s [%d,%d]###Name%d", m_name.c_str(), index,
+ index2, index);
+ } else {
+ std::snprintf(buf, size, "%s[%d,%d]###Name%d", defaultName, index, index2,
+ index);
+ }
+}
+
+void NameSetting::PushEditNameId(int index) {
+ char id[64];
+ std::snprintf(id, sizeof(id), "Name%d", index);
+ ImGui::PushID(id);
+}
+
+void NameSetting::PushEditNameId(const char* name) {
+ char id[128];
+ std::snprintf(id, sizeof(id), "Name%s", name);
+ ImGui::PushID(id);
+}
+
+bool NameSetting::PopupEditName(int index) {
+ bool rv = false;
+ char id[64];
+ std::snprintf(id, sizeof(id), "Name%d", index);
+ if (ImGui::BeginPopupContextItem(id)) {
+ ImGui::Text("Edit name:");
+ if (InputTextName("##edit")) {
+ rv = true;
+ }
+ if (ImGui::Button("Close") || ImGui::IsKeyPressedMap(ImGuiKey_Enter) ||
+ ImGui::IsKeyPressedMap(ImGuiKey_KeyPadEnter)) {
+ ImGui::CloseCurrentPopup();
+ }
+ ImGui::EndPopup();
+ }
+ return rv;
+}
+
+bool NameSetting::PopupEditName(const char* name) {
+ bool rv = false;
+ char id[128];
+ std::snprintf(id, sizeof(id), "Name%s", name);
+ if (ImGui::BeginPopupContextItem(id)) {
+ ImGui::Text("Edit name:");
+ if (InputTextName("##edit")) {
+ rv = true;
+ }
+ if (ImGui::Button("Close") || ImGui::IsKeyPressedMap(ImGuiKey_Enter) ||
+ ImGui::IsKeyPressedMap(ImGuiKey_KeyPadEnter)) {
+ ImGui::CloseCurrentPopup();
+ }
+ ImGui::EndPopup();
+ }
+ return rv;
+}
+
+bool NameSetting::InputTextName(const char* label_id,
+ ImGuiInputTextFlags flags) {
+ return ImGui::InputText(label_id, &m_name, flags);
+}
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/Context.h b/third_party/allwpilib/glass/src/lib/native/include/glass/Context.h
index 62b0a33..14ade2c 100644
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/Context.h
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/Context.h
@@ -4,17 +4,16 @@
#pragma once
-#include <memory>
+#include <functional>
#include <string>
#include <string_view>
-#include <utility>
-#include <vector>
#include <imgui.h>
namespace glass {
-struct Context;
+class Context;
+class Storage;
Context* CreateContext();
void DestroyContext(Context* ctx = nullptr);
@@ -32,86 +31,135 @@
uint64_t GetZeroTime();
/**
- * Storage provides both persistent and non-persistent key/value storage for
- * widgets.
- *
- * Keys are always strings. The storage also provides non-persistent arbitrary
- * data storage (via std::shared_ptr<void>).
- *
- * Storage is automatically indexed internally by the ID stack. Note it is
- * necessary to use the glass wrappers for PushID et al to preserve naming in
- * the save file (unnamed values are still stored, but this is non-ideal for
- * users trying to hand-edit the save file).
+ * Resets the workspace (all storage except window storage).
+ * Operates effectively like calling LoadStorage() on a path with no existing
+ * storage files. Note this will result in auto-saving of the reset state to
+ * storage.
*/
-class Storage {
- public:
- struct Value {
- Value() = default;
- explicit Value(std::string_view str) : stringVal{str} {}
+void WorkspaceReset();
- enum Type { kNone, kInt, kInt64, kBool, kFloat, kDouble, kString };
- Type type = kNone;
- union {
- int intVal;
- int64_t int64Val;
- bool boolVal;
- float floatVal;
- double doubleVal;
- };
- std::string stringVal;
- };
+/**
+ * Adds function to be called during workspace (storage) initialization/load.
+ * This should set up any initial default state, restore stored
+ * settings/windows, etc. This will be called after the storage is initialized.
+ * This must be called prior to WorkspaceInit() for proper automatic startup
+ * loading.
+ *
+ * @param init initialization function
+ */
+void AddWorkspaceInit(std::function<void()> init);
- int GetInt(std::string_view key, int defaultVal = 0) const;
- int64_t GetInt64(std::string_view key, int64_t defaultVal = 0) const;
- bool GetBool(std::string_view key, bool defaultVal = false) const;
- float GetFloat(std::string_view key, float defaultVal = 0.0f) const;
- double GetDouble(std::string_view key, double defaultVal = 0.0) const;
- std::string GetString(std::string_view key,
- std::string_view defaultVal = {}) const;
+/**
+ * Adds function to be called during workspace (storage) reset. This should
+ * bring back the state to startup state (e.g. remove any storage references,
+ * destroy windows, etc). This will be called prior to the storage being
+ * destroyed.
+ *
+ * @param reset reset function
+ */
+void AddWorkspaceReset(std::function<void()> reset);
- void SetInt(std::string_view key, int val);
- void SetInt64(std::string_view key, int64_t val);
- void SetBool(std::string_view key, bool val);
- void SetFloat(std::string_view key, float val);
- void SetDouble(std::string_view key, double val);
- void SetString(std::string_view key, std::string_view val);
+/**
+ * Sets storage load and auto-save name.
+ * Call this prior to calling wpi::gui::Initialize() for automatic startup
+ * loading.
+ *
+ * @param name base name, suffix will be generated
+ */
+void SetStorageName(std::string_view name);
- int* GetIntRef(std::string_view key, int defaultVal = 0);
- int64_t* GetInt64Ref(std::string_view key, int64_t defaultVal = 0);
- bool* GetBoolRef(std::string_view key, bool defaultVal = false);
- float* GetFloatRef(std::string_view key, float defaultVal = 0.0f);
- double* GetDoubleRef(std::string_view key, double defaultVal = 0.0);
- std::string* GetStringRef(std::string_view key,
- std::string_view defaultVal = {});
+/**
+ * Sets storage load and auto-save directory. For more customized behavior, set
+ * Context::storageLoadPath and Context::storageAutoSavePath directly.
+ * Call this prior to calling wpi::gui::Initialize() for automatic startup
+ * loading.
+ *
+ * @param dir path to directory
+ */
+void SetStorageDir(std::string_view dir);
- Value& GetValue(std::string_view key);
+/**
+ * Gets storage auto-save directory.
+ *
+ * @return Path to directory
+ */
+std::string GetStorageDir();
- void SetData(std::shared_ptr<void>&& data) { m_data = std::move(data); }
+/**
+ * Explicitly load storage. Set Context::storageLoadDir prior to calling
+ * wpi::gui::Initialize() for automatic startup loading.
+ *
+ * Non-empty root names are not loaded unless GetStorageRoot() is called during
+ * initialization (or before this function is called).
+ *
+ * @param dir path to directory
+ */
+bool LoadStorage(std::string_view dir);
- template <typename T>
- T* GetData() const {
- return static_cast<T*>(m_data.get());
- }
+/**
+ * Save storage to automatic on-change save location.
+ */
+bool SaveStorage();
- Storage() = default;
- Storage(const Storage&) = delete;
- Storage& operator=(const Storage&) = delete;
+/**
+ * Explicitly save storage. Set Context::storageAutoSaveDir prior to calling
+ * wpi::gui::Initialize() for automatic on-change saving.
+ *
+ * @param dir path to directory
+ */
+bool SaveStorage(std::string_view dir);
- std::vector<std::string>& GetKeys() { return m_keys; }
- const std::vector<std::string>& GetKeys() const { return m_keys; }
- std::vector<std::unique_ptr<Value>>& GetValues() { return m_values; }
- const std::vector<std::unique_ptr<Value>>& GetValues() const {
- return m_values;
- }
+/**
+ * Gets the storage root for the current ID stack (e.g. the last call to
+ * ResetStorageStack).
+ *
+ * @return Storage object
+ */
+Storage& GetCurStorageRoot();
- private:
- mutable std::vector<std::string> m_keys;
- mutable std::vector<std::unique_ptr<Value>> m_values;
- std::shared_ptr<void> m_data;
-};
+/**
+ * Gets an arbitrary storage root.
+ *
+ * Non-empty root names are saved but not loaded unless GetStorageRoot()
+ * is called during initialization (or before LoadStorage is called).
+ *
+ * @param rootName root name
+ * @return Storage object
+ */
+Storage& GetStorageRoot(std::string_view rootName = {});
+/**
+ * Resets storage stack. Should only be called at top level.
+ *
+ * @param rootName root name
+ */
+void ResetStorageStack(std::string_view rootName = {});
+
+/**
+ * Gets the storage object for the current point in the ID stack.
+ *
+ * @return Storage object
+ */
Storage& GetStorage();
-Storage& GetStorage(std::string_view id);
+
+/**
+ * Pushes label/ID onto the storage stack, without pushing the imgui ID stack.
+ *
+ * @param label_id label or label###id
+ */
+void PushStorageStack(std::string_view label_id);
+
+/**
+ * Pushes specific storage onto the storage stack.
+ *
+ * @param storage storage
+ */
+void PushStorageStack(Storage& storage);
+
+/**
+ * Pops storage stack, without popping the imgui ID stack.
+ */
+void PopStorageStack();
bool Begin(const char* name, bool* p_open = nullptr,
ImGuiWindowFlags flags = 0);
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/ContextInternal.h b/third_party/allwpilib/glass/src/lib/native/include/glass/ContextInternal.h
index 39e54f3..7556c70 100644
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/ContextInternal.h
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/ContextInternal.h
@@ -6,42 +6,40 @@
#include <stdint.h>
+#include <functional>
#include <memory>
+#include <string>
+#include <vector>
-#include <imgui.h>
-#include <wpi/SmallString.h>
#include <wpi/SmallVector.h>
#include <wpi/StringMap.h>
#include "glass/Context.h"
-#include "glass/support/IniSaverInfo.h"
-#include "glass/support/IniSaverString.h"
+#include "glass/Storage.h"
namespace glass {
class DataSource;
-class DataSourceName {
+class Context {
public:
- DataSourceName() = default;
- explicit DataSourceName(DataSource* source) : source{source} {}
+ Context();
+ Context(const Context&) = delete;
+ Context& operator=(const Context&) = delete;
+ ~Context();
- bool ReadIni(std::string_view name_, std::string_view value) {
- return name->ReadIni(name_, value);
- }
- void WriteIni(ImGuiTextBuffer* out) { name->WriteIni(out); }
-
- std::unique_ptr<NameInfo> name{new NameInfo};
- DataSource* source = nullptr;
-};
-
-struct Context {
- wpi::SmallString<128> curId;
- wpi::SmallVector<size_t, 32> idStack;
- wpi::StringMap<std::unique_ptr<Storage>> storage;
+ std::vector<std::function<void()>> workspaceInit;
+ std::vector<std::function<void()>> workspaceReset;
+ std::string storageLoadDir = ".";
+ std::string storageAutoSaveDir = ".";
+ std::string storageName = "imgui";
+ wpi::SmallVector<Storage*, 32> storageStack;
+ wpi::StringMap<std::unique_ptr<Storage>> storageRoots;
wpi::StringMap<bool> deviceHidden;
- IniSaverString<DataSourceName> sources{"Data Sources"};
+ wpi::StringMap<DataSource*> sources;
+ Storage& sourceNameStorage;
uint64_t zeroTime = 0;
+ bool isPlatformSaveDir = false;
};
extern Context* gContext;
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/DataSource.h b/third_party/allwpilib/glass/src/lib/native/include/glass/DataSource.h
index 1d5c37b..5eebb3c 100644
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/DataSource.h
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/DataSource.h
@@ -16,8 +16,6 @@
namespace glass {
-class NameInfo;
-
/**
* A data source for numeric/boolean data.
*/
@@ -33,15 +31,9 @@
const char* GetId() const { return m_id.c_str(); }
- void SetName(std::string_view name);
- const char* GetName() const;
- NameInfo& GetNameInfo() { return *m_name; }
-
- void PushEditNameId(int index);
- void PushEditNameId(const char* name);
- bool PopupEditName(int index);
- bool PopupEditName(const char* name);
- bool InputTextName(const char* label_id, ImGuiInputTextFlags flags = 0);
+ void SetName(std::string_view name) { m_name = name; }
+ std::string& GetName() { return m_name; }
+ const std::string& GetName() const { return m_name; }
void SetDigital(bool digital) { m_digital = digital; }
bool IsDigital() const { return m_digital; }
@@ -53,8 +45,9 @@
double GetValue() const { return m_value; }
// drag source helpers
- void LabelText(const char* label, const char* fmt, ...) const;
- void LabelTextV(const char* label, const char* fmt, va_list args) const;
+ void LabelText(const char* label, const char* fmt, ...) const IM_FMTARGS(3);
+ void LabelTextV(const char* label, const char* fmt, va_list args) const
+ IM_FMTLIST(3);
bool Combo(const char* label, int* current_item, const char* const items[],
int items_count, int popup_max_height_in_items = -1) const;
bool SliderFloat(const char* label, float* v, float v_min, float v_max,
@@ -74,7 +67,7 @@
private:
std::string m_id;
- NameInfo* m_name;
+ std::string& m_name;
bool m_digital = false;
std::atomic<double> m_value = 0;
};
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/MainMenuBar.h b/third_party/allwpilib/glass/src/lib/native/include/glass/MainMenuBar.h
index 7a6a2fc..9141536 100644
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/MainMenuBar.h
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/MainMenuBar.h
@@ -4,13 +4,14 @@
#pragma once
+#include <portable-file-dialogs.h>
+
#include <functional>
+#include <memory>
#include <vector>
namespace glass {
-class WindowManager;
-
/**
* GUI main menu bar.
*/
@@ -22,6 +23,11 @@
void Display();
/**
+ * Displays workspace menu. Called by Display().
+ */
+ void WorkspaceMenu();
+
+ /**
* Adds to GUI's main menu bar. The menu function is called from within a
* ImGui::BeginMainMenuBar()/EndMainMenuBar() block. Usually it's only
* appropriate to create a menu with ImGui::BeginMenu()/EndMenu() inside of
@@ -43,6 +49,8 @@
private:
std::vector<std::function<void()>> m_optionMenus;
std::vector<std::function<void()>> m_menus;
+ std::unique_ptr<pfd::select_folder> m_openFolder;
+ std::unique_ptr<pfd::select_folder> m_saveFolder;
};
} // namespace glass
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/Provider.h b/third_party/allwpilib/glass/src/lib/native/include/glass/Provider.h
index 53b1e75..f620d52 100644
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/Provider.h
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/Provider.h
@@ -19,6 +19,8 @@
namespace glass {
+class Storage;
+
namespace detail {
struct ProviderFunctions {
using Exists = std::function<bool()>;
@@ -49,9 +51,9 @@
/**
* Constructor.
*
- * @param iniName Group name to use in ini file
+ * @param storage Storage
*/
- explicit Provider(std::string_view iniName) : WindowManager{iniName} {}
+ explicit Provider(Storage& storage) : WindowManager{storage} {}
Provider(const Provider&) = delete;
Provider& operator=(const Provider&) = delete;
@@ -133,6 +135,7 @@
ModelEntry* modelEntry;
ViewExistsFunc exists;
CreateViewFunc createView;
+ bool showDefault = false;
Window* window = nullptr;
};
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/Provider.inc b/third_party/allwpilib/glass/src/lib/native/include/glass/Provider.inc
index 33bb6e0..7370cca 100644
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/Provider.inc
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/Provider.inc
@@ -26,7 +26,7 @@
if (it == m_viewEntries.end() || (*it)->name != name) {
return;
}
- this->Show(it->get(), (*it)->window);
+ (*it)->showDefault = true;
}
template <typename Functions>
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/Storage.h b/third_party/allwpilib/glass/src/lib/native/include/glass/Storage.h
new file mode 100644
index 0000000..004b8b4
--- /dev/null
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/Storage.h
@@ -0,0 +1,293 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include <functional>
+#include <memory>
+#include <string>
+#include <string_view>
+#include <utility>
+#include <vector>
+
+#include <wpi/StringMap.h>
+#include <wpi/iterator_range.h>
+#include <wpi/span.h>
+
+namespace wpi {
+class json;
+} // namespace wpi
+
+namespace glass {
+
+namespace detail {
+template <typename IteratorType>
+class ChildIterator;
+} // namespace detail
+
+/**
+ * Storage provides both persistent and non-persistent nested key/value storage
+ * for widgets.
+ *
+ * Keys are always strings. The storage also provides non-persistent arbitrary
+ * data storage (via std::shared_ptr<void>).
+ *
+ * Storage is automatically indexed internally by the ID stack. Note it is
+ * necessary to use the glass wrappers for PushID et al to preserve naming in
+ * the save file (unnamed values are still stored, but this is non-ideal for
+ * users trying to hand-edit the save file).
+ */
+class Storage {
+ public:
+ struct Value {
+ enum Type {
+ kNone,
+ kInt,
+ kInt64,
+ kBool,
+ kFloat,
+ kDouble,
+ kString,
+ kChild,
+ kIntArray,
+ kInt64Array,
+ kBoolArray,
+ kFloatArray,
+ kDoubleArray,
+ kStringArray,
+ kChildArray
+ };
+
+ Value() = default;
+ explicit Value(Type type) : type{type} {}
+ Value(const Value&) = delete;
+ Value& operator=(const Value&) = delete;
+ ~Value() { Reset(kNone); }
+
+ Type type = kNone;
+ union {
+ int intVal;
+ int64_t int64Val;
+ bool boolVal;
+ float floatVal;
+ double doubleVal;
+ Storage* child;
+ std::vector<int>* intArray;
+ std::vector<int64_t>* int64Array;
+ std::vector<int>* boolArray;
+ std::vector<float>* floatArray;
+ std::vector<double>* doubleArray;
+ std::vector<std::string>* stringArray;
+ std::vector<std::unique_ptr<Storage>>* childArray;
+ };
+ std::string stringVal;
+
+ union {
+ int intDefault;
+ int64_t int64Default;
+ bool boolDefault;
+ float floatDefault;
+ double doubleDefault;
+ // pointers may be nullptr to indicate empty
+ std::vector<int>* intArrayDefault;
+ std::vector<int64_t>* int64ArrayDefault;
+ std::vector<int>* boolArrayDefault;
+ std::vector<float>* floatArrayDefault;
+ std::vector<double>* doubleArrayDefault;
+ std::vector<std::string>* stringArrayDefault;
+ };
+ std::string stringDefault;
+
+ bool hasDefault = false;
+
+ void Reset(Type newType);
+ };
+
+ using ValueMap = wpi::StringMap<std::unique_ptr<Value>>;
+ template <typename Iterator>
+ using ChildIterator = detail::ChildIterator<Iterator>;
+
+ // The "Read" functions don't create or overwrite the value
+ int ReadInt(std::string_view key, int defaultVal = 0) const;
+ int64_t ReadInt64(std::string_view key, int64_t defaultVal = 0) const;
+ bool ReadBool(std::string_view key, bool defaultVal = false) const;
+ float ReadFloat(std::string_view key, float defaultVal = 0.0f) const;
+ double ReadDouble(std::string_view key, double defaultVal = 0.0) const;
+ std::string ReadString(std::string_view key,
+ std::string_view defaultVal = {}) const;
+
+ void SetInt(std::string_view key, int val);
+ void SetInt64(std::string_view key, int64_t val);
+ void SetBool(std::string_view key, bool val);
+ void SetFloat(std::string_view key, float val);
+ void SetDouble(std::string_view key, double val);
+ void SetString(std::string_view key, std::string_view val);
+
+ // The "Get" functions create or override the current value type.
+ // If the value is not set, it is set to the provided default.
+ int& GetInt(std::string_view key, int defaultVal = 0);
+ int64_t& GetInt64(std::string_view key, int64_t defaultVal = 0);
+ bool& GetBool(std::string_view key, bool defaultVal = false);
+ float& GetFloat(std::string_view key, float defaultVal = 0.0f);
+ double& GetDouble(std::string_view key, double defaultVal = 0.0);
+ std::string& GetString(std::string_view key,
+ std::string_view defaultVal = {});
+
+ std::vector<int>& GetIntArray(std::string_view key,
+ wpi::span<const int> defaultVal = {});
+ std::vector<int64_t>& GetInt64Array(std::string_view key,
+ wpi::span<const int64_t> defaultVal = {});
+ std::vector<int>& GetBoolArray(std::string_view key,
+ wpi::span<const int> defaultVal = {});
+ std::vector<float>& GetFloatArray(std::string_view key,
+ wpi::span<const float> defaultVal = {});
+ std::vector<double>& GetDoubleArray(std::string_view key,
+ wpi::span<const double> defaultVal = {});
+ std::vector<std::string>& GetStringArray(
+ std::string_view key, wpi::span<const std::string> defaultVal = {});
+ std::vector<std::unique_ptr<Storage>>& GetChildArray(std::string_view key);
+
+ Value* FindValue(std::string_view key);
+ Value& GetValue(std::string_view key);
+ Storage& GetChild(std::string_view label_id);
+
+ void SetData(std::shared_ptr<void>&& data) { m_data = std::move(data); }
+
+ template <typename T>
+ T* GetData() const {
+ return static_cast<T*>(m_data.get());
+ }
+
+ Storage() = default;
+ Storage(const Storage&) = delete;
+ Storage& operator=(const Storage&) = delete;
+
+ void Insert(std::string_view key, std::unique_ptr<Value> value) {
+ m_values[key] = std::move(value);
+ }
+
+ std::unique_ptr<Value> Erase(std::string_view key);
+
+ void EraseAll() { m_values.clear(); }
+
+ ValueMap& GetValues() { return m_values; }
+ const ValueMap& GetValues() const { return m_values; }
+
+ wpi::iterator_range<ChildIterator<ValueMap::iterator>> GetChildren();
+
+ /**
+ * Erases all children (at top level).
+ */
+ void EraseChildren();
+
+ bool FromJson(const wpi::json& json, const char* filename);
+ wpi::json ToJson() const;
+
+ /**
+ * Clear settings (set to default). Calls custom clear function (if set),
+ * otherwise calls ClearValues().
+ */
+ void Clear();
+
+ /**
+ * Clear values (and values of children) only (set to default). Does not
+ * call custom clear function.
+ */
+ void ClearValues();
+
+ /**
+ * Apply settings (called after all settings have been loaded). Calls
+ * custom apply function (if set), otherwise calls ApplyChildren().
+ */
+ void Apply();
+
+ /**
+ * Apply settings to children. Does not call custom apply function.
+ */
+ void ApplyChildren();
+
+ /**
+ * Sets custom JSON handlers (replaces FromJson and ToJson).
+ *
+ * @param fromJson replacement for FromJson()
+ * @param toJson replacement for ToJson()
+ */
+ void SetCustomJson(
+ std::function<bool(const wpi::json& json, const char* filename)> fromJson,
+ std::function<wpi::json()> toJson) {
+ m_fromJson = std::move(fromJson);
+ m_toJson = std::move(toJson);
+ }
+
+ void SetCustomClear(std::function<void()> clear) {
+ m_clear = std::move(clear);
+ }
+
+ void SetCustomApply(std::function<void()> apply) {
+ m_apply = std::move(apply);
+ }
+
+ private:
+ mutable ValueMap m_values;
+ std::shared_ptr<void> m_data;
+ std::function<bool(const wpi::json& json, const char* filename)> m_fromJson;
+ std::function<wpi::json()> m_toJson;
+ std::function<void()> m_clear;
+ std::function<void()> m_apply;
+};
+
+namespace detail {
+
+/// proxy class for the GetChildren() function
+template <typename IteratorType>
+class ChildIterator {
+ private:
+ /// the iterator
+ IteratorType anchor;
+ IteratorType end;
+
+ public:
+ ChildIterator(IteratorType it, IteratorType end) noexcept
+ : anchor(it), end(end) {
+ while (anchor != end &&
+ anchor->getValue()->type != Storage::Value::kChild) {
+ ++anchor;
+ }
+ }
+
+ /// dereference operator (needed for range-based for)
+ ChildIterator& operator*() { return *this; }
+
+ /// increment operator (needed for range-based for)
+ ChildIterator& operator++() {
+ ++anchor;
+ while (anchor != end &&
+ anchor->getValue()->type != Storage::Value::kChild) {
+ ++anchor;
+ }
+ return *this;
+ }
+
+ /// inequality operator (needed for range-based for)
+ bool operator!=(const ChildIterator& o) const noexcept {
+ return anchor != o.anchor;
+ }
+
+ /// return key of the iterator
+ std::string_view key() const { return anchor->getKey(); }
+
+ /// return value of the iterator
+ Storage& value() const { return *anchor->getValue()->child; }
+};
+
+} // namespace detail
+
+inline auto Storage::GetChildren()
+ -> wpi::iterator_range<ChildIterator<ValueMap::iterator>> {
+ return {{m_values.begin(), m_values.end()}, {m_values.end(), m_values.end()}};
+}
+
+} // namespace glass
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/Window.h b/third_party/allwpilib/glass/src/lib/native/include/glass/Window.h
index 780479a..0a37f9a 100644
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/Window.h
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/Window.h
@@ -15,19 +15,21 @@
namespace glass {
+class Storage;
+
/**
* Managed window information.
* A Window owns the View that displays the window's contents.
*/
class Window {
public:
- Window() = default;
- explicit Window(std::string_view id) : m_id{id}, m_defaultName{id} {}
+ enum Visibility { kHide = 0, kShow, kDisabled };
+
+ Window(Storage& storage, std::string_view id,
+ Visibility defaultVisibility = kShow);
std::string_view GetId() const { return m_id; }
- enum Visibility { kHide = 0, kShow, kDisabled };
-
bool HasView() { return static_cast<bool>(m_view); }
void SetView(std::unique_ptr<View> view) { m_view = std::move(view); }
@@ -60,6 +62,13 @@
void SetVisibility(Visibility visibility);
/**
+ * Sets default visibility of window.
+ *
+ * @param visibility 0=hide, 1=show, 2=disabled (force-hide)
+ */
+ void SetDefaultVisibility(Visibility visibility);
+
+ /**
* Sets default position of window.
*
* @param x x location of upper left corner
@@ -109,17 +118,16 @@
*/
void ScaleDefault(float scale);
- void IniReadLine(const char* lineStr);
- void IniWriteAll(const char* typeName, ImGuiTextBuffer* out_buf);
-
private:
std::string m_id;
- std::string m_name;
+ std::string& m_name;
std::string m_defaultName;
std::unique_ptr<View> m_view;
ImGuiWindowFlags m_flags = 0;
- bool m_visible = true;
- bool m_enabled = true;
+ bool& m_visible;
+ bool& m_enabled;
+ bool& m_defaultVisible;
+ bool& m_defaultEnabled;
bool m_renamePopupEnabled = true;
ImGuiCond m_posCond = 0;
ImGuiCond m_sizeCond = 0;
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/WindowManager.h b/third_party/allwpilib/glass/src/lib/native/include/glass/WindowManager.h
index 4024e15..0ccace2 100644
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/WindowManager.h
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/WindowManager.h
@@ -4,20 +4,18 @@
#pragma once
-#include <functional>
#include <memory>
#include <string_view>
-#include <type_traits>
#include <vector>
-#include <imgui.h>
#include <wpi/FunctionExtras.h>
#include "glass/Window.h"
-#include "glass/support/IniSaverBase.h"
namespace glass {
+class Storage;
+
/**
* Window manager.
*
@@ -31,9 +29,9 @@
/**
* Constructor.
*
- * @param iniName Group name to use in ini file
+ * @param storage Storage for window information
*/
- explicit WindowManager(std::string_view iniName);
+ explicit WindowManager(Storage& storage);
virtual ~WindowManager() = default;
WindowManager(const WindowManager&) = delete;
@@ -65,8 +63,10 @@
*
* @param id unique identifier of the window (title bar)
* @param display window contents display function
+ * @param defaultVisibility default window visibility
*/
- Window* AddWindow(std::string_view id, wpi::unique_function<void()> display);
+ Window* AddWindow(std::string_view id, wpi::unique_function<void()> display,
+ Window::Visibility defaultVisibility = Window::kShow);
/**
* Adds window to GUI. The view's display function is called from within a
@@ -82,9 +82,11 @@
*
* @param id unique identifier of the window (title bar)
* @param view view object
+ * @param defaultVisibility default window visibility
* @return Window, or nullptr on duplicate window
*/
- Window* AddWindow(std::string_view id, std::unique_ptr<View> view);
+ Window* AddWindow(std::string_view id, std::unique_ptr<View> view,
+ Window::Visibility defaultVisibility = Window::kShow);
/**
* Adds window to GUI. A View must be assigned to the returned Window
@@ -99,9 +101,12 @@
* every frame in the gui::AddExecute() function.
*
* @param id unique identifier of the window (default title bar)
+ * @param duplicateOk if false, warn on duplicates
+ * @param defaultVisibility default window visibility
* @return Window, or nullptr on duplicate window
*/
- Window* GetOrAddWindow(std::string_view id, bool duplicateOk = false);
+ Window* GetOrAddWindow(std::string_view id, bool duplicateOk = false,
+ Window::Visibility defaultVisibility = Window::kShow);
/**
* Gets existing window. If none exists, returns nullptr.
@@ -111,27 +116,26 @@
*/
Window* GetWindow(std::string_view id);
+ /**
+ * Erases all windows.
+ */
+ void EraseWindows() { m_windows.clear(); }
+
protected:
- virtual void DisplayWindows();
+ /**
+ * Removes existing window (by index)
+ *
+ * @param index index of window in m_windows
+ */
+ void RemoveWindow(size_t index);
// kept sorted by id
std::vector<std::unique_ptr<Window>> m_windows;
+ Storage& m_storage;
+
private:
- class IniSaver : public IniSaverBase {
- public:
- explicit IniSaver(std::string_view typeName, WindowManager* manager)
- : IniSaverBase{typeName}, m_manager{manager} {}
-
- void* IniReadOpen(const char* name) override;
- void IniReadLine(void* entry, const char* lineStr) override;
- void IniWriteAll(ImGuiTextBuffer* out_buf) override;
-
- private:
- WindowManager* m_manager;
- };
-
- IniSaver m_iniSaver;
+ void DisplayWindows();
};
} // namespace glass
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/other/FMS.h b/third_party/allwpilib/glass/src/lib/native/include/glass/other/FMS.h
index 1e0f8ef..a920f96 100644
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/other/FMS.h
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/other/FMS.h
@@ -47,7 +47,7 @@
* @param matchTimeEnabled If not null, a checkbox is displayed for
* "enable match time" linked to this value
*/
-void DisplayFMS(FMSModel* model, bool* matchTimeEnabled = nullptr);
+void DisplayFMS(FMSModel* model);
void DisplayFMSReadOnly(FMSModel* model);
} // namespace glass
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/other/Plot.h b/third_party/allwpilib/glass/src/lib/native/include/glass/other/Plot.h
index f7b196d..3e27b9d 100644
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/other/Plot.h
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/other/Plot.h
@@ -4,19 +4,16 @@
#pragma once
-#include <string_view>
-
#include "glass/WindowManager.h"
-#include "glass/support/IniSaverBase.h"
namespace glass {
class PlotProvider : private WindowManager {
public:
- explicit PlotProvider(std::string_view iniName);
+ explicit PlotProvider(Storage& storage);
~PlotProvider() override;
- void GlobalInit() override;
+ using WindowManager::GlobalInit;
/**
* Pauses or unpauses all plots.
@@ -33,24 +30,6 @@
void DisplayMenu() override;
private:
- void DisplayWindows() override;
-
- class IniSaver : public IniSaverBase {
- public:
- explicit IniSaver(std::string_view typeName, PlotProvider* provider,
- bool forSeries);
-
- void* IniReadOpen(const char* name) override;
- void IniReadLine(void* entry, const char* lineStr) override;
- void IniWriteAll(ImGuiTextBuffer* out_buf) override;
-
- private:
- PlotProvider* m_provider;
- bool m_forSeries;
- };
-
- IniSaver m_plotSaver;
- IniSaver m_seriesSaver;
bool m_paused = false;
};
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/support/ColorSetting.h b/third_party/allwpilib/glass/src/lib/native/include/glass/support/ColorSetting.h
new file mode 100644
index 0000000..a6604dd
--- /dev/null
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/support/ColorSetting.h
@@ -0,0 +1,53 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <vector>
+
+#include <imgui.h>
+
+namespace glass {
+
+class ColorSetting {
+ public:
+ explicit ColorSetting(std::vector<float>& color);
+
+ ImVec4 GetColor() const {
+ return {m_color[0], m_color[1], m_color[2], m_color[3]};
+ }
+
+ float* GetColorFloat() { return m_color.data(); }
+ const float* GetColorFloat() const { return m_color.data(); }
+
+ void SetColor(const ImVec4& color) {
+ m_color[0] = color.x;
+ m_color[1] = color.y;
+ m_color[2] = color.z;
+ m_color[3] = color.w;
+ }
+
+ // updates internal value, returns true on change
+ bool ColorEdit3(const char* label, ImGuiColorEditFlags flags = 0) {
+ return ImGui::ColorEdit3(label, m_color.data(), flags);
+ }
+
+ bool ColorEdit4(const char* label, ImGuiColorEditFlags flags = 0) {
+ return ImGui::ColorEdit4(label, m_color.data(), flags);
+ }
+
+ bool ColorPicker3(const char* label, ImGuiColorEditFlags flags = 0) {
+ return ImGui::ColorPicker3(label, m_color.data(), flags);
+ }
+
+ bool ColorPicker4(const char* label, ImGuiColorEditFlags flags = 0,
+ const float* ref_col = nullptr) {
+ return ImGui::ColorPicker4(label, m_color.data(), flags, ref_col);
+ }
+
+ private:
+ std::vector<float>& m_color;
+};
+
+} // namespace glass
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/support/EnumSetting.h b/third_party/allwpilib/glass/src/lib/native/include/glass/support/EnumSetting.h
new file mode 100644
index 0000000..c4f0c26
--- /dev/null
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/support/EnumSetting.h
@@ -0,0 +1,31 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string>
+
+#include <wpi/SmallVector.h>
+
+namespace glass {
+
+class EnumSetting {
+ public:
+ EnumSetting(std::string& str, int defaultValue,
+ std::initializer_list<const char*> choices);
+
+ int GetValue() const { return m_value; }
+ void SetValue(int value);
+
+ // updates internal value, returns true on change
+ bool Combo(const char* label, int numOptions = -1,
+ int popup_max_height_in_items = -1);
+
+ private:
+ std::string& m_str;
+ wpi::SmallVector<const char*, 8> m_choices;
+ int m_value;
+};
+
+} // namespace glass
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaver.h b/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaver.h
deleted file mode 100644
index a3aa3d0..0000000
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaver.h
+++ /dev/null
@@ -1,44 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <string_view>
-
-#include <imgui.h>
-#include <wpi/DenseMap.h>
-
-#include "glass/support/IniSaverBase.h"
-
-namespace glass {
-
-template <typename Info>
-class IniSaver : public IniSaverBase {
- public:
- explicit IniSaver(std::string_view typeName,
- IniSaverBackend* backend = nullptr)
- : IniSaverBase(typeName, backend) {}
-
- // pass through useful functions to map
- Info& operator[](int index) { return m_map[index]; }
-
- auto begin() { return m_map.begin(); }
- auto end() { return m_map.end(); }
- auto find(int index) { return m_map.find(index); }
-
- auto begin() const { return m_map.begin(); }
- auto end() const { return m_map.end(); }
- auto find(int index) const { return m_map.find(index); }
-
- private:
- void* IniReadOpen(const char* name) override;
- void IniReadLine(void* entry, const char* lineStr) override;
- void IniWriteAll(ImGuiTextBuffer* out_buf) override;
-
- wpi::DenseMap<int, Info> m_map;
-};
-
-} // namespace glass
-
-#include "IniSaver.inc"
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaver.inc b/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaver.inc
deleted file mode 100644
index 42efb85..0000000
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaver.inc
+++ /dev/null
@@ -1,40 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <string_view>
-
-#include <wpi/StringExtras.h>
-
-#include "glass/support/IniSaver.h"
-
-namespace glass {
-
-template <typename Info>
-void* IniSaver<Info>::IniReadOpen(const char* name) {
- if (auto num = wpi::parse_integer<int>(name, 10)) {
- return &m_map[num.value()];
- } else {
- return nullptr;
- }
-}
-
-template <typename Info>
-void IniSaver<Info>::IniReadLine(void* entry, const char* line) {
- auto element = static_cast<Info*>(entry);
- auto [name, value] = wpi::split(line, '=');
- element->ReadIni(wpi::trim(name), wpi::trim(value));
-}
-
-template <typename Info>
-void IniSaver<Info>::IniWriteAll(ImGuiTextBuffer* out_buf) {
- for (auto&& it : m_map) {
- out_buf->appendf("[%s][%d]\n", GetTypeName(), it.first);
- it.second.WriteIni(out_buf);
- out_buf->append("\n");
- }
-}
-
-} // namespace glass
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverBase.h b/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverBase.h
deleted file mode 100644
index 85ae1e3..0000000
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverBase.h
+++ /dev/null
@@ -1,46 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <string>
-#include <string_view>
-
-#include <imgui.h>
-
-namespace glass {
-
-class IniSaverBase;
-
-class IniSaverBackend {
- public:
- virtual ~IniSaverBackend() = default;
- virtual void Register(IniSaverBase* iniSaver) = 0;
- virtual void Unregister(IniSaverBase* iniSaver) = 0;
-};
-
-class IniSaverBase {
- public:
- explicit IniSaverBase(std::string_view typeName,
- IniSaverBackend* backend = nullptr);
- virtual ~IniSaverBase();
-
- void Initialize() { m_backend->Register(this); }
-
- const char* GetTypeName() const { return m_typeName.c_str(); }
- IniSaverBackend* GetBackend() const { return m_backend; }
-
- IniSaverBase(const IniSaverBase&) = delete;
- IniSaverBase& operator=(const IniSaverBase&) = delete;
-
- virtual void* IniReadOpen(const char* name) = 0;
- virtual void IniReadLine(void* entry, const char* lineStr) = 0;
- virtual void IniWriteAll(ImGuiTextBuffer* out_buf) = 0;
-
- private:
- std::string m_typeName;
- IniSaverBackend* m_backend;
-};
-
-} // namespace glass
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverInfo.h b/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverInfo.h
deleted file mode 100644
index 2014e9d..0000000
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverInfo.h
+++ /dev/null
@@ -1,63 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <string_view>
-
-#include <imgui.h>
-
-namespace glass {
-
-class NameInfo {
- public:
- NameInfo() { m_name[0] = '\0'; }
-
- bool HasName() const { return m_name[0] != '\0'; }
- void SetName(std::string_view name);
- const char* GetName() const { return m_name; }
- void GetName(char* buf, size_t size, const char* defaultName) const;
- void GetName(char* buf, size_t size, const char* defaultName,
- int index) const;
- void GetName(char* buf, size_t size, const char* defaultName, int index,
- int index2) const;
- void GetLabel(char* buf, size_t size, const char* defaultName) const;
- void GetLabel(char* buf, size_t size, const char* defaultName,
- int index) const;
- void GetLabel(char* buf, size_t size, const char* defaultName, int index,
- int index2) const;
-
- bool ReadIni(std::string_view name, std::string_view value);
- void WriteIni(ImGuiTextBuffer* out);
- void PushEditNameId(int index);
- void PushEditNameId(const char* name);
- bool PopupEditName(int index);
- bool PopupEditName(const char* name);
- bool InputTextName(const char* label_id, ImGuiInputTextFlags flags = 0);
-
- private:
- char m_name[64];
-};
-
-class OpenInfo {
- public:
- OpenInfo() = default;
- explicit OpenInfo(bool open) : m_open(open) {}
-
- bool IsOpen() const { return m_open; }
- void SetOpen(bool open) { m_open = open; }
- bool ReadIni(std::string_view name, std::string_view value);
- void WriteIni(ImGuiTextBuffer* out);
-
- private:
- bool m_open = false;
-};
-
-class NameOpenInfo : public NameInfo, public OpenInfo {
- public:
- bool ReadIni(std::string_view name, std::string_view value);
- void WriteIni(ImGuiTextBuffer* out);
-};
-
-} // namespace glass
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverString.h b/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverString.h
deleted file mode 100644
index 4134219..0000000
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverString.h
+++ /dev/null
@@ -1,55 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <string_view>
-#include <utility>
-
-#include <imgui.h>
-#include <wpi/StringMap.h>
-
-#include "glass/support/IniSaverBase.h"
-
-namespace glass {
-
-template <typename Info>
-class IniSaverString : public IniSaverBase {
- public:
- explicit IniSaverString(std::string_view typeName,
- IniSaverBackend* backend = nullptr)
- : IniSaverBase(typeName, backend) {}
-
- // pass through useful functions to map
- Info& operator[](std::string_view key) { return m_map[key]; }
-
- template <typename... ArgsTy>
- auto try_emplace(std::string_view key, ArgsTy&&... args) {
- return m_map.try_emplace(key, std::forward<ArgsTy>(args)...);
- }
-
- void erase(typename wpi::StringMap<Info>::iterator it) { m_map.erase(it); }
- auto erase(std::string_view key) { return m_map.erase(key); }
-
- auto begin() { return m_map.begin(); }
- auto end() { return m_map.end(); }
- auto find(std::string_view key) { return m_map.find(key); }
-
- auto begin() const { return m_map.begin(); }
- auto end() const { return m_map.end(); }
- auto find(std::string_view key) const { return m_map.find(key); }
-
- bool empty() const { return m_map.empty(); }
-
- private:
- void* IniReadOpen(const char* name) override;
- void IniReadLine(void* entry, const char* lineStr) override;
- void IniWriteAll(ImGuiTextBuffer* out_buf) override;
-
- wpi::StringMap<Info> m_map;
-};
-
-} // namespace glass
-
-#include "IniSaverString.inc"
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverString.inc b/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverString.inc
deleted file mode 100644
index 0d18d29..0000000
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverString.inc
+++ /dev/null
@@ -1,36 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <string_view>
-
-#include <wpi/StringExtras.h>
-
-#include "glass/support/IniSaverString.h"
-
-namespace glass {
-
-template <typename Info>
-void* IniSaverString<Info>::IniReadOpen(const char* name) {
- return &m_map[name];
-}
-
-template <typename Info>
-void IniSaverString<Info>::IniReadLine(void* entry, const char* line) {
- auto element = static_cast<Info*>(entry);
- auto [name, value] = wpi::split(line, '=');
- element->ReadIni(wpi::trim(name), wpi::trim(value));
-}
-
-template <typename Info>
-void IniSaverString<Info>::IniWriteAll(ImGuiTextBuffer* out_buf) {
- for (auto&& it : m_map) {
- out_buf->appendf("[%s][%s]\n", GetTypeName(), it.getKey().data());
- it.second.WriteIni(out_buf);
- out_buf->append("\n");
- }
-}
-
-} // namespace glass
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverVector.h b/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverVector.h
deleted file mode 100644
index e2e57ce..0000000
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverVector.h
+++ /dev/null
@@ -1,31 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <string_view>
-#include <vector>
-
-#include <imgui.h>
-
-#include "glass/support/IniSaverBase.h"
-
-namespace glass {
-
-template <typename Info>
-class IniSaverVector : public std::vector<Info>, public IniSaverBase {
- public:
- explicit IniSaverVector(std::string_view typeName,
- IniSaverBackend* backend = nullptr)
- : IniSaverBase(typeName, backend) {}
-
- private:
- void* IniReadOpen(const char* name) override;
- void IniReadLine(void* entry, const char* lineStr) override;
- void IniWriteAll(ImGuiTextBuffer* out_buf) override;
-};
-
-} // namespace glass
-
-#include "IniSaverVector.inc"
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverVector.inc b/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverVector.inc
deleted file mode 100644
index a86b116..0000000
--- a/third_party/allwpilib/glass/src/lib/native/include/glass/support/IniSaverVector.inc
+++ /dev/null
@@ -1,43 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <string_view>
-
-#include <wpi/StringExtras.h>
-
-#include "glass/support/IniSaverVector.h"
-
-namespace glass {
-
-template <typename Info>
-void* IniSaverVector<Info>::IniReadOpen(const char* name) {
- if (auto num = wpi::parse_integer<unsigned int>(name, 10)) {
- if (num.value() >= this->size()) {
- this->resize(num.value() + 1);
- }
- return &(*this)[num.value()];
- } else {
- return nullptr;
- }
-}
-
-template <typename Info>
-void IniSaverVector<Info>::IniReadLine(void* entry, const char* line) {
- auto element = static_cast<Info*>(entry);
- auto [name, value] = wpi::split(line, '=');
- element->ReadIni(wpi::trim(name), wpi::trim(value));
-}
-
-template <typename Info>
-void IniSaverVector<Info>::IniWriteAll(ImGuiTextBuffer* out_buf) {
- for (size_t i = 0; i < this->size(); ++i) {
- out_buf->appendf("[%s][%d]\n", GetTypeName(), static_cast<int>(i));
- (*this)[i].WriteIni(out_buf);
- out_buf->append("\n");
- }
-}
-
-} // namespace glass
diff --git a/third_party/allwpilib/glass/src/lib/native/include/glass/support/NameSetting.h b/third_party/allwpilib/glass/src/lib/native/include/glass/support/NameSetting.h
new file mode 100644
index 0000000..e1444e3
--- /dev/null
+++ b/third_party/allwpilib/glass/src/lib/native/include/glass/support/NameSetting.h
@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string>
+#include <string_view>
+
+#include <imgui.h>
+
+namespace glass {
+
+class NameSetting {
+ public:
+ explicit NameSetting(std::string& str) : m_name{str} {}
+
+ bool HasName() const { return !m_name.empty(); }
+ void SetName(std::string_view name) { m_name = name; }
+ std::string& GetName() { return m_name; }
+ const std::string& GetName() const { return m_name; }
+ void GetName(char* buf, size_t size, const char* defaultName) const;
+ void GetName(char* buf, size_t size, const char* defaultName,
+ int index) const;
+ void GetName(char* buf, size_t size, const char* defaultName, int index,
+ int index2) const;
+ void GetLabel(char* buf, size_t size, const char* defaultName) const;
+ void GetLabel(char* buf, size_t size, const char* defaultName,
+ int index) const;
+ void GetLabel(char* buf, size_t size, const char* defaultName, int index,
+ int index2) const;
+
+ void PushEditNameId(int index);
+ void PushEditNameId(const char* name);
+ bool PopupEditName(int index);
+ bool PopupEditName(const char* name);
+ bool InputTextName(const char* label_id, ImGuiInputTextFlags flags = 0);
+
+ private:
+ std::string& m_name;
+};
+
+} // namespace glass
diff --git a/third_party/allwpilib/glass/src/libnt/native/cpp/NetworkTables.cpp b/third_party/allwpilib/glass/src/libnt/native/cpp/NetworkTables.cpp
index 596ef0a..bce2b0a 100644
--- a/third_party/allwpilib/glass/src/libnt/native/cpp/NetworkTables.cpp
+++ b/third_party/allwpilib/glass/src/libnt/native/cpp/NetworkTables.cpp
@@ -25,6 +25,7 @@
#include "glass/Context.h"
#include "glass/DataSource.h"
+#include "glass/Storage.h"
using namespace glass;
@@ -731,15 +732,15 @@
void NetworkTablesFlagsSettings::Update() {
if (!m_pTreeView) {
auto& storage = GetStorage();
- m_pTreeView = storage.GetBoolRef(
- "tree", m_defaultFlags & NetworkTablesFlags_TreeView);
- m_pShowConnections = storage.GetBoolRef(
+ m_pTreeView =
+ &storage.GetBool("tree", m_defaultFlags & NetworkTablesFlags_TreeView);
+ m_pShowConnections = &storage.GetBool(
"connections", m_defaultFlags & NetworkTablesFlags_ShowConnections);
- m_pShowFlags = storage.GetBoolRef(
+ m_pShowFlags = &storage.GetBool(
"flags", m_defaultFlags & NetworkTablesFlags_ShowFlags);
- m_pShowTimestamp = storage.GetBoolRef(
+ m_pShowTimestamp = &storage.GetBool(
"timestamp", m_defaultFlags & NetworkTablesFlags_ShowTimestamp);
- m_pCreateNoncanonicalKeys = storage.GetBoolRef(
+ m_pCreateNoncanonicalKeys = &storage.GetBool(
"createNonCanonical",
m_defaultFlags & NetworkTablesFlags_CreateNoncanonicalKeys);
}
diff --git a/third_party/allwpilib/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp b/third_party/allwpilib/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp
index 8d991cb..9ccbb2e 100644
--- a/third_party/allwpilib/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp
+++ b/third_party/allwpilib/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp
@@ -12,23 +12,53 @@
#include <wpi/StringExtras.h>
#include <wpigui.h>
+#include "glass/Storage.h"
+
using namespace glass;
-NetworkTablesProvider::NetworkTablesProvider(std::string_view iniName)
- : NetworkTablesProvider{iniName, nt::GetDefaultInstance()} {}
+NetworkTablesProvider::NetworkTablesProvider(Storage& storage)
+ : NetworkTablesProvider{storage, nt::GetDefaultInstance()} {}
-NetworkTablesProvider::NetworkTablesProvider(std::string_view iniName,
- NT_Inst inst)
- : Provider{fmt::format("{}Window", iniName)},
+NetworkTablesProvider::NetworkTablesProvider(Storage& storage, NT_Inst inst)
+ : Provider{storage.GetChild("windows")},
m_nt{inst},
- m_typeCache{iniName} {
- m_nt.AddListener("", NT_NOTIFY_LOCAL | NT_NOTIFY_NEW | NT_NOTIFY_DELETE |
- NT_NOTIFY_IMMEDIATE);
-}
+ m_typeCache{storage.GetChild("types")} {
+ storage.SetCustomApply([this] {
+ m_listener =
+ m_nt.AddListener("", NT_NOTIFY_LOCAL | NT_NOTIFY_NEW |
+ NT_NOTIFY_DELETE | NT_NOTIFY_IMMEDIATE);
+ for (auto&& childIt : m_storage.GetChildren()) {
+ auto id = childIt.key();
+ auto typePtr = m_typeCache.FindValue(id);
+ if (!typePtr || typePtr->type != Storage::Value::kString) {
+ continue;
+ }
-void NetworkTablesProvider::GlobalInit() {
- Provider::GlobalInit();
- wpi::gui::AddInit([this] { m_typeCache.Initialize(); });
+ // only handle ones where we have a builder
+ auto builderIt = m_typeMap.find(typePtr->stringVal);
+ if (builderIt == m_typeMap.end()) {
+ continue;
+ }
+
+ auto entry = GetOrCreateView(
+ builderIt->second,
+ nt::GetEntry(m_nt.GetInstance(), fmt::format("{}/.type", id)), id);
+ if (entry) {
+ Show(entry, nullptr);
+ }
+ }
+ });
+ storage.SetCustomClear([this, &storage] {
+ nt::RemoveEntryListener(m_listener);
+ m_listener = 0;
+ for (auto&& modelEntry : m_modelEntries) {
+ modelEntry->model.reset();
+ }
+ m_viewEntries.clear();
+ m_windows.clear();
+ m_typeCache.EraseAll();
+ storage.ClearValues();
+ });
}
void NetworkTablesProvider::DisplayMenu() {
@@ -98,33 +128,7 @@
} else if (event.flags & NT_NOTIFY_NEW) {
GetOrCreateView(builderIt->second, event.entry, tableName);
// cache the type
- m_typeCache[tableName].SetName(event.value->GetString());
- }
- }
-
- // check for visible windows that need displays (typically this is due to
- // file loading)
- for (auto&& window : m_windows) {
- if (!window->IsVisible() || window->HasView()) {
- continue;
- }
- auto id = window->GetId();
- auto typeIt = m_typeCache.find(id);
- if (typeIt == m_typeCache.end()) {
- continue;
- }
-
- // only handle ones where we have a builder
- auto builderIt = m_typeMap.find(typeIt->second.GetName());
- if (builderIt == m_typeMap.end()) {
- continue;
- }
-
- auto entry = GetOrCreateView(
- builderIt->second,
- nt::GetEntry(m_nt.GetInstance(), fmt::format("{}/.type", id)), id);
- if (entry) {
- Show(entry, window.get());
+ m_typeCache.SetString(tableName, event.value->GetString());
}
}
}
@@ -153,7 +157,7 @@
// the window might exist and we're just not associated to it yet
if (!window) {
- window = GetOrAddWindow(entry->name, true);
+ window = GetOrAddWindow(entry->name, true, Window::kHide);
}
if (!window) {
return;
diff --git a/third_party/allwpilib/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp b/third_party/allwpilib/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp
index 28f4de4..d1fb341 100644
--- a/third_party/allwpilib/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp
+++ b/third_party/allwpilib/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp
@@ -15,6 +15,7 @@
#include <wpi/StringExtras.h>
#include "glass/Context.h"
+#include "glass/Storage.h"
using namespace glass;
@@ -81,15 +82,12 @@
}
}
-NetworkTablesSettings::NetworkTablesSettings(NT_Inst inst,
- const char* storageName) {
- auto& storage = glass::GetStorage(storageName);
- m_pMode = storage.GetIntRef("mode");
- m_pIniName = storage.GetStringRef("iniName", "networktables.ini");
- m_pServerTeam = storage.GetStringRef("serverTeam");
- m_pListenAddress = storage.GetStringRef("listenAddress");
- m_pDsClient = storage.GetBoolRef("dsClient", true);
-
+NetworkTablesSettings::NetworkTablesSettings(Storage& storage, NT_Inst inst)
+ : m_mode{storage.GetString("mode"), 0, {"Disabled", "Client", "Server"}},
+ m_iniName{storage.GetString("iniName", "networktables.ini")},
+ m_serverTeam{storage.GetString("serverTeam")},
+ m_listenAddress{storage.GetString("listenAddress")},
+ m_dsClient{storage.GetBool("dsClient", true)} {
m_thread.Start(inst);
}
@@ -102,25 +100,24 @@
// do actual operation on thread
auto thr = m_thread.GetThread();
thr->m_restart = true;
- thr->m_mode = *m_pMode;
- thr->m_iniName = *m_pIniName;
- thr->m_serverTeam = *m_pServerTeam;
- thr->m_listenAddress = *m_pListenAddress;
- thr->m_dsClient = *m_pDsClient;
+ thr->m_mode = m_mode.GetValue();
+ thr->m_iniName = m_iniName;
+ thr->m_serverTeam = m_serverTeam;
+ thr->m_listenAddress = m_listenAddress;
+ thr->m_dsClient = m_dsClient;
thr->m_cond.notify_one();
}
bool NetworkTablesSettings::Display() {
- static const char* modeOptions[] = {"Disabled", "Client", "Server"};
- ImGui::Combo("Mode", m_pMode, modeOptions, m_serverOption ? 3 : 2);
- switch (*m_pMode) {
+ m_mode.Combo("Mode", m_serverOption ? 3 : 2);
+ switch (m_mode.GetValue()) {
case 1:
- ImGui::InputText("Team/IP", m_pServerTeam);
- ImGui::Checkbox("Get Address from DS", m_pDsClient);
+ ImGui::InputText("Team/IP", &m_serverTeam);
+ ImGui::Checkbox("Get Address from DS", &m_dsClient);
break;
case 2:
- ImGui::InputText("Listen Address", m_pListenAddress);
- ImGui::InputText("ini Filename", m_pIniName);
+ ImGui::InputText("Listen Address", &m_listenAddress);
+ ImGui::InputText("ini Filename", &m_iniName);
break;
default:
break;
diff --git a/third_party/allwpilib/glass/src/libnt/native/include/glass/networktables/NTSpeedController.h b/third_party/allwpilib/glass/src/libnt/native/include/glass/networktables/NTSpeedController.h
index 756d947..a79c266 100644
--- a/third_party/allwpilib/glass/src/libnt/native/include/glass/networktables/NTSpeedController.h
+++ b/third_party/allwpilib/glass/src/libnt/native/include/glass/networktables/NTSpeedController.h
@@ -16,7 +16,7 @@
namespace glass {
class NTSpeedControllerModel : public SpeedControllerModel {
public:
- static constexpr const char* kType = "Speed Controller";
+ static constexpr const char* kType = "Motor Controller";
explicit NTSpeedControllerModel(std::string_view path);
NTSpeedControllerModel(NT_Inst instance, std::string_view path);
diff --git a/third_party/allwpilib/glass/src/libnt/native/include/glass/networktables/NetworkTablesProvider.h b/third_party/allwpilib/glass/src/libnt/native/include/glass/networktables/NetworkTablesProvider.h
index 17374ca..a8f0f9b 100644
--- a/third_party/allwpilib/glass/src/libnt/native/include/glass/networktables/NetworkTablesProvider.h
+++ b/third_party/allwpilib/glass/src/libnt/native/include/glass/networktables/NetworkTablesProvider.h
@@ -9,14 +9,13 @@
#include <string_view>
#include <vector>
+#include <ntcore_c.h>
#include <ntcore_cpp.h>
#include <wpi/StringMap.h>
#include "glass/Model.h"
#include "glass/Provider.h"
#include "glass/networktables/NetworkTablesHelper.h"
-#include "glass/support/IniSaverInfo.h"
-#include "glass/support/IniSaverString.h"
namespace glass {
@@ -41,8 +40,8 @@
using Provider::CreateModelFunc;
using Provider::CreateViewFunc;
- explicit NetworkTablesProvider(std::string_view iniName);
- NetworkTablesProvider(std::string_view iniName, NT_Inst inst);
+ explicit NetworkTablesProvider(Storage& storage);
+ NetworkTablesProvider(Storage& storage, NT_Inst inst);
/**
* Get the NetworkTables instance being used for this provider.
@@ -55,7 +54,7 @@
* Perform global initialization. This should be called prior to
* wpi::gui::Initialize().
*/
- void GlobalInit() override;
+ void GlobalInit() override { Provider::GlobalInit(); }
/**
* Displays menu contents as a tree of available NetworkTables views.
@@ -72,15 +71,14 @@
void Register(std::string_view typeName, CreateModelFunc createModel,
CreateViewFunc createView);
- using WindowManager::AddWindow;
-
private:
void Update() override;
NetworkTablesHelper m_nt;
+ NT_EntryListener m_listener{0};
// cached mapping from table name to type string
- IniSaverString<NameInfo> m_typeCache;
+ Storage& m_typeCache;
struct Builder {
CreateModelFunc createModel;
diff --git a/third_party/allwpilib/glass/src/libnt/native/include/glass/networktables/NetworkTablesSettings.h b/third_party/allwpilib/glass/src/libnt/native/include/glass/networktables/NetworkTablesSettings.h
index 7738541..a1a1c93 100644
--- a/third_party/allwpilib/glass/src/libnt/native/include/glass/networktables/NetworkTablesSettings.h
+++ b/third_party/allwpilib/glass/src/libnt/native/include/glass/networktables/NetworkTablesSettings.h
@@ -9,6 +9,8 @@
#include <ntcore_cpp.h>
#include <wpi/SafeThread.h>
+#include "glass/support/EnumSetting.h"
+
namespace wpi {
template <typename T>
class SmallVectorImpl;
@@ -16,11 +18,12 @@
namespace glass {
+class Storage;
+
class NetworkTablesSettings {
public:
- explicit NetworkTablesSettings(
- NT_Inst inst = nt::GetDefaultInstance(),
- const char* storageName = "NetworkTables Settings");
+ explicit NetworkTablesSettings(Storage& storage,
+ NT_Inst inst = nt::GetDefaultInstance());
/**
* Enables or disables the server option. Default is enabled.
@@ -33,11 +36,11 @@
private:
bool m_restart = true;
bool m_serverOption = true;
- int* m_pMode;
- std::string* m_pIniName;
- std::string* m_pServerTeam;
- std::string* m_pListenAddress;
- bool* m_pDsClient;
+ EnumSetting m_mode;
+ std::string& m_iniName;
+ std::string& m_serverTeam;
+ std::string& m_listenAddress;
+ bool& m_dsClient;
class Thread : public wpi::SafeThread {
public:
diff --git a/third_party/allwpilib/gradle.properties b/third_party/allwpilib/gradle.properties
index fad0c09..dd4aa68 100644
--- a/third_party/allwpilib/gradle.properties
+++ b/third_party/allwpilib/gradle.properties
@@ -1 +1,8 @@
-org.gradle.jvmargs=-Xmx1g
+# The --add-exports flags work around a bug with spotless and JDK 17
+# https://github.com/diffplug/spotless/issues/834
+org.gradle.jvmargs=-Xmx1g \
+ --add-exports jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED \
+ --add-exports jdk.compiler/com.sun.tools.javac.file=ALL-UNNAMED \
+ --add-exports jdk.compiler/com.sun.tools.javac.parser=ALL-UNNAMED \
+ --add-exports jdk.compiler/com.sun.tools.javac.tree=ALL-UNNAMED \
+ --add-exports jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED
diff --git a/third_party/allwpilib/gradle/wrapper/gradle-wrapper.properties b/third_party/allwpilib/gradle/wrapper/gradle-wrapper.properties
index 05679dc..2e6e589 100644
--- a/third_party/allwpilib/gradle/wrapper/gradle-wrapper.properties
+++ b/third_party/allwpilib/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.1.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
diff --git a/third_party/allwpilib/gradlew b/third_party/allwpilib/gradlew
index 744e882..1b6c787 100755
--- a/third_party/allwpilib/gradlew
+++ b/third_party/allwpilib/gradlew
@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
#
-# Copyright 2015 the original author or authors.
+# Copyright © 2015-2021 the original authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@@ -17,67 +17,101 @@
#
##############################################################################
-##
-## Gradle start up script for UN*X
-##
+#
+# Gradle start up script for POSIX generated by Gradle.
+#
+# Important for running:
+#
+# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+# noncompliant, but you have some other compliant shell such as ksh or
+# bash, then to run this script, type that shell name before the whole
+# command line, like:
+#
+# ksh Gradle
+#
+# Busybox and similar reduced shells will NOT work, because this script
+# requires all of these POSIX shell features:
+# * functions;
+# * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+# «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+# * compound commands having a testable exit status, especially «case»;
+# * various built-in commands including «command», «set», and «ulimit».
+#
+# Important for patching:
+#
+# (2) This script targets any POSIX shell, so it avoids extensions provided
+# by Bash, Ksh, etc; in particular arrays are avoided.
+#
+# The "traditional" practice of packing multiple parameters into a
+# space-separated string is a well documented source of bugs and security
+# problems, so this is (mostly) avoided, by progressively accumulating
+# options in "$@", and eventually passing that to Java.
+#
+# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+# see the in-line comments for details.
+#
+# There are tweaks for specific operating systems such as AIX, CygWin,
+# Darwin, MinGW, and NonStop.
+#
+# (3) This script is generated from the Groovy template
+# https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+# within the Gradle project.
+#
+# You can find Gradle at https://github.com/gradle/gradle/.
+#
##############################################################################
# Attempt to set APP_HOME
+
# Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
- ls=`ls -ld "$PRG"`
- link=`expr "$ls" : '.*-> \(.*\)$'`
- if expr "$link" : '/.*' > /dev/null; then
- PRG="$link"
- else
- PRG=`dirname "$PRG"`"/$link"
- fi
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+ APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path
+ [ -h "$app_path" ]
+do
+ ls=$( ls -ld "$app_path" )
+ link=${ls#*' -> '}
+ case $link in #(
+ /*) app_path=$link ;; #(
+ *) app_path=$APP_HOME$link ;;
+ esac
done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
+
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${0##*/}
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
warn () {
echo "$*"
-}
+} >&2
die () {
echo
echo "$*"
echo
exit 1
-}
+} >&2
# OS specific support (must be 'true' or 'false').
cygwin=false
msys=false
darwin=false
nonstop=false
-case "`uname`" in
- CYGWIN* )
- cygwin=true
- ;;
- Darwin* )
- darwin=true
- ;;
- MSYS* | MINGW* )
- msys=true
- ;;
- NONSTOP* )
- nonstop=true
- ;;
+case "$( uname )" in #(
+ CYGWIN* ) cygwin=true ;; #(
+ Darwin* ) darwin=true ;; #(
+ MSYS* | MINGW* ) msys=true ;; #(
+ NONSTOP* ) nonstop=true ;;
esac
CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
@@ -87,9 +121,9 @@
if [ -n "$JAVA_HOME" ] ; then
if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
# IBM's JDK on AIX uses strange locations for the executables
- JAVACMD="$JAVA_HOME/jre/sh/java"
+ JAVACMD=$JAVA_HOME/jre/sh/java
else
- JAVACMD="$JAVA_HOME/bin/java"
+ JAVACMD=$JAVA_HOME/bin/java
fi
if [ ! -x "$JAVACMD" ] ; then
die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -98,7 +132,7 @@
location of your Java installation."
fi
else
- JAVACMD="java"
+ JAVACMD=java
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
@@ -106,80 +140,95 @@
fi
# Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
- MAX_FD_LIMIT=`ulimit -H -n`
- if [ $? -eq 0 ] ; then
- if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
- MAX_FD="$MAX_FD_LIMIT"
- fi
- ulimit -n $MAX_FD
- if [ $? -ne 0 ] ; then
- warn "Could not set maximum file descriptor limit: $MAX_FD"
- fi
- else
- warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
- fi
-fi
-
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
- GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
-
-# For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
- APP_HOME=`cygpath --path --mixed "$APP_HOME"`
- CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-
- JAVACMD=`cygpath --unix "$JAVACMD"`
-
- # We build the pattern for arguments to be converted via cygpath
- ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
- SEP=""
- for dir in $ROOTDIRSRAW ; do
- ROOTDIRS="$ROOTDIRS$SEP$dir"
- SEP="|"
- done
- OURCYGPATTERN="(^($ROOTDIRS))"
- # Add a user-defined pattern to the cygpath arguments
- if [ "$GRADLE_CYGPATTERN" != "" ] ; then
- OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
- fi
- # Now convert the arguments - kludge to limit ourselves to /bin/sh
- i=0
- for arg in "$@" ; do
- CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
- CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
-
- if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
- eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
- else
- eval `echo args$i`="\"$arg\""
- fi
- i=`expr $i + 1`
- done
- case $i in
- 0) set -- ;;
- 1) set -- "$args0" ;;
- 2) set -- "$args0" "$args1" ;;
- 3) set -- "$args0" "$args1" "$args2" ;;
- 4) set -- "$args0" "$args1" "$args2" "$args3" ;;
- 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
- 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
- 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
- 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
- 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+ case $MAX_FD in #(
+ max*)
+ MAX_FD=$( ulimit -H -n ) ||
+ warn "Could not query maximum file descriptor limit"
+ esac
+ case $MAX_FD in #(
+ '' | soft) :;; #(
+ *)
+ ulimit -n "$MAX_FD" ||
+ warn "Could not set maximum file descriptor limit to $MAX_FD"
esac
fi
-# Escape application args
-save () {
- for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
- echo " "
-}
-APP_ARGS=`save "$@"`
+# Collect all arguments for the java command, stacking in reverse order:
+# * args from the command line
+# * the main class name
+# * -classpath
+# * -D...appname settings
+# * --module-path (only if needed)
+# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+ APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+ CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+ JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+ # Now convert the arguments - kludge to limit ourselves to /bin/sh
+ for arg do
+ if
+ case $arg in #(
+ -*) false ;; # don't mess with options #(
+ /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath
+ [ -e "$t" ] ;; #(
+ *) false ;;
+ esac
+ then
+ arg=$( cygpath --path --ignore --mixed "$arg" )
+ fi
+ # Roll the args list around exactly as many times as the number of
+ # args, so each arg winds up back in the position where it started, but
+ # possibly modified.
+ #
+ # NB: a `for` loop captures its iteration list before it begins, so
+ # changing the positional parameters here affects neither the number of
+ # iterations, nor the values presented in `arg`.
+ shift # remove old arg
+ set -- "$@" "$arg" # push replacement arg
+ done
+fi
+
+# Collect all arguments for the java command;
+# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+# shell script including quotes and variable substitutions, so put them in
+# double quotes to make sure that they get re-expanded; and
+# * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+ "-Dorg.gradle.appname=$APP_BASE_NAME" \
+ -classpath "$CLASSPATH" \
+ org.gradle.wrapper.GradleWrapperMain \
+ "$@"
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+# readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+# set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+ printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+ xargs -n1 |
+ sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+ tr '\n' ' '
+ )" '"$@"'
exec "$JAVACMD" "$@"
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/ControlWord.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/ControlWord.java
index a568343..7dff0f4 100644
--- a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/ControlWord.java
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/ControlWord.java
@@ -28,6 +28,20 @@
m_dsAttached = dsAttached;
}
+ /**
+ * Updates from an existing word.
+ *
+ * @param word word to update from
+ */
+ public void update(ControlWord word) {
+ m_enabled = word.m_enabled;
+ m_autonomous = word.m_autonomous;
+ m_test = word.m_test;
+ m_emergencyStop = word.m_emergencyStop;
+ m_fmsAttached = word.m_fmsAttached;
+ m_dsAttached = word.m_dsAttached;
+ }
+
public boolean getEnabled() {
return m_enabled;
}
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
index f164dbd..8b95228 100644
--- a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
@@ -7,6 +7,11 @@
import java.nio.IntBuffer;
public class CounterJNI extends JNIWrapper {
+ public static final int TWO_PULSE = 0;
+ public static final int SEMI_PERIOD = 1;
+ public static final int PULSE_LENGTH = 2;
+ public static final int EXTERNAL_DIRECTION = 3;
+
public static native int initializeCounter(int mode, IntBuffer index);
public static native void freeCounter(int counterHandle);
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/HAL.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/HAL.java
index af97450..53198e0 100644
--- a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/HAL.java
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/HAL.java
@@ -196,8 +196,8 @@
@SuppressWarnings("MissingJavadocMethod")
public static native boolean waitForDSDataTimeout(double timeout);
- public static int kMaxJoystickAxes = 12;
- public static int kMaxJoystickPOVs = 12;
+ public static final int kMaxJoystickAxes = 12;
+ public static final int kMaxJoystickPOVs = 12;
public static native short getJoystickAxes(byte joystickNum, float[] axesArray);
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
index b2b54da..6826cd8 100644
--- a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
@@ -55,4 +55,6 @@
loader.loadLibrary();
libraryLoaded = true;
}
+
+ public static void suppressUnused(Object object) {}
}
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/PowerDistributionFaults.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/PowerDistributionFaults.java
new file mode 100644
index 0000000..bdff599
--- /dev/null
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/PowerDistributionFaults.java
@@ -0,0 +1,123 @@
+// 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.
+
+package edu.wpi.first.hal;
+
+public class PowerDistributionFaults {
+ @SuppressWarnings("MemberName")
+ public final boolean Channel0BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel1BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel2BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel3BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel4BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel5BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel6BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel7BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel8BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel9BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel10BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel11BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel12BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel13BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel14BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel15BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel16BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel17BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel18BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel19BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel20BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel21BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel22BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel23BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Brownout;
+
+ @SuppressWarnings("MemberName")
+ public final boolean CanWarning;
+
+ @SuppressWarnings("MemberName")
+ public final boolean HardwareFault;
+
+ /**
+ * Constructs from a bitfield.
+ *
+ * @param faults faults
+ */
+ public PowerDistributionFaults(int faults) {
+ Channel0BreakerFault = (faults & 0x1) != 0;
+ Channel1BreakerFault = (faults & 0x2) != 0;
+ Channel2BreakerFault = (faults & 0x4) != 0;
+ Channel3BreakerFault = (faults & 0x8) != 0;
+ Channel4BreakerFault = (faults & 0x10) != 0;
+ Channel5BreakerFault = (faults & 0x20) != 0;
+ Channel6BreakerFault = (faults & 0x40) != 0;
+ Channel7BreakerFault = (faults & 0x80) != 0;
+ Channel8BreakerFault = (faults & 0x100) != 0;
+ Channel9BreakerFault = (faults & 0x200) != 0;
+ Channel10BreakerFault = (faults & 0x400) != 0;
+ Channel11BreakerFault = (faults & 0x800) != 0;
+ Channel12BreakerFault = (faults & 0x1000) != 0;
+ Channel13BreakerFault = (faults & 0x2000) != 0;
+ Channel14BreakerFault = (faults & 0x4000) != 0;
+ Channel15BreakerFault = (faults & 0x8000) != 0;
+ Channel16BreakerFault = (faults & 0x10000) != 0;
+ Channel17BreakerFault = (faults & 0x20000) != 0;
+ Channel18BreakerFault = (faults & 0x40000) != 0;
+ Channel19BreakerFault = (faults & 0x80000) != 0;
+ Channel20BreakerFault = (faults & 0x100000) != 0;
+ Channel21BreakerFault = (faults & 0x200000) != 0;
+ Channel22BreakerFault = (faults & 0x400000) != 0;
+ Channel23BreakerFault = (faults & 0x800000) != 0;
+ Brownout = (faults & 0x1000000) != 0;
+ CanWarning = (faults & 0x2000000) != 0;
+ HardwareFault = (faults & 0x4000000) != 0;
+ }
+}
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java
index b2ac61a..00c4dd1 100644
--- a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java
@@ -46,4 +46,28 @@
public static native boolean getSwitchableChannel(int handle);
public static native void setSwitchableChannel(int handle, boolean enabled);
+
+ public static native double getVoltageNoError(int handle);
+
+ public static native double getChannelCurrentNoError(int handle, int channel);
+
+ public static native double getTotalCurrentNoError(int handle);
+
+ public static native boolean getSwitchableChannelNoError(int handle);
+
+ public static native void setSwitchableChannelNoError(int handle, boolean enabled);
+
+ public static native int getFaultsNative(int handle);
+
+ public static PowerDistributionFaults getFaults(int handle) {
+ return new PowerDistributionFaults(getFaultsNative(handle));
+ }
+
+ public static native int getStickyFaultsNative(int handle);
+
+ public static PowerDistributionStickyFaults getStickyFaults(int handle) {
+ return new PowerDistributionStickyFaults(getStickyFaultsNative(handle));
+ }
+
+ public static native PowerDistributionVersion getVersion(int handle);
}
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/PowerDistributionStickyFaults.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/PowerDistributionStickyFaults.java
new file mode 100644
index 0000000..0eb4a69
--- /dev/null
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/PowerDistributionStickyFaults.java
@@ -0,0 +1,127 @@
+// 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.
+
+package edu.wpi.first.hal;
+
+public class PowerDistributionStickyFaults {
+ @SuppressWarnings("MemberName")
+ public final boolean Channel0BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel1BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel2BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel3BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel4BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel5BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel6BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel7BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel8BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel9BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel10BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel11BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel12BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel13BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel14BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel15BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel16BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel17BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel18BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel19BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel20BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel21BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel22BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel23BreakerFault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Brownout;
+
+ @SuppressWarnings("MemberName")
+ public final boolean CanWarning;
+
+ @SuppressWarnings("MemberName")
+ public final boolean CanBusOff;
+
+ @SuppressWarnings("MemberName")
+ public final boolean HasReset;
+
+ /**
+ * Constructs from a bitfield.
+ *
+ * @param faults faults
+ */
+ public PowerDistributionStickyFaults(int faults) {
+ Channel0BreakerFault = (faults & 0x1) != 0;
+ Channel1BreakerFault = (faults & 0x2) != 0;
+ Channel2BreakerFault = (faults & 0x4) != 0;
+ Channel3BreakerFault = (faults & 0x8) != 0;
+ Channel4BreakerFault = (faults & 0x10) != 0;
+ Channel5BreakerFault = (faults & 0x20) != 0;
+ Channel6BreakerFault = (faults & 0x40) != 0;
+ Channel7BreakerFault = (faults & 0x80) != 0;
+ Channel8BreakerFault = (faults & 0x100) != 0;
+ Channel9BreakerFault = (faults & 0x200) != 0;
+ Channel10BreakerFault = (faults & 0x400) != 0;
+ Channel11BreakerFault = (faults & 0x800) != 0;
+ Channel12BreakerFault = (faults & 0x1000) != 0;
+ Channel13BreakerFault = (faults & 0x2000) != 0;
+ Channel14BreakerFault = (faults & 0x4000) != 0;
+ Channel15BreakerFault = (faults & 0x8000) != 0;
+ Channel16BreakerFault = (faults & 0x10000) != 0;
+ Channel17BreakerFault = (faults & 0x20000) != 0;
+ Channel18BreakerFault = (faults & 0x40000) != 0;
+ Channel19BreakerFault = (faults & 0x80000) != 0;
+ Channel20BreakerFault = (faults & 0x100000) != 0;
+ Channel21BreakerFault = (faults & 0x200000) != 0;
+ Channel22BreakerFault = (faults & 0x400000) != 0;
+ Channel23BreakerFault = (faults & 0x800000) != 0;
+ Brownout = (faults & 0x1000000) != 0;
+ CanWarning = (faults & 0x2000000) != 0;
+ CanBusOff = (faults & 0x4000000) != 0;
+ HasReset = (faults & 0x8000000) != 0;
+ }
+}
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/PowerDistributionVersion.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/PowerDistributionVersion.java
new file mode 100644
index 0000000..0c733a2
--- /dev/null
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/PowerDistributionVersion.java
@@ -0,0 +1,50 @@
+// 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.
+
+package edu.wpi.first.hal;
+
+public class PowerDistributionVersion {
+ @SuppressWarnings("MemberName")
+ public final int firmwareMajor;
+
+ @SuppressWarnings("MemberName")
+ public final int firmwareMinor;
+
+ @SuppressWarnings("MemberName")
+ public final int firmwareFix;
+
+ @SuppressWarnings("MemberName")
+ public final int hardwareMinor;
+
+ @SuppressWarnings("MemberName")
+ public final int hardwareMajor;
+
+ @SuppressWarnings("MemberName")
+ public final int uniqueId;
+
+ /**
+ * Constructs a power distribution version (Called from the HAL).
+ *
+ * @param firmwareMajor firmware major
+ * @param firmwareMinor firmware minor
+ * @param firmwareFix firmware fix
+ * @param hardwareMinor hardware minor
+ * @param hardwareMajor hardware major
+ * @param uniqueId unique id
+ */
+ public PowerDistributionVersion(
+ int firmwareMajor,
+ int firmwareMinor,
+ int firmwareFix,
+ int hardwareMinor,
+ int hardwareMajor,
+ int uniqueId) {
+ this.firmwareMajor = firmwareMajor;
+ this.firmwareMinor = firmwareMinor;
+ this.firmwareFix = firmwareFix;
+ this.hardwareMinor = hardwareMinor;
+ this.hardwareMajor = hardwareMajor;
+ this.uniqueId = uniqueId;
+ }
+}
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/REVPHFaults.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/REVPHFaults.java
new file mode 100644
index 0000000..f71ef69
--- /dev/null
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/REVPHFaults.java
@@ -0,0 +1,104 @@
+// 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.
+
+package edu.wpi.first.hal;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class REVPHFaults {
+ @SuppressWarnings("MemberName")
+ public final boolean Channel0Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel1Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel2Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel3Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel4Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel5Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel6Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel7Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel8Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel9Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel10Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel11Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel12Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel13Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel14Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Channel15Fault;
+
+ @SuppressWarnings("MemberName")
+ public final boolean CompressorOverCurrent;
+
+ @SuppressWarnings("MemberName")
+ public final boolean CompressorOpen;
+
+ @SuppressWarnings("MemberName")
+ public final boolean SolenoidOverCurrent;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Brownout;
+
+ @SuppressWarnings("MemberName")
+ public final boolean CanWarning;
+
+ @SuppressWarnings("MemberName")
+ public final boolean HardwareFault;
+
+ /**
+ * Called from HAL to construct.
+ *
+ * @param faults the fault bitfields
+ */
+ public REVPHFaults(int faults) {
+ Channel0Fault = (faults & 0x1) != 0;
+ Channel1Fault = (faults & 0x2) != 0;
+ Channel2Fault = (faults & 0x4) != 0;
+ Channel3Fault = (faults & 0x8) != 0;
+ Channel4Fault = (faults & 0x10) != 0;
+ Channel5Fault = (faults & 0x20) != 0;
+ Channel6Fault = (faults & 0x40) != 0;
+ Channel7Fault = (faults & 0x80) != 0;
+ Channel8Fault = (faults & 0x100) != 0;
+ Channel9Fault = (faults & 0x200) != 0;
+ Channel10Fault = (faults & 0x400) != 0;
+ Channel11Fault = (faults & 0x800) != 0;
+ Channel12Fault = (faults & 0x1000) != 0;
+ Channel13Fault = (faults & 0x2000) != 0;
+ Channel14Fault = (faults & 0x4000) != 0;
+ Channel15Fault = (faults & 0x8000) != 0;
+ CompressorOverCurrent = (faults & 0x8000) != 0;
+ CompressorOpen = (faults & 0x10000) != 0;
+ SolenoidOverCurrent = (faults & 0x20000) != 0;
+ Brownout = (faults & 0x40000) != 0;
+ CanWarning = (faults & 0x80000) != 0;
+ HardwareFault = (faults & 0x100000) != 0;
+ }
+}
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java
index a164106..17f0323 100644
--- a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java
@@ -6,6 +6,11 @@
@SuppressWarnings("AbbreviationAsWordInName")
public class REVPHJNI extends JNIWrapper {
+ public static final int COMPRESSOR_CONFIG_TYPE_DISABLED = 0;
+ public static final int COMPRESSOR_CONFIG_TYPE_DIGITAL = 1;
+ public static final int COMPRESSOR_CONFIG_TYPE_ANALOG = 2;
+ public static final int COMPRESSOR_CONFIG_TYPE_HYBRID = 3;
+
public static native int initialize(int module);
public static native void free(int handle);
@@ -14,13 +19,28 @@
public static native boolean getCompressor(int handle);
- public static native void setClosedLoopControl(int handle, boolean enabled);
+ public static native void setCompressorConfig(
+ int handle,
+ double minAnalogVoltage,
+ double maxAnalogVoltage,
+ boolean forceDisable,
+ boolean useDigital);
- public static native boolean getClosedLoopControl(int handle);
+ public static native void setClosedLoopControlDisabled(int handle);
+
+ public static native void setClosedLoopControlDigital(int handle);
+
+ public static native void setClosedLoopControlAnalog(
+ int handle, double minAnalogVoltage, double maxAnalogVoltage);
+
+ public static native void setClosedLoopControlHybrid(
+ int handle, double minAnalogVoltage, double maxAnalogVoltage);
+
+ public static native int getCompressorConfig(int handle);
public static native boolean getPressureSwitch(int handle);
- public static native double getAnalogPressure(int handle, int channel);
+ public static native double getAnalogVoltage(int handle, int channel);
public static native double getCompressorCurrent(int handle);
@@ -29,4 +49,28 @@
public static native void setSolenoids(int handle, int mask, int values);
public static native void fireOneShot(int handle, int index, int durMs);
+
+ public static native void clearStickyFaults(int handle);
+
+ public static native double getInputVoltage(int handle);
+
+ public static native double get5VVoltage(int handle);
+
+ public static native double getSolenoidCurrent(int handle);
+
+ public static native double getSolenoidVoltage(int handle);
+
+ public static native int getStickyFaultsNative(int handle);
+
+ public static REVPHStickyFaults getStickyFaults(int handle) {
+ return new REVPHStickyFaults(getStickyFaultsNative(handle));
+ }
+
+ public static native int getFaultsNative(int handle);
+
+ public static REVPHFaults getFaults(int handle) {
+ return new REVPHFaults(getFaultsNative(handle));
+ }
+
+ public static native REVPHVersion getVersion(int handle);
}
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/REVPHStickyFaults.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/REVPHStickyFaults.java
new file mode 100644
index 0000000..6bf9f4f
--- /dev/null
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/REVPHStickyFaults.java
@@ -0,0 +1,44 @@
+// 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.
+
+package edu.wpi.first.hal;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class REVPHStickyFaults {
+ @SuppressWarnings("MemberName")
+ public final boolean CompressorOverCurrent;
+
+ @SuppressWarnings("MemberName")
+ public final boolean CompressorOpen;
+
+ @SuppressWarnings("MemberName")
+ public final boolean SolenoidOverCurrent;
+
+ @SuppressWarnings("MemberName")
+ public final boolean Brownout;
+
+ @SuppressWarnings("MemberName")
+ public final boolean CanWarning;
+
+ @SuppressWarnings("MemberName")
+ public final boolean CanBusOff;
+
+ @SuppressWarnings("MemberName")
+ public final boolean HasReset;
+
+ /**
+ * Called from HAL.
+ *
+ * @param faults sticky fault bit mask
+ */
+ public REVPHStickyFaults(int faults) {
+ CompressorOverCurrent = (faults & 0x1) != 0;
+ CompressorOpen = (faults & 0x2) != 0;
+ SolenoidOverCurrent = (faults & 0x4) != 0;
+ Brownout = (faults & 0x8) != 0;
+ CanWarning = (faults & 0x10) != 0;
+ CanBusOff = (faults & 0x20) != 0;
+ HasReset = (faults & 0x40) != 0;
+ }
+}
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/REVPHVersion.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/REVPHVersion.java
new file mode 100644
index 0000000..13471e7
--- /dev/null
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/REVPHVersion.java
@@ -0,0 +1,51 @@
+// 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.
+
+package edu.wpi.first.hal;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class REVPHVersion {
+ @SuppressWarnings("MemberName")
+ public final int firmwareMajor;
+
+ @SuppressWarnings("MemberName")
+ public final int firmwareMinor;
+
+ @SuppressWarnings("MemberName")
+ public final int firmwareFix;
+
+ @SuppressWarnings("MemberName")
+ public final int hardwareMinor;
+
+ @SuppressWarnings("MemberName")
+ public final int hardwareMajor;
+
+ @SuppressWarnings("MemberName")
+ public final int uniqueId;
+
+ /**
+ * Constructs a revph version (Called from the HAL).
+ *
+ * @param firmwareMajor firmware major
+ * @param firmwareMinor firmware minor
+ * @param firmwareFix firmware fix
+ * @param hardwareMinor hardware minor
+ * @param hardwareMajor hardware major
+ * @param uniqueId unique id
+ */
+ public REVPHVersion(
+ int firmwareMajor,
+ int firmwareMinor,
+ int firmwareFix,
+ int hardwareMinor,
+ int hardwareMajor,
+ int uniqueId) {
+ this.firmwareMajor = firmwareMajor;
+ this.firmwareMinor = firmwareMinor;
+ this.firmwareFix = firmwareFix;
+ this.hardwareMinor = hardwareMinor;
+ this.hardwareMajor = hardwareMajor;
+ this.uniqueId = uniqueId;
+ }
+}
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
index 3c0a4b9..d8fe36e 100644
--- a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
@@ -14,10 +14,17 @@
static final int ERR_CANSessionMux_NotAllowed = -44088;
static final int ERR_CANSessionMux_NotInitialized = -44089;
- @SuppressWarnings("MissingJavadocMethod")
- public static void checkStatus(int status, int messageID)
- throws CANInvalidBufferException, CANMessageNotAllowedException, CANNotInitializedException,
- UncleanStatusException {
+ /**
+ * Checks the status of a CAN message with the given message ID.
+ *
+ * @param status The CAN status.
+ * @param messageID The CAN message ID.
+ * @throws CANInvalidBufferException if the buffer is invalid.
+ * @throws CANMessageNotAllowedException if the message isn't allowed.
+ * @throws CANNotInitializedException if the CAN bus isn't initialized.
+ * @throws UncleanStatusException if the status code passed in reports an error.
+ */
+ public static void checkStatus(int status, int messageID) {
switch (status) {
case NIRioStatus.kRioStatusSuccess:
// Everything is ok... don't throw.
diff --git a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java
index b12fdcb..ee801f3 100644
--- a/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java
+++ b/third_party/allwpilib/hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java
@@ -35,14 +35,14 @@
public static native void setCompressorOn(int index, boolean compressorOn);
- public static native int registerClosedLoopEnabledCallback(
+ public static native int registerCompressorConfigTypeCallback(
int index, NotifyCallback callback, boolean initialNotify);
- public static native void cancelClosedLoopEnabledCallback(int index, int uid);
+ public static native void cancelCompressorConfigTypeCallback(int index, int uid);
- public static native boolean getClosedLoopEnabled(int index);
+ public static native int getCompressorConfigType(int index);
- public static native void setClosedLoopEnabled(int index, boolean closeLoopEnabled);
+ public static native void setCompressorConfigType(int index, int configType);
public static native int registerPressureSwitchCallback(
int index, NotifyCallback callback, boolean initialNotify);
diff --git a/third_party/allwpilib/hal/src/main/native/athena/CTREPCM.cpp b/third_party/allwpilib/hal/src/main/native/athena/CTREPCM.cpp
index b000ace..37faf69 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/CTREPCM.cpp
+++ b/third_party/allwpilib/hal/src/main/native/athena/CTREPCM.cpp
@@ -335,8 +335,13 @@
void HAL_ClearAllCTREPCMStickyFaults(HAL_CTREPCMHandle handle,
int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
uint8_t controlData[] = {0, 0, 0, 0x80};
- HAL_WriteCANPacket(handle, controlData, sizeof(controlData), Control2,
+ HAL_WriteCANPacket(pcm->canHandle, controlData, sizeof(controlData), Control2,
status);
}
@@ -393,7 +398,7 @@
(std::min)(static_cast<uint32_t>(durMs) / 10,
static_cast<uint32_t>(0xFF));
HAL_WriteCANPacketRepeating(pcm->canHandle, pcm->oneShot.sol10MsPerUnit, 8,
- Control2, SendPeriod, status);
+ Control3, SendPeriod, status);
}
} // extern "C"
diff --git a/third_party/allwpilib/hal/src/main/native/athena/FRCDriverStation.cpp b/third_party/allwpilib/hal/src/main/native/athena/FRCDriverStation.cpp
index 0f4b69b..e7ef194 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/FRCDriverStation.cpp
+++ b/third_party/allwpilib/hal/src/main/native/athena/FRCDriverStation.cpp
@@ -110,10 +110,15 @@
static int32_t HAL_GetMatchInfoInternal(HAL_MatchInfo* info) {
MatchType_t matchType = MatchType_t::kMatchType_none;
+ info->gameSpecificMessageSize = sizeof(info->gameSpecificMessage);
int status = FRC_NetworkCommunication_getMatchInfo(
info->eventName, &matchType, &info->matchNumber, &info->replayNumber,
info->gameSpecificMessage, &info->gameSpecificMessageSize);
+ if (info->gameSpecificMessageSize > sizeof(info->gameSpecificMessage)) {
+ info->gameSpecificMessageSize = 0;
+ }
+
info->matchType = static_cast<HAL_MatchType>(matchType);
*(std::end(info->eventName) - 1) = '\0';
diff --git a/third_party/allwpilib/hal/src/main/native/athena/HAL.cpp b/third_party/allwpilib/hal/src/main/native/athena/HAL.cpp
index 4cae1e7..edff3fc 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/HAL.cpp
+++ b/third_party/allwpilib/hal/src/main/native/athena/HAL.cpp
@@ -33,6 +33,7 @@
static std::unique_ptr<tGlobal> global;
static std::unique_ptr<tSysWatchdog> watchdog;
+static uint64_t dsStartTime;
using namespace hal;
@@ -83,6 +84,11 @@
&status);
global->strobeInterruptForceOnce(&status);
}
+
+uint64_t GetDSInitializeTime() {
+ return dsStartTime;
+}
+
} // namespace hal
extern "C" {
@@ -393,6 +399,11 @@
HAL_InitializeDriverStation();
+ dsStartTime = HAL_GetFPGATime(&status);
+ if (status != 0) {
+ return false;
+ }
+
// Set WPI_Now to use FPGA timestamp
wpi::SetNowImpl([]() -> uint64_t {
int32_t status = 0;
diff --git a/third_party/allwpilib/hal/src/main/native/athena/HALInternal.h b/third_party/allwpilib/hal/src/main/native/athena/HALInternal.h
index 64a0dca..52a818b 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/HALInternal.h
+++ b/third_party/allwpilib/hal/src/main/native/athena/HALInternal.h
@@ -17,4 +17,5 @@
void SetLastErrorPreviouslyAllocated(int32_t* status, std::string_view message,
int32_t channel,
std::string_view previousAllocation);
+uint64_t GetDSInitializeTime();
} // namespace hal
diff --git a/third_party/allwpilib/hal/src/main/native/athena/I2C.cpp b/third_party/allwpilib/hal/src/main/native/athena/I2C.cpp
index 93e280e..479f646 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/I2C.cpp
+++ b/third_party/allwpilib/hal/src/main/native/athena/I2C.cpp
@@ -54,6 +54,10 @@
}
if (port == HAL_I2C_kOnboard) {
+ HAL_SendError(0, 0, 0,
+ "Onboard I2C port is subject to system lockups. See Known "
+ "Issues page for details",
+ "", "", true);
std::scoped_lock lock(digitalI2COnBoardMutex);
i2COnboardObjCount++;
if (i2COnboardObjCount > 1) {
diff --git a/third_party/allwpilib/hal/src/main/native/athena/PowerDistribution.cpp b/third_party/allwpilib/hal/src/main/native/athena/PowerDistribution.cpp
index f7fe88f..0d2b963 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/PowerDistribution.cpp
+++ b/third_party/allwpilib/hal/src/main/native/athena/PowerDistribution.cpp
@@ -4,11 +4,15 @@
#include "hal/PowerDistribution.h"
+#include <cstring>
+#include <thread>
+
#include "CTREPDP.h"
#include "HALInternal.h"
#include "PortsInternal.h"
#include "REVPDH.h"
#include "hal/Errors.h"
+#include "hal/HALBase.h"
#include "hal/handles/HandlesInternal.h"
using namespace hal;
@@ -19,7 +23,41 @@
int32_t moduleNumber, HAL_PowerDistributionType type,
const char* allocationLocation, int32_t* status) {
if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic) {
- type = HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE;
+ if (moduleNumber != HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status, "Automatic PowerDistributionType must have default module");
+ return HAL_kInvalidHandle;
+ }
+
+ uint64_t waitTime = hal::GetDSInitializeTime() + 400000;
+
+ // Ensure we have been alive for long enough to receive a few Power packets.
+ do {
+ uint64_t currentTime = HAL_GetFPGATime(status);
+ if (*status != 0) {
+ return HAL_kInvalidHandle;
+ }
+ if (currentTime >= waitTime) {
+ break;
+ }
+ std::this_thread::sleep_for(
+ std::chrono::microseconds(waitTime - currentTime));
+ } while (true);
+
+ // Try PDP first
+ auto pdpHandle = HAL_InitializePDP(0, allocationLocation, status);
+ if (pdpHandle != HAL_kInvalidHandle) {
+ *status = 0;
+ HAL_GetPDPVoltage(pdpHandle, status);
+ if (*status == 0 || *status == HAL_CAN_TIMEOUT) {
+ return static_cast<HAL_PowerDistributionHandle>(pdpHandle);
+ }
+ HAL_CleanPDP(pdpHandle);
+ }
+ *status = 0;
+ auto pdhHandle = HAL_InitializeREVPDH(1, allocationLocation, status);
+ return static_cast<HAL_PowerDistributionHandle>(pdhHandle);
}
if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
@@ -27,13 +65,13 @@
moduleNumber = 0;
}
return static_cast<HAL_PowerDistributionHandle>(
- HAL_InitializePDP(moduleNumber, allocationLocation, status)); // TODO
+ HAL_InitializePDP(moduleNumber, allocationLocation, status));
} else {
if (moduleNumber == HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
moduleNumber = 1;
}
return static_cast<HAL_PowerDistributionHandle>(
- HAL_REV_InitializePDH(moduleNumber, allocationLocation, status));
+ HAL_InitializeREVPDH(moduleNumber, allocationLocation, status));
}
}
@@ -43,7 +81,7 @@
if (IsCtre(handle)) {
HAL_CleanPDP(handle);
} else {
- HAL_REV_FreePDH(handle);
+ HAL_FreeREVPDH(handle);
}
}
@@ -52,7 +90,7 @@
if (IsCtre(handle)) {
return HAL_GetPDPModuleNumber(handle, status);
} else {
- return HAL_REV_GetPDHModuleNumber(handle, status);
+ return HAL_GetREVPDHModuleNumber(handle, status);
}
}
@@ -61,7 +99,7 @@
if (IsCtre(handle)) {
return HAL_CheckPDPChannel(channel);
} else {
- return HAL_REV_CheckPDHChannelNumber(channel);
+ return HAL_CheckREVPDHChannelNumber(channel);
}
}
@@ -70,7 +108,7 @@
if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
return HAL_CheckPDPModule(module);
} else {
- return HAL_REV_CheckPDHModuleNumber(module);
+ return HAL_CheckREVPDHModuleNumber(module);
}
}
@@ -105,7 +143,7 @@
if (IsCtre(handle)) {
return HAL_GetPDPVoltage(handle, status);
} else {
- return HAL_REV_GetPDHSupplyVoltage(handle, status);
+ return HAL_GetREVPDHVoltage(handle, status);
}
}
@@ -114,7 +152,7 @@
if (IsCtre(handle)) {
return HAL_GetPDPChannelCurrent(handle, channel, status);
} else {
- return HAL_REV_GetPDHChannelCurrent(handle, channel, status);
+ return HAL_GetREVPDHChannelCurrent(handle, channel, status);
}
}
@@ -134,7 +172,7 @@
SetLastError(status, "Output array not large enough");
return;
}
- return HAL_REV_GetPDHAllChannelCurrents(handle, currents, status);
+ return HAL_GetREVPDHAllChannelCurrents(handle, currents, status);
}
}
@@ -143,7 +181,7 @@
if (IsCtre(handle)) {
return HAL_GetPDPTotalCurrent(handle, status);
} else {
- return HAL_REV_GetPDHTotalCurrent(handle, status);
+ return HAL_GetREVPDHTotalCurrent(handle, status);
}
}
@@ -181,7 +219,7 @@
if (IsCtre(handle)) {
HAL_ClearPDPStickyFaults(handle, status);
} else {
- HAL_REV_ClearPDHFaults(handle, status);
+ HAL_ClearREVPDHStickyFaults(handle, status);
}
}
@@ -191,7 +229,7 @@
// No-op on CTRE
return;
} else {
- HAL_REV_SetPDHSwitchableChannel(handle, enabled, status);
+ HAL_SetREVPDHSwitchableChannel(handle, enabled, status);
}
}
@@ -201,7 +239,37 @@
// No-op on CTRE
return false;
} else {
- return HAL_REV_GetPDHSwitchableChannelState(handle, status);
+ return HAL_GetREVPDHSwitchableChannelState(handle, status);
+ }
+}
+
+void HAL_GetPowerDistributionVersion(HAL_PowerDistributionHandle handle,
+ HAL_PowerDistributionVersion* version,
+ int32_t* status) {
+ if (IsCtre(handle)) {
+ std::memset(version, 0, sizeof(*version));
+ } else {
+ HAL_GetREVPDHVersion(handle, version, status);
+ }
+}
+
+void HAL_GetPowerDistributionFaults(HAL_PowerDistributionHandle handle,
+ HAL_PowerDistributionFaults* faults,
+ int32_t* status) {
+ if (IsCtre(handle)) {
+ std::memset(faults, 0, sizeof(*faults));
+ } else {
+ HAL_GetREVPDHFaults(handle, faults, status);
+ }
+}
+
+void HAL_GetPowerDistributionStickyFaults(
+ HAL_PowerDistributionHandle handle,
+ HAL_PowerDistributionStickyFaults* stickyFaults, int32_t* status) {
+ if (IsCtre(handle)) {
+ std::memset(stickyFaults, 0, sizeof(*stickyFaults));
+ } else {
+ HAL_GetREVPDHStickyFaults(handle, stickyFaults, status);
}
}
diff --git a/third_party/allwpilib/hal/src/main/native/athena/REVPDH.cpp b/third_party/allwpilib/hal/src/main/native/athena/REVPDH.cpp
index 9ad45b5..10c019d 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/REVPDH.cpp
+++ b/third_party/allwpilib/hal/src/main/native/athena/REVPDH.cpp
@@ -11,6 +11,7 @@
#include <hal/handles/IndexedHandleResource.h>
#include <cstring>
+#include <thread>
#include <fmt/format.h>
@@ -35,6 +36,7 @@
int32_t controlPeriod;
HAL_CANHandle hcan;
std::string previousAllocation;
+ HAL_PowerDistributionVersion versionInfo;
};
} // namespace
@@ -43,32 +45,26 @@
return (extId >> 6) & 0x3FF;
}
-static constexpr uint32_t PDH_SWITCH_CHANNEL_SET_FRAME_API =
- APIFromExtId(PDH_SWITCH_CHANNEL_SET_FRAME_ID);
+static constexpr uint32_t PDH_SET_SWITCH_CHANNEL_FRAME_API =
+ APIFromExtId(PDH_SET_SWITCH_CHANNEL_FRAME_ID);
-static constexpr uint32_t PDH_STATUS0_FRAME_API =
- APIFromExtId(PDH_STATUS0_FRAME_ID);
-static constexpr uint32_t PDH_STATUS1_FRAME_API =
- APIFromExtId(PDH_STATUS1_FRAME_ID);
-static constexpr uint32_t PDH_STATUS2_FRAME_API =
- APIFromExtId(PDH_STATUS2_FRAME_ID);
-static constexpr uint32_t PDH_STATUS3_FRAME_API =
- APIFromExtId(PDH_STATUS3_FRAME_ID);
-static constexpr uint32_t PDH_STATUS4_FRAME_API =
- APIFromExtId(PDH_STATUS4_FRAME_ID);
+static constexpr uint32_t PDH_STATUS_0_FRAME_API =
+ APIFromExtId(PDH_STATUS_0_FRAME_ID);
+static constexpr uint32_t PDH_STATUS_1_FRAME_API =
+ APIFromExtId(PDH_STATUS_1_FRAME_ID);
+static constexpr uint32_t PDH_STATUS_2_FRAME_API =
+ APIFromExtId(PDH_STATUS_2_FRAME_ID);
+static constexpr uint32_t PDH_STATUS_3_FRAME_API =
+ APIFromExtId(PDH_STATUS_3_FRAME_ID);
+static constexpr uint32_t PDH_STATUS_4_FRAME_API =
+ APIFromExtId(PDH_STATUS_4_FRAME_ID);
static constexpr uint32_t PDH_CLEAR_FAULTS_FRAME_API =
APIFromExtId(PDH_CLEAR_FAULTS_FRAME_ID);
-static constexpr uint32_t PDH_IDENTIFY_FRAME_API =
- APIFromExtId(PDH_IDENTIFY_FRAME_ID);
-
static constexpr uint32_t PDH_VERSION_FRAME_API =
APIFromExtId(PDH_VERSION_FRAME_ID);
-static constexpr uint32_t PDH_CONFIGURE_HR_CHANNEL_FRAME_API =
- APIFromExtId(PDH_CONFIGURE_HR_CHANNEL_FRAME_ID);
-
static constexpr int32_t kPDHFrameStatus0Timeout = 20;
static constexpr int32_t kPDHFrameStatus1Timeout = 20;
static constexpr int32_t kPDHFrameStatus2Timeout = 20;
@@ -89,97 +85,97 @@
extern "C" {
-static PDH_status0_t HAL_REV_ReadPDHStatus0(HAL_CANHandle hcan,
+static PDH_status_0_t HAL_ReadREVPDHStatus0(HAL_CANHandle hcan,
int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
- PDH_status0_t result = {};
+ PDH_status_0_t result = {};
- HAL_ReadCANPacketTimeout(hcan, PDH_STATUS0_FRAME_API, packedData, &length,
+ HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_0_FRAME_API, packedData, &length,
×tamp, kPDHFrameStatus0Timeout * 2, status);
if (*status != 0) {
return result;
}
- PDH_status0_unpack(&result, packedData, PDH_STATUS0_LENGTH);
+ PDH_status_0_unpack(&result, packedData, PDH_STATUS_0_LENGTH);
return result;
}
-static PDH_status1_t HAL_REV_ReadPDHStatus1(HAL_CANHandle hcan,
+static PDH_status_1_t HAL_ReadREVPDHStatus1(HAL_CANHandle hcan,
int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
- PDH_status1_t result = {};
+ PDH_status_1_t result = {};
- HAL_ReadCANPacketTimeout(hcan, PDH_STATUS1_FRAME_API, packedData, &length,
+ HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_1_FRAME_API, packedData, &length,
×tamp, kPDHFrameStatus1Timeout * 2, status);
if (*status != 0) {
return result;
}
- PDH_status1_unpack(&result, packedData, PDH_STATUS1_LENGTH);
+ PDH_status_1_unpack(&result, packedData, PDH_STATUS_1_LENGTH);
return result;
}
-static PDH_status2_t HAL_REV_ReadPDHStatus2(HAL_CANHandle hcan,
+static PDH_status_2_t HAL_ReadREVPDHStatus2(HAL_CANHandle hcan,
int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
- PDH_status2_t result = {};
+ PDH_status_2_t result = {};
- HAL_ReadCANPacketTimeout(hcan, PDH_STATUS2_FRAME_API, packedData, &length,
+ HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_2_FRAME_API, packedData, &length,
×tamp, kPDHFrameStatus2Timeout * 2, status);
if (*status != 0) {
return result;
}
- PDH_status2_unpack(&result, packedData, PDH_STATUS2_LENGTH);
+ PDH_status_2_unpack(&result, packedData, PDH_STATUS_2_LENGTH);
return result;
}
-static PDH_status3_t HAL_REV_ReadPDHStatus3(HAL_CANHandle hcan,
+static PDH_status_3_t HAL_ReadREVPDHStatus3(HAL_CANHandle hcan,
int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
- PDH_status3_t result = {};
+ PDH_status_3_t result = {};
- HAL_ReadCANPacketTimeout(hcan, PDH_STATUS3_FRAME_API, packedData, &length,
+ HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_3_FRAME_API, packedData, &length,
×tamp, kPDHFrameStatus3Timeout * 2, status);
if (*status != 0) {
return result;
}
- PDH_status3_unpack(&result, packedData, PDH_STATUS3_LENGTH);
+ PDH_status_3_unpack(&result, packedData, PDH_STATUS_3_LENGTH);
return result;
}
-static PDH_status4_t HAL_REV_ReadPDHStatus4(HAL_CANHandle hcan,
+static PDH_status_4_t HAL_ReadREVPDHStatus4(HAL_CANHandle hcan,
int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
- PDH_status4_t result = {};
+ PDH_status_4_t result = {};
- HAL_ReadCANPacketTimeout(hcan, PDH_STATUS4_FRAME_API, packedData, &length,
+ HAL_ReadCANPacketTimeout(hcan, PDH_STATUS_4_FRAME_API, packedData, &length,
×tamp, kPDHFrameStatus4Timeout * 2, status);
if (*status != 0) {
return result;
}
- PDH_status4_unpack(&result, packedData, PDH_STATUS4_LENGTH);
+ PDH_status_4_unpack(&result, packedData, PDH_STATUS_4_LENGTH);
return result;
}
@@ -187,23 +183,23 @@
/**
* Helper function for the individual getter functions for status 4
*/
-PDH_status4_t HAL_REV_GetPDHStatus4(HAL_REVPDHHandle handle, int32_t* status) {
- PDH_status4_t statusFrame = {};
+PDH_status_4_t HAL_GetREVPDHStatus4(HAL_REVPDHHandle handle, int32_t* status) {
+ PDH_status_4_t statusFrame = {};
auto hpdh = REVPDHHandles->Get(handle);
if (hpdh == nullptr) {
*status = HAL_HANDLE_ERROR;
return statusFrame;
}
- statusFrame = HAL_REV_ReadPDHStatus4(hpdh->hcan, status);
+ statusFrame = HAL_ReadREVPDHStatus4(hpdh->hcan, status);
return statusFrame;
}
-HAL_REVPDHHandle HAL_REV_InitializePDH(int32_t module,
- const char* allocationLocation,
- int32_t* status) {
+HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t module,
+ const char* allocationLocation,
+ int32_t* status) {
hal::init::CheckInit();
- if (!HAL_REV_CheckPDHModuleNumber(module)) {
+ if (!HAL_CheckREVPDHModuleNumber(module)) {
*status = RESOURCE_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}
@@ -232,11 +228,12 @@
hpdh->previousAllocation = allocationLocation ? allocationLocation : "";
hpdh->hcan = hcan;
hpdh->controlPeriod = kDefaultControlPeriod;
+ std::memset(&hpdh->versionInfo, 0, sizeof(hpdh->versionInfo));
return handle;
}
-void HAL_REV_FreePDH(HAL_REVPDHHandle handle) {
+void HAL_FreeREVPDH(HAL_REVPDHHandle handle) {
auto hpdh = REVPDHHandles->Get(handle);
if (hpdh == nullptr) {
return;
@@ -247,27 +244,27 @@
REVPDHHandles->Free(handle);
}
-int32_t HAL_REV_GetPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status) {
+int32_t HAL_GetREVPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status) {
return hal::getHandleIndex(handle);
}
-HAL_Bool HAL_REV_CheckPDHModuleNumber(int32_t module) {
+HAL_Bool HAL_CheckREVPDHModuleNumber(int32_t module) {
return ((module >= 1) && (module < kNumREVPDHModules)) ? 1 : 0;
}
-HAL_Bool HAL_REV_CheckPDHChannelNumber(int32_t channel) {
+HAL_Bool HAL_CheckREVPDHChannelNumber(int32_t channel) {
return ((channel >= 0) && (channel < kNumREVPDHChannels)) ? 1 : 0;
}
-double HAL_REV_GetPDHChannelCurrent(HAL_REVPDHHandle handle, int32_t channel,
- int32_t* status) {
+double HAL_GetREVPDHChannelCurrent(HAL_REVPDHHandle handle, int32_t channel,
+ int32_t* status) {
auto hpdh = REVPDHHandles->Get(handle);
if (hpdh == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0;
}
- if (!HAL_REV_CheckPDHChannelNumber(channel)) {
+ if (!HAL_CheckREVPDHChannelNumber(channel)) {
*status = RESOURCE_OUT_OF_RANGE;
return 0;
}
@@ -275,174 +272,101 @@
// Determine what periodic status the channel is in
if (channel < 6) {
// Periodic status 0
- PDH_status0_t statusFrame = HAL_REV_ReadPDHStatus0(hpdh->hcan, status);
+ PDH_status_0_t statusFrame = HAL_ReadREVPDHStatus0(hpdh->hcan, status);
switch (channel) {
case 0:
- return PDH_status0_channel_0_current_decode(
+ return PDH_status_0_channel_0_current_decode(
statusFrame.channel_0_current);
case 1:
- return PDH_status0_channel_1_current_decode(
+ return PDH_status_0_channel_1_current_decode(
statusFrame.channel_1_current);
case 2:
- return PDH_status0_channel_2_current_decode(
+ return PDH_status_0_channel_2_current_decode(
statusFrame.channel_2_current);
case 3:
- return PDH_status0_channel_3_current_decode(
+ return PDH_status_0_channel_3_current_decode(
statusFrame.channel_3_current);
case 4:
- return PDH_status0_channel_4_current_decode(
+ return PDH_status_0_channel_4_current_decode(
statusFrame.channel_4_current);
case 5:
- return PDH_status0_channel_5_current_decode(
+ return PDH_status_0_channel_5_current_decode(
statusFrame.channel_5_current);
}
} else if (channel < 12) {
// Periodic status 1
- PDH_status1_t statusFrame = HAL_REV_ReadPDHStatus1(hpdh->hcan, status);
+ PDH_status_1_t statusFrame = HAL_ReadREVPDHStatus1(hpdh->hcan, status);
switch (channel) {
case 6:
- return PDH_status1_channel_6_current_decode(
+ return PDH_status_1_channel_6_current_decode(
statusFrame.channel_6_current);
case 7:
- return PDH_status1_channel_7_current_decode(
+ return PDH_status_1_channel_7_current_decode(
statusFrame.channel_7_current);
case 8:
- return PDH_status1_channel_8_current_decode(
+ return PDH_status_1_channel_8_current_decode(
statusFrame.channel_8_current);
case 9:
- return PDH_status1_channel_9_current_decode(
+ return PDH_status_1_channel_9_current_decode(
statusFrame.channel_9_current);
case 10:
- return PDH_status1_channel_10_current_decode(
+ return PDH_status_1_channel_10_current_decode(
statusFrame.channel_10_current);
case 11:
- return PDH_status1_channel_11_current_decode(
+ return PDH_status_1_channel_11_current_decode(
statusFrame.channel_11_current);
}
} else if (channel < 18) {
// Periodic status 2
- PDH_status2_t statusFrame = HAL_REV_ReadPDHStatus2(hpdh->hcan, status);
+ PDH_status_2_t statusFrame = HAL_ReadREVPDHStatus2(hpdh->hcan, status);
switch (channel) {
case 12:
- return PDH_status2_channel_12_current_decode(
+ return PDH_status_2_channel_12_current_decode(
statusFrame.channel_12_current);
case 13:
- return PDH_status2_channel_13_current_decode(
+ return PDH_status_2_channel_13_current_decode(
statusFrame.channel_13_current);
case 14:
- return PDH_status2_channel_14_current_decode(
+ return PDH_status_2_channel_14_current_decode(
statusFrame.channel_14_current);
case 15:
- return PDH_status2_channel_15_current_decode(
+ return PDH_status_2_channel_15_current_decode(
statusFrame.channel_15_current);
case 16:
- return PDH_status2_channel_16_current_decode(
+ return PDH_status_2_channel_16_current_decode(
statusFrame.channel_16_current);
case 17:
- return PDH_status2_channel_17_current_decode(
+ return PDH_status_2_channel_17_current_decode(
statusFrame.channel_17_current);
}
} else if (channel < 24) {
// Periodic status 3
- PDH_status3_t statusFrame = HAL_REV_ReadPDHStatus3(hpdh->hcan, status);
+ PDH_status_3_t statusFrame = HAL_ReadREVPDHStatus3(hpdh->hcan, status);
switch (channel) {
case 18:
- return PDH_status3_channel_18_current_decode(
+ return PDH_status_3_channel_18_current_decode(
statusFrame.channel_18_current);
case 19:
- return PDH_status3_channel_19_current_decode(
+ return PDH_status_3_channel_19_current_decode(
statusFrame.channel_19_current);
case 20:
- return PDH_status3_channel_20_current_decode(
+ return PDH_status_3_channel_20_current_decode(
statusFrame.channel_20_current);
case 21:
- return PDH_status3_channel_21_current_decode(
+ return PDH_status_3_channel_21_current_decode(
statusFrame.channel_21_current);
case 22:
- return PDH_status3_channel_22_current_decode(
+ return PDH_status_3_channel_22_current_decode(
statusFrame.channel_22_current);
case 23:
- return PDH_status3_channel_23_current_decode(
+ return PDH_status_3_channel_23_current_decode(
statusFrame.channel_23_current);
}
}
return 0;
}
-void HAL_REV_GetPDHAllChannelCurrents(HAL_REVPDHHandle handle, double* currents,
- int32_t* status) {
- auto hpdh = REVPDHHandles->Get(handle);
- if (hpdh == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- PDH_status0_t statusFrame0 = HAL_REV_ReadPDHStatus0(hpdh->hcan, status);
- PDH_status1_t statusFrame1 = HAL_REV_ReadPDHStatus1(hpdh->hcan, status);
- PDH_status2_t statusFrame2 = HAL_REV_ReadPDHStatus2(hpdh->hcan, status);
- PDH_status3_t statusFrame3 = HAL_REV_ReadPDHStatus3(hpdh->hcan, status);
-
- currents[0] =
- PDH_status0_channel_0_current_decode(statusFrame0.channel_0_current);
- currents[1] =
- PDH_status0_channel_1_current_decode(statusFrame0.channel_1_current);
- currents[2] =
- PDH_status0_channel_2_current_decode(statusFrame0.channel_2_current);
- currents[3] =
- PDH_status0_channel_3_current_decode(statusFrame0.channel_3_current);
- currents[4] =
- PDH_status0_channel_4_current_decode(statusFrame0.channel_4_current);
- currents[5] =
- PDH_status0_channel_5_current_decode(statusFrame0.channel_5_current);
- currents[6] =
- PDH_status1_channel_6_current_decode(statusFrame1.channel_6_current);
- currents[7] =
- PDH_status1_channel_7_current_decode(statusFrame1.channel_7_current);
- currents[8] =
- PDH_status1_channel_8_current_decode(statusFrame1.channel_8_current);
- currents[9] =
- PDH_status1_channel_9_current_decode(statusFrame1.channel_9_current);
- currents[10] =
- PDH_status1_channel_10_current_decode(statusFrame1.channel_10_current);
- currents[11] =
- PDH_status1_channel_11_current_decode(statusFrame1.channel_11_current);
- currents[12] =
- PDH_status2_channel_12_current_decode(statusFrame2.channel_12_current);
- currents[13] =
- PDH_status2_channel_13_current_decode(statusFrame2.channel_13_current);
- currents[14] =
- PDH_status2_channel_14_current_decode(statusFrame2.channel_14_current);
- currents[15] =
- PDH_status2_channel_15_current_decode(statusFrame2.channel_15_current);
- currents[16] =
- PDH_status2_channel_16_current_decode(statusFrame2.channel_16_current);
- currents[17] =
- PDH_status2_channel_17_current_decode(statusFrame2.channel_17_current);
- currents[18] =
- PDH_status3_channel_18_current_decode(statusFrame3.channel_18_current);
- currents[19] =
- PDH_status3_channel_19_current_decode(statusFrame3.channel_19_current);
- currents[20] =
- PDH_status3_channel_20_current_decode(statusFrame3.channel_20_current);
- currents[21] =
- PDH_status3_channel_21_current_decode(statusFrame3.channel_21_current);
- currents[22] =
- PDH_status3_channel_22_current_decode(statusFrame3.channel_22_current);
- currents[23] =
- PDH_status3_channel_23_current_decode(statusFrame3.channel_23_current);
-}
-
-uint16_t HAL_REV_GetPDHTotalCurrent(HAL_REVPDHHandle handle, int32_t* status) {
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
-
- if (*status != 0) {
- return 0;
- }
-
- return PDH_status4_total_current_decode(statusFrame.total_current);
-}
-
-void HAL_REV_SetPDHSwitchableChannel(HAL_REVPDHHandle handle, HAL_Bool enabled,
+void HAL_GetREVPDHAllChannelCurrents(HAL_REVPDHHandle handle, double* currents,
int32_t* status) {
auto hpdh = REVPDHHandles->Get(handle);
if (hpdh == nullptr) {
@@ -450,291 +374,115 @@
return;
}
- uint8_t packedData[8] = {0};
- PDH_switch_channel_set_t frame;
- frame.output_set_value = enabled;
- frame.use_system_enable = false;
- PDH_switch_channel_set_pack(packedData, &frame, 1);
+ PDH_status_0_t statusFrame0 = HAL_ReadREVPDHStatus0(hpdh->hcan, status);
+ PDH_status_1_t statusFrame1 = HAL_ReadREVPDHStatus1(hpdh->hcan, status);
+ PDH_status_2_t statusFrame2 = HAL_ReadREVPDHStatus2(hpdh->hcan, status);
+ PDH_status_3_t statusFrame3 = HAL_ReadREVPDHStatus3(hpdh->hcan, status);
- HAL_WriteCANPacket(hpdh->hcan, packedData, PDH_SWITCH_CHANNEL_SET_LENGTH,
- PDH_SWITCH_CHANNEL_SET_FRAME_API, status);
+ currents[0] =
+ PDH_status_0_channel_0_current_decode(statusFrame0.channel_0_current);
+ currents[1] =
+ PDH_status_0_channel_1_current_decode(statusFrame0.channel_1_current);
+ currents[2] =
+ PDH_status_0_channel_2_current_decode(statusFrame0.channel_2_current);
+ currents[3] =
+ PDH_status_0_channel_3_current_decode(statusFrame0.channel_3_current);
+ currents[4] =
+ PDH_status_0_channel_4_current_decode(statusFrame0.channel_4_current);
+ currents[5] =
+ PDH_status_0_channel_5_current_decode(statusFrame0.channel_5_current);
+ currents[6] =
+ PDH_status_1_channel_6_current_decode(statusFrame1.channel_6_current);
+ currents[7] =
+ PDH_status_1_channel_7_current_decode(statusFrame1.channel_7_current);
+ currents[8] =
+ PDH_status_1_channel_8_current_decode(statusFrame1.channel_8_current);
+ currents[9] =
+ PDH_status_1_channel_9_current_decode(statusFrame1.channel_9_current);
+ currents[10] =
+ PDH_status_1_channel_10_current_decode(statusFrame1.channel_10_current);
+ currents[11] =
+ PDH_status_1_channel_11_current_decode(statusFrame1.channel_11_current);
+ currents[12] =
+ PDH_status_2_channel_12_current_decode(statusFrame2.channel_12_current);
+ currents[13] =
+ PDH_status_2_channel_13_current_decode(statusFrame2.channel_13_current);
+ currents[14] =
+ PDH_status_2_channel_14_current_decode(statusFrame2.channel_14_current);
+ currents[15] =
+ PDH_status_2_channel_15_current_decode(statusFrame2.channel_15_current);
+ currents[16] =
+ PDH_status_2_channel_16_current_decode(statusFrame2.channel_16_current);
+ currents[17] =
+ PDH_status_2_channel_17_current_decode(statusFrame2.channel_17_current);
+ currents[18] =
+ PDH_status_3_channel_18_current_decode(statusFrame3.channel_18_current);
+ currents[19] =
+ PDH_status_3_channel_19_current_decode(statusFrame3.channel_19_current);
+ currents[20] =
+ PDH_status_3_channel_20_current_decode(statusFrame3.channel_20_current);
+ currents[21] =
+ PDH_status_3_channel_21_current_decode(statusFrame3.channel_21_current);
+ currents[22] =
+ PDH_status_3_channel_22_current_decode(statusFrame3.channel_22_current);
+ currents[23] =
+ PDH_status_3_channel_23_current_decode(statusFrame3.channel_23_current);
}
-HAL_Bool HAL_REV_GetPDHSwitchableChannelState(HAL_REVPDHHandle handle,
- int32_t* status) {
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+uint16_t HAL_GetREVPDHTotalCurrent(HAL_REVPDHHandle handle, int32_t* status) {
+ PDH_status_4_t statusFrame = HAL_GetREVPDHStatus4(handle, status);
if (*status != 0) {
- return 0.0;
+ return 0;
}
- return PDH_status4_sw_state_decode(statusFrame.sw_state);
+ return PDH_status_4_total_current_decode(statusFrame.total_current);
}
-HAL_Bool HAL_REV_CheckPDHChannelBrownout(HAL_REVPDHHandle handle,
- int32_t channel, int32_t* status) {
+void HAL_SetREVPDHSwitchableChannel(HAL_REVPDHHandle handle, HAL_Bool enabled,
+ int32_t* status) {
auto hpdh = REVPDHHandles->Get(handle);
if (hpdh == nullptr) {
*status = HAL_HANDLE_ERROR;
- return 0;
+ return;
}
- if (!HAL_REV_CheckPDHChannelNumber(channel)) {
- *status = RESOURCE_OUT_OF_RANGE;
- return 0;
- }
+ uint8_t packedData[8] = {0};
+ PDH_set_switch_channel_t frame;
+ frame.output_set_value = enabled;
+ PDH_set_switch_channel_pack(packedData, &frame,
+ PDH_SET_SWITCH_CHANNEL_LENGTH);
- // Determine what periodic status the channel is in
- if (channel < 4) {
- // Periodic status 0
- PDH_status0_t statusFrame = HAL_REV_ReadPDHStatus0(hpdh->hcan, status);
- switch (channel) {
- case 0:
- return PDH_status0_channel_0_brownout_decode(
- statusFrame.channel_0_brownout);
- case 1:
- return PDH_status0_channel_1_brownout_decode(
- statusFrame.channel_1_brownout);
- case 2:
- return PDH_status0_channel_2_brownout_decode(
- statusFrame.channel_2_brownout);
- case 3:
- return PDH_status0_channel_3_brownout_decode(
- statusFrame.channel_3_brownout);
- }
- } else if (channel < 8) {
- // Periodic status 1
- PDH_status1_t statusFrame = HAL_REV_ReadPDHStatus1(hpdh->hcan, status);
- switch (channel) {
- case 4:
- return PDH_status1_channel_4_brownout_decode(
- statusFrame.channel_4_brownout);
- case 5:
- return PDH_status1_channel_5_brownout_decode(
- statusFrame.channel_5_brownout);
- case 6:
- return PDH_status1_channel_6_brownout_decode(
- statusFrame.channel_6_brownout);
- case 7:
- return PDH_status1_channel_7_brownout_decode(
- statusFrame.channel_7_brownout);
- }
- } else if (channel < 12) {
- // Periodic status 2
- PDH_status2_t statusFrame = HAL_REV_ReadPDHStatus2(hpdh->hcan, status);
- switch (channel) {
- case 8:
- return PDH_status2_channel_8_brownout_decode(
- statusFrame.channel_8_brownout);
- case 9:
- return PDH_status2_channel_9_brownout_decode(
- statusFrame.channel_9_brownout);
- case 10:
- return PDH_status2_channel_10_brownout_decode(
- statusFrame.channel_10_brownout);
- case 11:
- return PDH_status2_channel_11_brownout_decode(
- statusFrame.channel_11_brownout);
- }
- } else if (channel < 24) {
- // Periodic status 3
- PDH_status3_t statusFrame = HAL_REV_ReadPDHStatus3(hpdh->hcan, status);
- switch (channel) {
- case 12:
- return PDH_status3_channel_12_brownout_decode(
- statusFrame.channel_12_brownout);
- case 13:
- return PDH_status3_channel_13_brownout_decode(
- statusFrame.channel_13_brownout);
- case 14:
- return PDH_status3_channel_14_brownout_decode(
- statusFrame.channel_14_brownout);
- case 15:
- return PDH_status3_channel_15_brownout_decode(
- statusFrame.channel_15_brownout);
- case 16:
- return PDH_status3_channel_16_brownout_decode(
- statusFrame.channel_16_brownout);
- case 17:
- return PDH_status3_channel_17_brownout_decode(
- statusFrame.channel_17_brownout);
- case 18:
- return PDH_status3_channel_18_brownout_decode(
- statusFrame.channel_18_brownout);
- case 19:
- return PDH_status3_channel_19_brownout_decode(
- statusFrame.channel_19_brownout);
- case 20:
- return PDH_status3_channel_20_brownout_decode(
- statusFrame.channel_20_brownout);
- case 21:
- return PDH_status3_channel_21_brownout_decode(
- statusFrame.channel_21_brownout);
- case 22:
- return PDH_status3_channel_22_brownout_decode(
- statusFrame.channel_22_brownout);
- case 23:
- return PDH_status3_channel_23_brownout_decode(
- statusFrame.channel_23_brownout);
- }
- }
- return 0;
+ HAL_WriteCANPacket(hpdh->hcan, packedData, PDH_SET_SWITCH_CHANNEL_LENGTH,
+ PDH_SET_SWITCH_CHANNEL_FRAME_API, status);
}
-double HAL_REV_GetPDHSupplyVoltage(HAL_REVPDHHandle handle, int32_t* status) {
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
-
- if (*status != 0) {
- return 0.0;
- }
-
- return PDH_status4_v_bus_decode(statusFrame.v_bus);
-}
-
-HAL_Bool HAL_REV_IsPDHEnabled(HAL_REVPDHHandle handle, int32_t* status) {
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
-
- if (*status != 0) {
- return false;
- }
-
- return PDH_status4_system_enable_decode(statusFrame.system_enable);
-}
-
-HAL_Bool HAL_REV_CheckPDHBrownout(HAL_REVPDHHandle handle, int32_t* status) {
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
-
- if (*status != 0) {
- return false;
- }
-
- return PDH_status4_brownout_decode(statusFrame.brownout);
-}
-
-HAL_Bool HAL_REV_CheckPDHCANWarning(HAL_REVPDHHandle handle, int32_t* status) {
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
-
- if (*status != 0) {
- return 0.0;
- }
-
- return PDH_status4_can_warning_decode(statusFrame.can_warning);
-}
-
-HAL_Bool HAL_REV_CheckPDHHardwareFault(HAL_REVPDHHandle handle,
- int32_t* status) {
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
-
- if (*status != 0) {
- return 0.0;
- }
-
- return PDH_status4_hardware_fault_decode(statusFrame.hardware_fault);
-}
-
-HAL_Bool HAL_REV_CheckPDHStickyBrownout(HAL_REVPDHHandle handle,
- int32_t* status) {
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
-
- if (*status != 0) {
- return 0.0;
- }
-
- return PDH_status4_sticky_brownout_decode(statusFrame.sticky_brownout);
-}
-
-HAL_Bool HAL_REV_CheckPDHStickyCANWarning(HAL_REVPDHHandle handle,
- int32_t* status) {
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
-
- if (*status != 0) {
- return 0.0;
- }
-
- return PDH_status4_sticky_can_warning_decode(statusFrame.sticky_can_warning);
-}
-
-HAL_Bool HAL_REV_CheckPDHStickyCANBusOff(HAL_REVPDHHandle handle,
- int32_t* status) {
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
-
- if (*status != 0) {
- return 0.0;
- }
-
- return PDH_status4_sticky_can_bus_off_decode(statusFrame.sticky_can_bus_off);
-}
-
-HAL_Bool HAL_REV_CheckPDHStickyHardwareFault(HAL_REVPDHHandle handle,
+HAL_Bool HAL_GetREVPDHSwitchableChannelState(HAL_REVPDHHandle handle,
int32_t* status) {
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+ PDH_status_4_t statusFrame = HAL_GetREVPDHStatus4(handle, status);
if (*status != 0) {
return 0.0;
}
- return PDH_status4_sticky_hardware_fault_decode(
- statusFrame.sticky_hardware_fault);
+ return PDH_status_4_switch_channel_state_decode(
+ statusFrame.switch_channel_state);
}
-HAL_Bool HAL_REV_CheckPDHStickyFirmwareFault(HAL_REVPDHHandle handle,
- int32_t* status) {
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+double HAL_GetREVPDHVoltage(HAL_REVPDHHandle handle, int32_t* status) {
+ PDH_status_4_t statusFrame = HAL_GetREVPDHStatus4(handle, status);
if (*status != 0) {
return 0.0;
}
- return PDH_status4_sticky_firmware_fault_decode(
- statusFrame.sticky_firmware_fault);
+ return PDH_status_4_v_bus_decode(statusFrame.v_bus);
}
-HAL_Bool HAL_REV_CheckPDHStickyChannelBrownout(HAL_REVPDHHandle handle,
- int32_t channel,
- int32_t* status) {
- if (channel < 20 || channel > 23) {
- *status = RESOURCE_OUT_OF_RANGE;
- return 0.0;
- }
-
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
-
- if (*status != 0) {
- return 0.0;
- }
-
- switch (channel) {
- case 20:
- return PDH_status4_sticky_ch20_brownout_decode(
- statusFrame.sticky_ch20_brownout);
- case 21:
- return PDH_status4_sticky_ch21_brownout_decode(
- statusFrame.sticky_ch21_brownout);
- case 22:
- return PDH_status4_sticky_ch22_brownout_decode(
- statusFrame.sticky_ch22_brownout);
- case 23:
- return PDH_status4_sticky_ch23_brownout_decode(
- statusFrame.sticky_ch23_brownout);
- }
- return 0;
-}
-
-HAL_Bool HAL_REV_CheckPDHStickyHasReset(HAL_REVPDHHandle handle,
- int32_t* status) {
- PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
-
- if (*status != 0) {
- return 0.0;
- }
-
- return PDH_status4_sticky_has_reset_decode(statusFrame.sticky_has_reset);
-}
-
-REV_PDH_Version HAL_REV_GetPDHVersion(HAL_REVPDHHandle handle,
- int32_t* status) {
- REV_PDH_Version version;
- std::memset(&version, 0, sizeof(version));
+void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
+ HAL_PowerDistributionVersion* version,
+ int32_t* status) {
+ std::memset(version, 0, sizeof(*version));
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
@@ -742,36 +490,141 @@
auto hpdh = REVPDHHandles->Get(handle);
if (hpdh == nullptr) {
*status = HAL_HANDLE_ERROR;
- return version;
+ return;
+ }
+
+ if (hpdh->versionInfo.firmwareMajor > 0) {
+ version->firmwareMajor = hpdh->versionInfo.firmwareMajor;
+ version->firmwareMinor = hpdh->versionInfo.firmwareMinor;
+ version->firmwareFix = hpdh->versionInfo.firmwareFix;
+ version->hardwareMajor = hpdh->versionInfo.hardwareMajor;
+ version->hardwareMinor = hpdh->versionInfo.hardwareMinor;
+ version->uniqueId = hpdh->versionInfo.uniqueId;
+
+ *status = 0;
+ return;
}
HAL_WriteCANRTRFrame(hpdh->hcan, PDH_VERSION_LENGTH, PDH_VERSION_FRAME_API,
status);
if (*status != 0) {
- return version;
+ return;
}
- HAL_ReadCANPacketTimeout(hpdh->hcan, PDH_VERSION_FRAME_API, packedData,
- &length, ×tamp, kDefaultControlPeriod * 2,
- status);
+ uint32_t timeoutMs = 100;
+ for (uint32_t i = 0; i <= timeoutMs; i++) {
+ HAL_ReadCANPacketNew(hpdh->hcan, PDH_VERSION_FRAME_API, packedData, &length,
+ ×tamp, status);
+ if (*status == 0) {
+ break;
+ }
+ std::this_thread::sleep_for(std::chrono::milliseconds(1));
+ }
if (*status != 0) {
- return version;
+ return;
}
PDH_version_unpack(&result, packedData, PDH_VERSION_LENGTH);
- version.firmwareMajor = result.firmware_year;
- version.firmwareMinor = result.firmware_minor;
- version.firmwareFix = result.firmware_fix;
- version.hardwareRev = result.hardware_code;
- version.uniqueId = result.unique_id;
+ version->firmwareMajor = result.firmware_year;
+ version->firmwareMinor = result.firmware_minor;
+ version->firmwareFix = result.firmware_fix;
+ version->hardwareMinor = result.hardware_minor;
+ version->hardwareMajor = result.hardware_major;
+ version->uniqueId = result.unique_id;
- return version;
+ hpdh->versionInfo = *version;
}
-void HAL_REV_ClearPDHFaults(HAL_REVPDHHandle handle, int32_t* status) {
+void HAL_GetREVPDHFaults(HAL_REVPDHHandle handle,
+ HAL_PowerDistributionFaults* faults, int32_t* status) {
+ std::memset(faults, 0, sizeof(*faults));
+ auto hpdh = REVPDHHandles->Get(handle);
+ if (hpdh == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ PDH_status_0_t status0 = HAL_ReadREVPDHStatus0(hpdh->hcan, status);
+ PDH_status_1_t status1 = HAL_ReadREVPDHStatus1(hpdh->hcan, status);
+ PDH_status_2_t status2 = HAL_ReadREVPDHStatus2(hpdh->hcan, status);
+ PDH_status_3_t status3 = HAL_ReadREVPDHStatus3(hpdh->hcan, status);
+ PDH_status_4_t status4 = HAL_ReadREVPDHStatus4(hpdh->hcan, status);
+
+ faults->channel0BreakerFault = status0.channel_0_breaker_fault;
+ faults->channel1BreakerFault = status0.channel_1_breaker_fault;
+ faults->channel2BreakerFault = status0.channel_2_breaker_fault;
+ faults->channel3BreakerFault = status0.channel_3_breaker_fault;
+ faults->channel4BreakerFault = status1.channel_4_breaker_fault;
+ faults->channel5BreakerFault = status1.channel_5_breaker_fault;
+ faults->channel6BreakerFault = status1.channel_6_breaker_fault;
+ faults->channel7BreakerFault = status1.channel_7_breaker_fault;
+ faults->channel8BreakerFault = status2.channel_8_breaker_fault;
+ faults->channel9BreakerFault = status2.channel_9_breaker_fault;
+ faults->channel10BreakerFault = status2.channel_10_breaker_fault;
+ faults->channel11BreakerFault = status2.channel_11_breaker_fault;
+ faults->channel12BreakerFault = status3.channel_12_breaker_fault;
+ faults->channel13BreakerFault = status3.channel_13_breaker_fault;
+ faults->channel14BreakerFault = status3.channel_14_breaker_fault;
+ faults->channel15BreakerFault = status3.channel_15_breaker_fault;
+ faults->channel16BreakerFault = status3.channel_16_breaker_fault;
+ faults->channel17BreakerFault = status3.channel_17_breaker_fault;
+ faults->channel18BreakerFault = status3.channel_18_breaker_fault;
+ faults->channel19BreakerFault = status3.channel_19_breaker_fault;
+ faults->channel20BreakerFault = status3.channel_20_breaker_fault;
+ faults->channel21BreakerFault = status3.channel_21_breaker_fault;
+ faults->channel22BreakerFault = status3.channel_22_breaker_fault;
+ faults->channel23BreakerFault = status3.channel_23_breaker_fault;
+ faults->brownout = status4.brownout_fault;
+ faults->canWarning = status4.can_warning_fault;
+ faults->hardwareFault = status4.hardware_fault;
+}
+
+void HAL_GetREVPDHStickyFaults(HAL_REVPDHHandle handle,
+ HAL_PowerDistributionStickyFaults* stickyFaults,
+ int32_t* status) {
+ std::memset(stickyFaults, 0, sizeof(*stickyFaults));
+ auto hpdh = REVPDHHandles->Get(handle);
+ if (hpdh == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ PDH_status_4_t status4 = HAL_ReadREVPDHStatus4(hpdh->hcan, status);
+
+ stickyFaults->channel0BreakerFault = status4.sticky_ch0_breaker_fault;
+ stickyFaults->channel1BreakerFault = status4.sticky_ch1_breaker_fault;
+ stickyFaults->channel2BreakerFault = status4.sticky_ch2_breaker_fault;
+ stickyFaults->channel3BreakerFault = status4.sticky_ch3_breaker_fault;
+ stickyFaults->channel4BreakerFault = status4.sticky_ch4_breaker_fault;
+ stickyFaults->channel5BreakerFault = status4.sticky_ch5_breaker_fault;
+ stickyFaults->channel6BreakerFault = status4.sticky_ch6_breaker_fault;
+ stickyFaults->channel7BreakerFault = status4.sticky_ch7_breaker_fault;
+ stickyFaults->channel8BreakerFault = status4.sticky_ch8_breaker_fault;
+ stickyFaults->channel9BreakerFault = status4.sticky_ch9_breaker_fault;
+ stickyFaults->channel10BreakerFault = status4.sticky_ch10_breaker_fault;
+ stickyFaults->channel11BreakerFault = status4.sticky_ch11_breaker_fault;
+ stickyFaults->channel12BreakerFault = status4.sticky_ch12_breaker_fault;
+ stickyFaults->channel13BreakerFault = status4.sticky_ch13_breaker_fault;
+ stickyFaults->channel14BreakerFault = status4.sticky_ch14_breaker_fault;
+ stickyFaults->channel15BreakerFault = status4.sticky_ch15_breaker_fault;
+ stickyFaults->channel16BreakerFault = status4.sticky_ch16_breaker_fault;
+ stickyFaults->channel17BreakerFault = status4.sticky_ch17_breaker_fault;
+ stickyFaults->channel18BreakerFault = status4.sticky_ch18_breaker_fault;
+ stickyFaults->channel19BreakerFault = status4.sticky_ch19_breaker_fault;
+ stickyFaults->channel20BreakerFault = status4.sticky_ch20_breaker_fault;
+ stickyFaults->channel21BreakerFault = status4.sticky_ch21_breaker_fault;
+ stickyFaults->channel22BreakerFault = status4.sticky_ch22_breaker_fault;
+ stickyFaults->channel23BreakerFault = status4.sticky_ch23_breaker_fault;
+ stickyFaults->brownout = status4.sticky_brownout_fault;
+ stickyFaults->canWarning = status4.sticky_can_warning_fault;
+ stickyFaults->canBusOff = status4.sticky_can_bus_off_fault;
+ stickyFaults->hasReset = status4.sticky_has_reset_fault;
+}
+
+void HAL_ClearREVPDHStickyFaults(HAL_REVPDHHandle handle, int32_t* status) {
auto hpdh = REVPDHHandles->Get(handle);
if (hpdh == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -783,16 +636,4 @@
PDH_CLEAR_FAULTS_FRAME_API, status);
}
-void HAL_REV_IdentifyPDH(HAL_REVPDHHandle handle, int32_t* status) {
- auto hpdh = REVPDHHandles->Get(handle);
- if (hpdh == nullptr) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- uint8_t packedData[8] = {0};
- HAL_WriteCANPacket(hpdh->hcan, packedData, PDH_IDENTIFY_LENGTH,
- PDH_IDENTIFY_FRAME_API, status);
-}
-
} // extern "C"
diff --git a/third_party/allwpilib/hal/src/main/native/athena/REVPDH.h b/third_party/allwpilib/hal/src/main/native/athena/REVPDH.h
index 228d05c..d0b10f2 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/REVPDH.h
+++ b/third_party/allwpilib/hal/src/main/native/athena/REVPDH.h
@@ -6,6 +6,7 @@
#include <stdint.h>
+#include "hal/PowerDistribution.h"
#include "hal/Types.h"
/**
@@ -14,14 +15,6 @@
* @{
*/
-struct REV_PDH_Version {
- uint32_t firmwareMajor;
- uint32_t firmwareMinor;
- uint32_t firmwareFix;
- uint32_t hardwareRev;
- uint32_t uniqueId;
-};
-
#ifdef __cplusplus
extern "C" {
#endif
@@ -32,21 +25,21 @@
* @param module the device CAN ID (1 .. 63)
* @return the created PDH handle
*/
-HAL_REVPDHHandle HAL_REV_InitializePDH(int32_t module,
- const char* allocationLocation,
- int32_t* status);
+HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t module,
+ const char* allocationLocation,
+ int32_t* status);
/**
* Frees a PDH device handle.
*
* @param handle the previously created PDH handle
*/
-void HAL_REV_FreePDH(HAL_REVPDHHandle handle);
+void HAL_FreeREVPDH(HAL_REVPDHHandle handle);
/**
* Gets the module number for a pdh.
*/
-int32_t HAL_REV_GetPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status);
+int32_t HAL_GetREVPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status);
/**
* Checks if a PDH module number is valid.
@@ -56,34 +49,34 @@
* @param module module number (1 .. 63)
* @return 1 if the module number is valid; 0 otherwise
*/
-HAL_Bool HAL_REV_CheckPDHModuleNumber(int32_t module);
+HAL_Bool HAL_CheckREVPDHModuleNumber(int32_t module);
/**
* Checks if a PDH channel number is valid.
*
- * @param module channel number (0 .. HAL_REV_PDH_NUM_CHANNELS)
+ * @param module channel number (0 .. kNumREVPDHChannels)
* @return 1 if the channel number is valid; 0 otherwise
*/
-HAL_Bool HAL_REV_CheckPDHChannelNumber(int32_t channel);
+HAL_Bool HAL_CheckREVPDHChannelNumber(int32_t channel);
/**
* Gets the current of a PDH channel in Amps.
*
* @param handle PDH handle
* @param channel the channel to retrieve the current of (0 ..
- * HAL_REV_PDH_NUM_CHANNELS)
+ * kNumREVPDHChannels)
*
* @return the current of the PDH channel in Amps
*/
-double HAL_REV_GetPDHChannelCurrent(HAL_REVPDHHandle handle, int32_t channel,
- int32_t* status);
+double HAL_GetREVPDHChannelCurrent(HAL_REVPDHHandle handle, int32_t channel,
+ int32_t* status);
/**
* @param handle PDH handle
* @param currents array of currents
*/
-void HAL_REV_GetPDHAllChannelCurrents(HAL_REVPDHHandle handle, double* currents,
- int32_t* status);
+void HAL_GetREVPDHAllChannelCurrents(HAL_REVPDHHandle handle, double* currents,
+ int32_t* status);
/**
* Gets the total current of the PDH in Amps, measured to the nearest even
@@ -93,7 +86,7 @@
*
* @return the total current of the PDH in Amps
*/
-uint16_t HAL_REV_GetPDHTotalCurrent(HAL_REVPDHHandle handle, int32_t* status);
+uint16_t HAL_GetREVPDHTotalCurrent(HAL_REVPDHHandle handle, int32_t* status);
/**
* Sets the state of the switchable channel on a PDH device.
@@ -102,8 +95,8 @@
* @param enabled 1 if the switchable channel should be enabled; 0
* otherwise
*/
-void HAL_REV_SetPDHSwitchableChannel(HAL_REVPDHHandle handle, HAL_Bool enabled,
- int32_t* status);
+void HAL_SetREVPDHSwitchableChannel(HAL_REVPDHHandle handle, HAL_Bool enabled,
+ int32_t* status);
/**
* Gets the current state of the switchable channel on a PDH device.
@@ -114,200 +107,56 @@
* @param handle PDH handle
* @return 1 if the switchable channel is enabled; 0 otherwise
*/
-HAL_Bool HAL_REV_GetPDHSwitchableChannelState(HAL_REVPDHHandle handle,
- int32_t* status);
-
-/**
- * Checks if a PDH channel is currently experiencing a brownout condition.
- *
- * NOTE: Not implemented in firmware as of 2021-04-23.
- *
- * @param handle PDH handle
- * @param channel the channel to retrieve the brownout status of
- *
- * @return 1 if the channel is experiencing a brownout; 0 otherwise
- */
-HAL_Bool HAL_REV_CheckPDHChannelBrownout(HAL_REVPDHHandle handle,
- int32_t channel, int32_t* status);
-
-/**
- * Gets the voltage being supplied to a PDH device.
- *
- * @param handle PDH handle
- *
- * @return the voltage at the input of the PDH in Volts
- */
-double HAL_REV_GetPDHSupplyVoltage(HAL_REVPDHHandle handle, int32_t* status);
-
-/**
- * Checks if a PDH device is currently enabled.
- *
- * @param handle PDH handle
- *
- * @return 1 if the PDH is enabled; 0 otherwise
- */
-HAL_Bool HAL_REV_IsPDHEnabled(HAL_REVPDHHandle handle, int32_t* status);
-
-/**
- * Checks if the input voltage on a PDH device is currently below the minimum
- * voltage.
- *
- * NOTE: Not implemented in firmware as of 2021-04-23.
- *
- * @param handle PDH handle
- *
- * @return 1 if the PDH is experiencing a brownout; 0 otherwise
- */
-HAL_Bool HAL_REV_CheckPDHBrownout(HAL_REVPDHHandle handle, int32_t* status);
-
-/**
- * Checks if the CAN RX or TX error levels on a PDH device have exceeded the
- * warning threshold.
- *
- * NOTE: Not implemented in firmware as of 2021-04-23.
- *
- * @param handle PDH handle
- *
- * @return 1 if the device has exceeded the warning threshold; 0
- * otherwise
- */
-HAL_Bool HAL_REV_CheckPDHCANWarning(HAL_REVPDHHandle handle, int32_t* status);
-
-/**
- * Checks if a PDH device is currently malfunctioning.
- *
- * NOTE: Not implemented in firmware as of 2021-04-23.
- *
- * @param handle PDH handle
- *
- * @return 1 if the device is in a hardware fault state; 0
- * otherwise
- */
-HAL_Bool HAL_REV_CheckPDHHardwareFault(HAL_REVPDHHandle handle,
- int32_t* status);
-
-/**
- * Checks if the input voltage on a PDH device has gone below the specified
- * minimum voltage.
- *
- * NOTE: Not implemented in firmware as of 2021-04-23.
- *
- * @param handle PDH handle
- *
- * @return 1 if the device has had a brownout; 0 otherwise
- */
-HAL_Bool HAL_REV_CheckPDHStickyBrownout(HAL_REVPDHHandle handle,
- int32_t* status);
-
-/**
- * Checks if the CAN RX or TX error levels on a PDH device have exceeded the
- * warning threshold.
- *
- * NOTE: Not implemented in firmware as of 2021-04-23.
- *
- * @param handle PDH handle
- *
- * @return 1 if the device has exceeded the CAN warning threshold;
- * 0 otherwise
- */
-HAL_Bool HAL_REV_CheckPDHStickyCANWarning(HAL_REVPDHHandle handle,
- int32_t* status);
-
-/**
- * Checks if the CAN bus on a PDH device has previously experienced a 'Bus Off'
- * event.
- *
- * NOTE: Not implemented in firmware as of 2021-04-23.
- *
- * @param handle PDH handle
- *
- * @return 1 if the device has experienced a 'Bus Off' event; 0
- * otherwise
- */
-HAL_Bool HAL_REV_CheckPDHStickyCANBusOff(HAL_REVPDHHandle handle,
- int32_t* status);
-
-/**
- * Checks if a PDH device has malfunctioned.
- *
- * NOTE: Not implemented in firmware as of 2021-04-23.
- *
- * @param handle PDH handle
- *
- * @return 1 if the device has had a malfunction; 0 otherwise
- */
-HAL_Bool HAL_REV_CheckPDHStickyHardwareFault(HAL_REVPDHHandle handle,
+HAL_Bool HAL_GetREVPDHSwitchableChannelState(HAL_REVPDHHandle handle,
int32_t* status);
/**
- * Checks if the firmware on a PDH device has malfunctioned and reset during
- * operation.
- *
- * NOTE: Not implemented in firmware as of 2021-04-23.
- *
- * @param handle PDH handle
- *
- * @return 1 if the device has had a malfunction and reset; 0
- * otherwise
- */
-HAL_Bool HAL_REV_CheckPDHStickyFirmwareFault(HAL_REVPDHHandle handle,
- int32_t* status);
-
-/**
- * Checks if a brownout has happened on channels 20-23 of a PDH device while it
- * was enabled.
- *
- * NOTE: Not implemented in firmware as of 2021-04-23.
- *
- * @param handle PDH handle
- * @param channel PDH channel to retrieve sticky brownout status (20 ..
- * 23)
- *
- *
- * @return 1 if the channel has had a brownout; 0 otherwise
- */
-HAL_Bool HAL_REV_CheckPDHStickyChannelBrownout(HAL_REVPDHHandle handle,
- int32_t channel,
- int32_t* status);
-
-/**
- * Checks if a PDH device has reset.
- *
- * NOTE: Not implemented in firmware as of 2021-04-23.
- *
- * @param handle PDH handle
- *
- * @return 1 if the device has reset; 0 otherwise
- */
-HAL_Bool HAL_REV_CheckPDHStickyHasReset(HAL_REVPDHHandle handle,
- int32_t* status);
-
-/**
* Gets the firmware and hardware versions of a PDH device.
*
* @param handle PDH handle
*
* @return version information
*/
-REV_PDH_Version HAL_REV_GetPDHVersion(HAL_REVPDHHandle handle, int32_t* status);
+void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
+ HAL_PowerDistributionVersion* version,
+ int32_t* status);
+
+/**
+ * Gets the voltage being supplied to a PDH device.
+ *
+ * @param handle PDH handle
+ *
+ * @return the voltage at the input of the PDH in Volts
+ */
+double HAL_GetREVPDHVoltage(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Gets the faults of a PDH device.
+ *
+ * @param handle PDH handle
+ *
+ * @return the faults of the PDH
+ */
+void HAL_GetREVPDHFaults(HAL_REVPDHHandle handle,
+ HAL_PowerDistributionFaults* faults, int32_t* status);
+
+/**
+ * Gets the sticky faults of a PDH device.
+ *
+ * @param handle PDH handle
+ *
+ * @return the sticky faults of the PDH
+ */
+void HAL_GetREVPDHStickyFaults(HAL_REVPDHHandle handle,
+ HAL_PowerDistributionStickyFaults* stickyFaults,
+ int32_t* status);
/**
* Clears the sticky faults on a PDH device.
*
- * NOTE: Not implemented in firmware as of 2021-04-23.
- *
* @param handle PDH handle
*/
-void HAL_REV_ClearPDHFaults(HAL_REVPDHHandle handle, int32_t* status);
-
-/**
- * Identifies a PDH device by blinking its LED.
- *
- * NOTE: Not implemented in firmware as of 2021-04-23.
- *
- * @param handle PDH handle
- */
-void HAL_REV_IdentifyPDH(HAL_REVPDHHandle handle, int32_t* status);
+void HAL_ClearREVPDHStickyFaults(HAL_REVPDHHandle handle, int32_t* status);
#ifdef __cplusplus
} // extern "C"
diff --git a/third_party/allwpilib/hal/src/main/native/athena/REVPH.cpp b/third_party/allwpilib/hal/src/main/native/athena/REVPH.cpp
index 155f92c..5b18de6 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/REVPH.cpp
+++ b/third_party/allwpilib/hal/src/main/native/athena/REVPH.cpp
@@ -4,6 +4,8 @@
#include "hal/REVPH.h"
+#include <thread>
+
#include <fmt/format.h>
#include "HALInitializer.h"
@@ -23,28 +25,34 @@
HAL_CANDeviceType::HAL_CAN_Dev_kPneumatics;
static constexpr int32_t kDefaultControlPeriod = 20;
-// static constexpr uint8_t kDefaultSensorMask = (1 <<
-// HAL_REV_PHSENSOR_DIGITAL);
static constexpr uint8_t kDefaultCompressorDuty = 255;
static constexpr uint8_t kDefaultPressureTarget = 120;
static constexpr uint8_t kDefaultPressureHysteresis = 60;
-#define HAL_REV_MAX_PULSE_TIME 65534
-#define HAL_REV_MAX_PRESSURE_TARGET 120
-#define HAL_REV_MAX_PRESSURE_HYSTERESIS HAL_REV_MAX_PRESSURE_TARGET
+#define HAL_REVPH_MAX_PULSE_TIME 65534
static constexpr uint32_t APIFromExtId(uint32_t extId) {
return (extId >> 6) & 0x3FF;
}
+static constexpr uint32_t PH_STATUS_0_FRAME_API =
+ APIFromExtId(PH_STATUS_0_FRAME_ID);
+static constexpr uint32_t PH_STATUS_1_FRAME_API =
+ APIFromExtId(PH_STATUS_1_FRAME_ID);
+
static constexpr uint32_t PH_SET_ALL_FRAME_API =
APIFromExtId(PH_SET_ALL_FRAME_ID);
static constexpr uint32_t PH_PULSE_ONCE_FRAME_API =
APIFromExtId(PH_PULSE_ONCE_FRAME_ID);
-static constexpr uint32_t PH_STATUS0_FRAME_API =
- APIFromExtId(PH_STATUS0_FRAME_ID);
-static constexpr uint32_t PH_STATUS1_FRAME_API =
- APIFromExtId(PH_STATUS1_FRAME_ID);
+
+static constexpr uint32_t PH_COMPRESSOR_CONFIG_API =
+ APIFromExtId(PH_COMPRESSOR_CONFIG_FRAME_ID);
+
+static constexpr uint32_t PH_CLEAR_FAULTS_FRAME_API =
+ APIFromExtId(PH_CLEAR_FAULTS_FRAME_ID);
+
+static constexpr uint32_t PH_VERSION_FRAME_API =
+ APIFromExtId(PH_VERSION_FRAME_ID);
static constexpr int32_t kPHFrameStatus0Timeout = 50;
static constexpr int32_t kPHFrameStatus1Timeout = 50;
@@ -57,6 +65,7 @@
wpi::mutex solenoidLock;
HAL_CANHandle hcan;
std::string previousAllocation;
+ HAL_REVPHVersion versionInfo;
};
} // namespace
@@ -73,38 +82,38 @@
}
} // namespace hal::init
-static PH_status0_t HAL_REV_ReadPHStatus0(HAL_CANHandle hcan, int32_t* status) {
+static PH_status_0_t HAL_ReadREVPHStatus0(HAL_CANHandle hcan, int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
- PH_status0_t result = {};
+ PH_status_0_t result = {};
- HAL_ReadCANPacketTimeout(hcan, PH_STATUS0_FRAME_API, packedData, &length,
+ HAL_ReadCANPacketTimeout(hcan, PH_STATUS_0_FRAME_API, packedData, &length,
×tamp, kPHFrameStatus0Timeout * 2, status);
if (*status != 0) {
return result;
}
- PH_status0_unpack(&result, packedData, PH_STATUS0_LENGTH);
+ PH_status_0_unpack(&result, packedData, PH_STATUS_0_LENGTH);
return result;
}
-static PH_status1_t HAL_REV_ReadPHStatus1(HAL_CANHandle hcan, int32_t* status) {
+static PH_status_1_t HAL_ReadREVPHStatus1(HAL_CANHandle hcan, int32_t* status) {
uint8_t packedData[8] = {0};
int32_t length = 0;
uint64_t timestamp = 0;
- PH_status1_t result = {};
+ PH_status_1_t result = {};
- HAL_ReadCANPacketTimeout(hcan, PH_STATUS1_FRAME_API, packedData, &length,
+ HAL_ReadCANPacketTimeout(hcan, PH_STATUS_1_FRAME_API, packedData, &length,
×tamp, kPHFrameStatus1Timeout * 2, status);
if (*status != 0) {
return result;
}
- PH_status1_unpack(&result, packedData, PH_STATUS1_LENGTH);
+ PH_status_1_unpack(&result, packedData, PH_STATUS_1_LENGTH);
return result;
}
@@ -115,9 +124,9 @@
kSolenoidControlledViaPulse
};
-static void HAL_REV_UpdateDesiredPHSolenoidState(REV_PHObj* hph,
- int32_t solenoid,
- REV_SolenoidState state) {
+static void HAL_UpdateDesiredREVPHSolenoidState(REV_PHObj* hph,
+ int32_t solenoid,
+ REV_SolenoidState state) {
switch (solenoid) {
case 0:
hph->desiredSolenoidsState.channel_0 = state;
@@ -170,15 +179,15 @@
}
}
-static void HAL_REV_SendSolenoidsState(REV_PHObj* hph, int32_t* status) {
+static void HAL_SendREVPHSolenoidsState(REV_PHObj* hph, int32_t* status) {
uint8_t packedData[PH_SET_ALL_LENGTH] = {0};
PH_set_all_pack(packedData, &(hph->desiredSolenoidsState), PH_SET_ALL_LENGTH);
HAL_WriteCANPacketRepeating(hph->hcan, packedData, PH_SET_ALL_LENGTH,
PH_SET_ALL_FRAME_API, hph->controlPeriod, status);
}
-static HAL_Bool HAL_REV_CheckPHPulseTime(int32_t time) {
- return ((time > 0) && (time <= HAL_REV_MAX_PULSE_TIME)) ? 1 : 0;
+static HAL_Bool HAL_CheckREVPHPulseTime(int32_t time) {
+ return ((time > 0) && (time <= HAL_REVPH_MAX_PULSE_TIME)) ? 1 : 0;
}
HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
@@ -215,9 +224,12 @@
hph->previousAllocation = allocationLocation ? allocationLocation : "";
hph->hcan = hcan;
hph->controlPeriod = kDefaultControlPeriod;
+ std::memset(&hph->desiredSolenoidsState, 0,
+ sizeof(hph->desiredSolenoidsState));
+ std::memset(&hph->versionInfo, 0, sizeof(hph->versionInfo));
// Start closed-loop compressor control by starting solenoid state updates
- HAL_REV_SendSolenoidsState(hph.get(), status);
+ HAL_SendREVPHSolenoidsState(hph.get(), status);
return handle;
}
@@ -247,7 +259,7 @@
return false;
}
- PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+ PH_status_0_t status0 = HAL_ReadREVPHStatus0(ph->hcan, status);
if (*status != 0) {
return false;
@@ -256,14 +268,86 @@
return status0.compressor_on;
}
-void HAL_SetREVPHClosedLoopControl(HAL_REVPHHandle handle, HAL_Bool enabled,
- int32_t* status) {
- // TODO
+void HAL_SetREVPHCompressorConfig(HAL_REVPHHandle handle,
+ const HAL_REVPHCompressorConfig* config,
+ int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ PH_compressor_config_t frameData;
+ frameData.minimum_tank_pressure =
+ PH_compressor_config_minimum_tank_pressure_encode(
+ config->minAnalogVoltage);
+ frameData.maximum_tank_pressure =
+ PH_compressor_config_maximum_tank_pressure_encode(
+ config->maxAnalogVoltage);
+ frameData.force_disable = config->forceDisable;
+ frameData.use_digital = config->useDigital;
+
+ uint8_t packedData[PH_COMPRESSOR_CONFIG_LENGTH] = {0};
+ PH_compressor_config_pack(packedData, &frameData,
+ PH_COMPRESSOR_CONFIG_LENGTH);
+ HAL_WriteCANPacket(ph->hcan, packedData, PH_COMPRESSOR_CONFIG_LENGTH,
+ PH_COMPRESSOR_CONFIG_API, status);
}
-HAL_Bool HAL_GetREVPHClosedLoopControl(HAL_REVPHHandle handle,
- int32_t* status) {
- return false; // TODO
+void HAL_SetREVPHClosedLoopControlDisabled(HAL_REVPHHandle handle,
+ int32_t* status) {
+ HAL_REVPHCompressorConfig config = {0, 0, 0, 0};
+ config.forceDisable = true;
+
+ HAL_SetREVPHCompressorConfig(handle, &config, status);
+}
+
+void HAL_SetREVPHClosedLoopControlDigital(HAL_REVPHHandle handle,
+ int32_t* status) {
+ HAL_REVPHCompressorConfig config = {0, 0, 0, 0};
+ config.useDigital = true;
+
+ HAL_SetREVPHCompressorConfig(handle, &config, status);
+}
+
+void HAL_SetREVPHClosedLoopControlAnalog(HAL_REVPHHandle handle,
+ double minAnalogVoltage,
+ double maxAnalogVoltage,
+ int32_t* status) {
+ HAL_REVPHCompressorConfig config = {0, 0, 0, 0};
+ config.minAnalogVoltage = minAnalogVoltage;
+ config.maxAnalogVoltage = maxAnalogVoltage;
+
+ HAL_SetREVPHCompressorConfig(handle, &config, status);
+}
+
+void HAL_SetREVPHClosedLoopControlHybrid(HAL_REVPHHandle handle,
+ double minAnalogVoltage,
+ double maxAnalogVoltage,
+ int32_t* status) {
+ HAL_REVPHCompressorConfig config = {0, 0, 0, 0};
+ config.minAnalogVoltage = minAnalogVoltage;
+ config.maxAnalogVoltage = maxAnalogVoltage;
+ config.useDigital = true;
+
+ HAL_SetREVPHCompressorConfig(handle, &config, status);
+}
+
+HAL_REVPHCompressorConfigType HAL_GetREVPHCompressorConfig(
+ HAL_REVPHHandle handle, int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return HAL_REVPHCompressorConfigType_kDisabled;
+ }
+
+ PH_status_0_t status0 = HAL_ReadREVPHStatus0(ph->hcan, status);
+
+ if (*status != 0) {
+ return HAL_REVPHCompressorConfigType_kDisabled;
+ }
+
+ return static_cast<HAL_REVPHCompressorConfigType>(status0.compressor_config);
}
HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status) {
@@ -273,7 +357,7 @@
return false;
}
- PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+ PH_status_0_t status0 = HAL_ReadREVPHStatus0(ph->hcan, status);
if (*status != 0) {
return false;
@@ -289,17 +373,17 @@
return 0;
}
- PH_status1_t status1 = HAL_REV_ReadPHStatus1(ph->hcan, status);
+ PH_status_1_t status1 = HAL_ReadREVPHStatus1(ph->hcan, status);
if (*status != 0) {
return 0;
}
- return PH_status1_compressor_current_decode(status1.compressor_current);
+ return PH_status_1_compressor_current_decode(status1.compressor_current);
}
-double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
- int32_t* status) {
+double HAL_GetREVPHAnalogVoltage(HAL_REVPHHandle handle, int32_t channel,
+ int32_t* status) {
auto ph = REVPHHandles->Get(handle);
if (ph == nullptr) {
*status = HAL_HANDLE_ERROR;
@@ -313,16 +397,138 @@
return 0;
}
- PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+ PH_status_0_t status0 = HAL_ReadREVPHStatus0(ph->hcan, status);
if (*status != 0) {
return 0;
}
- if (channel == 1) {
- return PH_status0_analog_0_decode(status0.analog_0);
+ if (channel == 0) {
+ return PH_status_0_analog_0_decode(status0.analog_0);
}
- return PH_status0_analog_1_decode(status0.analog_1);
+ return PH_status_0_analog_1_decode(status0.analog_1);
+}
+
+double HAL_GetREVPHVoltage(HAL_REVPHHandle handle, int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ PH_status_1_t status1 = HAL_ReadREVPHStatus1(ph->hcan, status);
+
+ if (*status != 0) {
+ return 0;
+ }
+
+ return PH_status_1_v_bus_decode(status1.v_bus);
+}
+
+double HAL_GetREVPH5VVoltage(HAL_REVPHHandle handle, int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ PH_status_1_t status1 = HAL_ReadREVPHStatus1(ph->hcan, status);
+
+ if (*status != 0) {
+ return 0;
+ }
+
+ return PH_status_1_supply_voltage_5_v_decode(status1.supply_voltage_5_v);
+}
+
+double HAL_GetREVPHSolenoidCurrent(HAL_REVPHHandle handle, int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ PH_status_1_t status1 = HAL_ReadREVPHStatus1(ph->hcan, status);
+
+ if (*status != 0) {
+ return 0;
+ }
+
+ return PH_status_1_solenoid_current_decode(status1.solenoid_current);
+}
+
+double HAL_GetREVPHSolenoidVoltage(HAL_REVPHHandle handle, int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return 0;
+ }
+
+ PH_status_1_t status1 = HAL_ReadREVPHStatus1(ph->hcan, status);
+
+ if (*status != 0) {
+ return 0;
+ }
+
+ return PH_status_1_solenoid_voltage_decode(status1.solenoid_voltage);
+}
+
+void HAL_GetREVPHVersion(HAL_REVPHHandle handle, HAL_REVPHVersion* version,
+ int32_t* status) {
+ std::memset(version, 0, sizeof(*version));
+ uint8_t packedData[8] = {0};
+ int32_t length = 0;
+ uint64_t timestamp = 0;
+ PH_version_t result = {};
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ if (ph->versionInfo.firmwareMajor > 0) {
+ version->firmwareMajor = ph->versionInfo.firmwareMajor;
+ version->firmwareMinor = ph->versionInfo.firmwareMinor;
+ version->firmwareFix = ph->versionInfo.firmwareFix;
+ version->hardwareMajor = ph->versionInfo.hardwareMajor;
+ version->hardwareMinor = ph->versionInfo.hardwareMinor;
+ version->uniqueId = ph->versionInfo.uniqueId;
+
+ *status = 0;
+ return;
+ }
+
+ HAL_WriteCANRTRFrame(ph->hcan, PH_VERSION_LENGTH, PH_VERSION_FRAME_API,
+ status);
+
+ if (*status != 0) {
+ return;
+ }
+
+ uint32_t timeoutMs = 100;
+ for (uint32_t i = 0; i <= timeoutMs; i++) {
+ HAL_ReadCANPacketNew(ph->hcan, PH_VERSION_FRAME_API, packedData, &length,
+ ×tamp, status);
+ if (*status == 0) {
+ break;
+ }
+ std::this_thread::sleep_for(std::chrono::milliseconds(1));
+ }
+
+ if (*status != 0) {
+ return;
+ }
+
+ PH_version_unpack(&result, packedData, PH_VERSION_LENGTH);
+
+ version->firmwareMajor = result.firmware_year;
+ version->firmwareMinor = result.firmware_minor;
+ version->firmwareFix = result.firmware_fix;
+ version->hardwareMinor = result.hardware_minor;
+ version->hardwareMajor = result.hardware_major;
+ version->uniqueId = result.unique_id;
+
+ ph->versionInfo = *version;
}
int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status) {
@@ -332,7 +538,7 @@
return 0;
}
- PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+ PH_status_0_t status0 = HAL_ReadREVPHStatus0(ph->hcan, status);
if (*status != 0) {
return 0;
@@ -372,11 +578,11 @@
// The mask bit for the solenoid is set, so we update the solenoid state
REV_SolenoidState desiredSolenoidState =
values & (1 << solenoid) ? kSolenoidEnabled : kSolenoidDisabled;
- HAL_REV_UpdateDesiredPHSolenoidState(ph.get(), solenoid,
- desiredSolenoidState);
+ HAL_UpdateDesiredREVPHSolenoidState(ph.get(), solenoid,
+ desiredSolenoidState);
}
}
- HAL_REV_SendSolenoidsState(ph.get(), status);
+ HAL_SendREVPHSolenoidsState(ph.get(), status);
}
void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
@@ -395,7 +601,7 @@
return;
}
- if (!HAL_REV_CheckPHPulseTime(durMs)) {
+ if (!HAL_CheckREVPHPulseTime(durMs)) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(
status,
@@ -406,9 +612,9 @@
{
std::scoped_lock lock{ph->solenoidLock};
- HAL_REV_UpdateDesiredPHSolenoidState(ph.get(), index,
- kSolenoidControlledViaPulse);
- HAL_REV_SendSolenoidsState(ph.get(), status);
+ HAL_UpdateDesiredREVPHSolenoidState(ph.get(), index,
+ kSolenoidControlledViaPulse);
+ HAL_SendREVPHSolenoidsState(ph.get(), status);
}
if (*status != 0) {
@@ -478,3 +684,69 @@
HAL_WriteCANPacket(ph->hcan, packedData, PH_PULSE_ONCE_LENGTH,
PH_PULSE_ONCE_FRAME_API, status);
}
+
+void HAL_GetREVPHFaults(HAL_REVPHHandle handle, HAL_REVPHFaults* faults,
+ int32_t* status) {
+ std::memset(faults, 0, sizeof(*faults));
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ PH_status_0_t status0 = HAL_ReadREVPHStatus0(ph->hcan, status);
+ faults->channel0Fault = status0.channel_0_fault;
+ faults->channel1Fault = status0.channel_1_fault;
+ faults->channel2Fault = status0.channel_2_fault;
+ faults->channel3Fault = status0.channel_3_fault;
+ faults->channel4Fault = status0.channel_4_fault;
+ faults->channel5Fault = status0.channel_5_fault;
+ faults->channel6Fault = status0.channel_6_fault;
+ faults->channel7Fault = status0.channel_7_fault;
+ faults->channel8Fault = status0.channel_8_fault;
+ faults->channel9Fault = status0.channel_9_fault;
+ faults->channel10Fault = status0.channel_10_fault;
+ faults->channel11Fault = status0.channel_11_fault;
+ faults->channel12Fault = status0.channel_12_fault;
+ faults->channel13Fault = status0.channel_13_fault;
+ faults->channel14Fault = status0.channel_14_fault;
+ faults->channel15Fault = status0.channel_15_fault;
+ faults->compressorOverCurrent = status0.compressor_oc_fault;
+ faults->compressorOpen = status0.compressor_open_fault;
+ faults->solenoidOverCurrent = status0.solenoid_oc_fault;
+ faults->brownout = status0.brownout_fault;
+ faults->canWarning = status0.can_warning_fault;
+ faults->hardwareFault = status0.hardware_fault;
+}
+
+void HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
+ HAL_REVPHStickyFaults* stickyFaults,
+ int32_t* status) {
+ std::memset(stickyFaults, 0, sizeof(*stickyFaults));
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ PH_status_1_t status1 = HAL_ReadREVPHStatus1(ph->hcan, status);
+ stickyFaults->compressorOverCurrent = status1.sticky_compressor_oc_fault;
+ stickyFaults->compressorOpen = status1.sticky_compressor_open_fault;
+ stickyFaults->solenoidOverCurrent = status1.sticky_solenoid_oc_fault;
+ stickyFaults->brownout = status1.sticky_brownout_fault;
+ stickyFaults->canWarning = status1.sticky_can_warning_fault;
+ stickyFaults->canBusOff = status1.sticky_can_bus_off_fault;
+ stickyFaults->hasReset = status1.sticky_has_reset_fault;
+}
+
+void HAL_ClearREVPHStickyFaults(HAL_REVPHHandle handle, int32_t* status) {
+ auto ph = REVPHHandles->Get(handle);
+ if (ph == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ uint8_t packedData[8] = {0};
+ HAL_WriteCANPacket(ph->hcan, packedData, PH_CLEAR_FAULTS_LENGTH,
+ PH_CLEAR_FAULTS_FRAME_API, status);
+}
diff --git a/third_party/allwpilib/hal/src/main/native/athena/SPI.cpp b/third_party/allwpilib/hal/src/main/native/athena/SPI.cpp
index 86a3f98..5e628c8 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/SPI.cpp
+++ b/third_party/allwpilib/hal/src/main/native/athena/SPI.cpp
@@ -496,9 +496,8 @@
}
// configure DMA
- tDMAChannelDescriptor desc;
- spiSystem->getSystemInterface()->getDmaDescriptor(g_SpiAutoData_index, &desc);
- spiAutoDMA = std::make_unique<tDMAManager>(desc.channel, bufferSize, status);
+ spiAutoDMA =
+ std::make_unique<tDMAManager>(g_SpiAutoData_index, bufferSize, status);
}
void HAL_FreeSPIAuto(HAL_SPIPort port, int32_t* status) {
diff --git a/third_party/allwpilib/hal/src/main/native/athena/SerialPort.cpp b/third_party/allwpilib/hal/src/main/native/athena/SerialPort.cpp
index 374986b..9a25d87 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/SerialPort.cpp
+++ b/third_party/allwpilib/hal/src/main/native/athena/SerialPort.cpp
@@ -14,7 +14,6 @@
#include <cstdio>
#include <cstdlib>
#include <cstring>
-#include <iostream>
#include <stdexcept>
#include <string>
#include <thread>
@@ -83,7 +82,7 @@
serialPort->portId = open(portName, O_RDWR | O_NOCTTY);
if (serialPort->portId < 0) {
- *status = errno;
+ *status = -errno;
if (*status == EACCES) {
*status = HAL_CONSOLE_OUT_ENABLED_ERROR;
}
@@ -94,8 +93,20 @@
std::memset(&serialPort->tty, 0, sizeof(serialPort->tty));
serialPort->baudRate = B9600;
- cfsetospeed(&serialPort->tty, static_cast<speed_t>(serialPort->baudRate));
- cfsetispeed(&serialPort->tty, static_cast<speed_t>(serialPort->baudRate));
+ if (cfsetospeed(&serialPort->tty,
+ static_cast<speed_t>(serialPort->baudRate)) != 0) {
+ *status = -errno;
+ close(serialPort->portId);
+ serialPortHandles->Free(handle);
+ return HAL_kInvalidHandle;
+ }
+ if (cfsetispeed(&serialPort->tty,
+ static_cast<speed_t>(serialPort->baudRate)) != 0) {
+ *status = -errno;
+ close(serialPort->portId);
+ serialPortHandles->Free(handle);
+ return HAL_kInvalidHandle;
+ }
serialPort->tty.c_cflag &= ~PARENB;
serialPort->tty.c_cflag &= ~CSTOPB;
@@ -115,9 +126,14 @@
*/
serialPort->tty.c_oflag = ~OPOST;
- tcflush(serialPort->portId, TCIOFLUSH);
+ if (tcflush(serialPort->portId, TCIOFLUSH) != 0) {
+ *status = -errno;
+ close(serialPort->portId);
+ serialPortHandles->Free(handle);
+ return HAL_kInvalidHandle;
+ }
if (tcsetattr(serialPort->portId, TCSANOW, &serialPort->tty) != 0) {
- *status = errno;
+ *status = -errno;
close(serialPort->portId);
serialPortHandles->Free(handle);
return HAL_kInvalidHandle;
diff --git a/third_party/allwpilib/hal/src/main/native/athena/mockdata/REVPHData.cpp b/third_party/allwpilib/hal/src/main/native/athena/mockdata/REVPHData.cpp
index d617694..f2c4e85 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/mockdata/REVPHData.cpp
+++ b/third_party/allwpilib/hal/src/main/native/athena/mockdata/REVPHData.cpp
@@ -15,7 +15,8 @@
HAL_SIMDATAVALUE_STUB_CAPI_CHANNEL(HAL_Bool, HALSIM, REVPHSolenoidOutput, false)
DEFINE_CAPI(HAL_Bool, Initialized, false)
DEFINE_CAPI(HAL_Bool, CompressorOn, false)
-DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, false)
+DEFINE_CAPI(HAL_REVPHCompressorConfigType, CompressorConfigType,
+ HAL_REVPHCompressorConfigType_kDisabled)
DEFINE_CAPI(HAL_Bool, PressureSwitch, false)
DEFINE_CAPI(double, CompressorCurrent, 0)
diff --git a/third_party/allwpilib/hal/src/main/native/athena/rev/PDHFrames.cpp b/third_party/allwpilib/hal/src/main/native/athena/rev/PDHFrames.cpp
index b50a148..eaf33bd 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/rev/PDHFrames.cpp
+++ b/third_party/allwpilib/hal/src/main/native/athena/rev/PDHFrames.cpp
@@ -112,9 +112,9 @@
return (uint32_t)((uint32_t)(value & mask) >> shift);
}
-int PDH_switch_channel_set_pack(
+int PDH_set_switch_channel_pack(
uint8_t *dst_p,
- const struct PDH_switch_channel_set_t *src_p,
+ const struct PDH_set_switch_channel_t *src_p,
size_t size)
{
if (size < 1u) {
@@ -124,13 +124,12 @@
memset(&dst_p[0], 0, 1);
dst_p[0] |= pack_left_shift_u8(src_p->output_set_value, 0u, 0x01u);
- dst_p[0] |= pack_left_shift_u8(src_p->use_system_enable, 1u, 0x02u);
return (1);
}
-int PDH_switch_channel_set_unpack(
- struct PDH_switch_channel_set_t *dst_p,
+int PDH_set_switch_channel_unpack(
+ struct PDH_set_switch_channel_t *dst_p,
const uint8_t *src_p,
size_t size)
{
@@ -139,44 +138,28 @@
}
dst_p->output_set_value = unpack_right_shift_u8(src_p[0], 0u, 0x01u);
- dst_p->use_system_enable = unpack_right_shift_u8(src_p[0], 1u, 0x02u);
return (0);
}
-uint8_t PDH_switch_channel_set_output_set_value_encode(double value)
+uint8_t PDH_set_switch_channel_output_set_value_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_switch_channel_set_output_set_value_decode(uint8_t value)
+double PDH_set_switch_channel_output_set_value_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_switch_channel_set_output_set_value_is_in_range(uint8_t value)
+bool PDH_set_switch_channel_output_set_value_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_switch_channel_set_use_system_enable_encode(double value)
-{
- return (uint8_t)(value);
-}
-
-double PDH_switch_channel_set_use_system_enable_decode(uint8_t value)
-{
- return ((double)value);
-}
-
-bool PDH_switch_channel_set_use_system_enable_is_in_range(uint8_t value)
-{
- return (value <= 1u);
-}
-
-int PDH_status0_pack(
+int PDH_status_0_pack(
uint8_t *dst_p,
- const struct PDH_status0_t *src_p,
+ const struct PDH_status_0_t *src_p,
size_t size)
{
if (size < 8u) {
@@ -191,22 +174,22 @@
dst_p[2] |= pack_right_shift_u16(src_p->channel_1_current, 6u, 0x0fu);
dst_p[2] |= pack_left_shift_u16(src_p->channel_2_current, 4u, 0xf0u);
dst_p[3] |= pack_right_shift_u16(src_p->channel_2_current, 4u, 0x3fu);
- dst_p[3] |= pack_left_shift_u8(src_p->channel_0_brownout, 6u, 0x40u);
- dst_p[3] |= pack_left_shift_u8(src_p->channel_1_brownout, 7u, 0x80u);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_0_breaker_fault, 6u, 0x40u);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_1_breaker_fault, 7u, 0x80u);
dst_p[4] |= pack_left_shift_u16(src_p->channel_3_current, 0u, 0xffu);
dst_p[5] |= pack_right_shift_u16(src_p->channel_3_current, 8u, 0x03u);
dst_p[5] |= pack_left_shift_u16(src_p->channel_4_current, 2u, 0xfcu);
dst_p[6] |= pack_right_shift_u16(src_p->channel_4_current, 6u, 0x0fu);
dst_p[6] |= pack_left_shift_u16(src_p->channel_5_current, 4u, 0xf0u);
dst_p[7] |= pack_right_shift_u16(src_p->channel_5_current, 4u, 0x3fu);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_2_brownout, 6u, 0x40u);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_3_brownout, 7u, 0x80u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_2_breaker_fault, 6u, 0x40u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_3_breaker_fault, 7u, 0x80u);
return (8);
}
-int PDH_status0_unpack(
- struct PDH_status0_t *dst_p,
+int PDH_status_0_unpack(
+ struct PDH_status_0_t *dst_p,
const uint8_t *src_p,
size_t size)
{
@@ -220,173 +203,173 @@
dst_p->channel_1_current |= unpack_left_shift_u16(src_p[2], 6u, 0x0fu);
dst_p->channel_2_current = unpack_right_shift_u16(src_p[2], 4u, 0xf0u);
dst_p->channel_2_current |= unpack_left_shift_u16(src_p[3], 4u, 0x3fu);
- dst_p->channel_0_brownout = unpack_right_shift_u8(src_p[3], 6u, 0x40u);
- dst_p->channel_1_brownout = unpack_right_shift_u8(src_p[3], 7u, 0x80u);
+ dst_p->channel_0_breaker_fault = unpack_right_shift_u8(src_p[3], 6u, 0x40u);
+ dst_p->channel_1_breaker_fault = unpack_right_shift_u8(src_p[3], 7u, 0x80u);
dst_p->channel_3_current = unpack_right_shift_u16(src_p[4], 0u, 0xffu);
dst_p->channel_3_current |= unpack_left_shift_u16(src_p[5], 8u, 0x03u);
dst_p->channel_4_current = unpack_right_shift_u16(src_p[5], 2u, 0xfcu);
dst_p->channel_4_current |= unpack_left_shift_u16(src_p[6], 6u, 0x0fu);
dst_p->channel_5_current = unpack_right_shift_u16(src_p[6], 4u, 0xf0u);
dst_p->channel_5_current |= unpack_left_shift_u16(src_p[7], 4u, 0x3fu);
- dst_p->channel_2_brownout = unpack_right_shift_u8(src_p[7], 6u, 0x40u);
- dst_p->channel_3_brownout = unpack_right_shift_u8(src_p[7], 7u, 0x80u);
+ dst_p->channel_2_breaker_fault = unpack_right_shift_u8(src_p[7], 6u, 0x40u);
+ dst_p->channel_3_breaker_fault = unpack_right_shift_u8(src_p[7], 7u, 0x80u);
return (0);
}
-uint16_t PDH_status0_channel_0_current_encode(double value)
+uint16_t PDH_status_0_channel_0_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status0_channel_0_current_decode(uint16_t value)
+double PDH_status_0_channel_0_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status0_channel_0_current_is_in_range(uint16_t value)
+bool PDH_status_0_channel_0_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint16_t PDH_status0_channel_1_current_encode(double value)
+uint16_t PDH_status_0_channel_1_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status0_channel_1_current_decode(uint16_t value)
+double PDH_status_0_channel_1_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status0_channel_1_current_is_in_range(uint16_t value)
+bool PDH_status_0_channel_1_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint16_t PDH_status0_channel_2_current_encode(double value)
+uint16_t PDH_status_0_channel_2_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status0_channel_2_current_decode(uint16_t value)
+double PDH_status_0_channel_2_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status0_channel_2_current_is_in_range(uint16_t value)
+bool PDH_status_0_channel_2_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint8_t PDH_status0_channel_0_brownout_encode(double value)
+uint8_t PDH_status_0_channel_0_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status0_channel_0_brownout_decode(uint8_t value)
+double PDH_status_0_channel_0_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status0_channel_0_brownout_is_in_range(uint8_t value)
+bool PDH_status_0_channel_0_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status0_channel_1_brownout_encode(double value)
+uint8_t PDH_status_0_channel_1_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status0_channel_1_brownout_decode(uint8_t value)
+double PDH_status_0_channel_1_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status0_channel_1_brownout_is_in_range(uint8_t value)
+bool PDH_status_0_channel_1_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint16_t PDH_status0_channel_3_current_encode(double value)
+uint16_t PDH_status_0_channel_3_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status0_channel_3_current_decode(uint16_t value)
+double PDH_status_0_channel_3_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status0_channel_3_current_is_in_range(uint16_t value)
+bool PDH_status_0_channel_3_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint16_t PDH_status0_channel_4_current_encode(double value)
+uint16_t PDH_status_0_channel_4_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status0_channel_4_current_decode(uint16_t value)
+double PDH_status_0_channel_4_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status0_channel_4_current_is_in_range(uint16_t value)
+bool PDH_status_0_channel_4_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint16_t PDH_status0_channel_5_current_encode(double value)
+uint16_t PDH_status_0_channel_5_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status0_channel_5_current_decode(uint16_t value)
+double PDH_status_0_channel_5_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status0_channel_5_current_is_in_range(uint16_t value)
+bool PDH_status_0_channel_5_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint8_t PDH_status0_channel_2_brownout_encode(double value)
+uint8_t PDH_status_0_channel_2_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status0_channel_2_brownout_decode(uint8_t value)
+double PDH_status_0_channel_2_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status0_channel_2_brownout_is_in_range(uint8_t value)
+bool PDH_status_0_channel_2_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status0_channel_3_brownout_encode(double value)
+uint8_t PDH_status_0_channel_3_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status0_channel_3_brownout_decode(uint8_t value)
+double PDH_status_0_channel_3_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status0_channel_3_brownout_is_in_range(uint8_t value)
+bool PDH_status_0_channel_3_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-int PDH_status1_pack(
+int PDH_status_1_pack(
uint8_t *dst_p,
- const struct PDH_status1_t *src_p,
+ const struct PDH_status_1_t *src_p,
size_t size)
{
if (size < 8u) {
@@ -401,22 +384,22 @@
dst_p[2] |= pack_right_shift_u16(src_p->channel_7_current, 6u, 0x0fu);
dst_p[2] |= pack_left_shift_u16(src_p->channel_8_current, 4u, 0xf0u);
dst_p[3] |= pack_right_shift_u16(src_p->channel_8_current, 4u, 0x3fu);
- dst_p[3] |= pack_left_shift_u8(src_p->channel_4_brownout, 6u, 0x40u);
- dst_p[3] |= pack_left_shift_u8(src_p->channel_5_brownout, 7u, 0x80u);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_4_breaker_fault, 6u, 0x40u);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_5_breaker_fault, 7u, 0x80u);
dst_p[4] |= pack_left_shift_u16(src_p->channel_9_current, 0u, 0xffu);
dst_p[5] |= pack_right_shift_u16(src_p->channel_9_current, 8u, 0x03u);
dst_p[5] |= pack_left_shift_u16(src_p->channel_10_current, 2u, 0xfcu);
dst_p[6] |= pack_right_shift_u16(src_p->channel_10_current, 6u, 0x0fu);
dst_p[6] |= pack_left_shift_u16(src_p->channel_11_current, 4u, 0xf0u);
dst_p[7] |= pack_right_shift_u16(src_p->channel_11_current, 4u, 0x3fu);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_6_brownout, 6u, 0x40u);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_7_brownout, 7u, 0x80u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_6_breaker_fault, 6u, 0x40u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_7_breaker_fault, 7u, 0x80u);
return (8);
}
-int PDH_status1_unpack(
- struct PDH_status1_t *dst_p,
+int PDH_status_1_unpack(
+ struct PDH_status_1_t *dst_p,
const uint8_t *src_p,
size_t size)
{
@@ -430,173 +413,173 @@
dst_p->channel_7_current |= unpack_left_shift_u16(src_p[2], 6u, 0x0fu);
dst_p->channel_8_current = unpack_right_shift_u16(src_p[2], 4u, 0xf0u);
dst_p->channel_8_current |= unpack_left_shift_u16(src_p[3], 4u, 0x3fu);
- dst_p->channel_4_brownout = unpack_right_shift_u8(src_p[3], 6u, 0x40u);
- dst_p->channel_5_brownout = unpack_right_shift_u8(src_p[3], 7u, 0x80u);
+ dst_p->channel_4_breaker_fault = unpack_right_shift_u8(src_p[3], 6u, 0x40u);
+ dst_p->channel_5_breaker_fault = unpack_right_shift_u8(src_p[3], 7u, 0x80u);
dst_p->channel_9_current = unpack_right_shift_u16(src_p[4], 0u, 0xffu);
dst_p->channel_9_current |= unpack_left_shift_u16(src_p[5], 8u, 0x03u);
dst_p->channel_10_current = unpack_right_shift_u16(src_p[5], 2u, 0xfcu);
dst_p->channel_10_current |= unpack_left_shift_u16(src_p[6], 6u, 0x0fu);
dst_p->channel_11_current = unpack_right_shift_u16(src_p[6], 4u, 0xf0u);
dst_p->channel_11_current |= unpack_left_shift_u16(src_p[7], 4u, 0x3fu);
- dst_p->channel_6_brownout = unpack_right_shift_u8(src_p[7], 6u, 0x40u);
- dst_p->channel_7_brownout = unpack_right_shift_u8(src_p[7], 7u, 0x80u);
+ dst_p->channel_6_breaker_fault = unpack_right_shift_u8(src_p[7], 6u, 0x40u);
+ dst_p->channel_7_breaker_fault = unpack_right_shift_u8(src_p[7], 7u, 0x80u);
return (0);
}
-uint16_t PDH_status1_channel_6_current_encode(double value)
+uint16_t PDH_status_1_channel_6_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status1_channel_6_current_decode(uint16_t value)
+double PDH_status_1_channel_6_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status1_channel_6_current_is_in_range(uint16_t value)
+bool PDH_status_1_channel_6_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint16_t PDH_status1_channel_7_current_encode(double value)
+uint16_t PDH_status_1_channel_7_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status1_channel_7_current_decode(uint16_t value)
+double PDH_status_1_channel_7_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status1_channel_7_current_is_in_range(uint16_t value)
+bool PDH_status_1_channel_7_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint16_t PDH_status1_channel_8_current_encode(double value)
+uint16_t PDH_status_1_channel_8_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status1_channel_8_current_decode(uint16_t value)
+double PDH_status_1_channel_8_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status1_channel_8_current_is_in_range(uint16_t value)
+bool PDH_status_1_channel_8_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint8_t PDH_status1_channel_4_brownout_encode(double value)
+uint8_t PDH_status_1_channel_4_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status1_channel_4_brownout_decode(uint8_t value)
+double PDH_status_1_channel_4_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status1_channel_4_brownout_is_in_range(uint8_t value)
+bool PDH_status_1_channel_4_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status1_channel_5_brownout_encode(double value)
+uint8_t PDH_status_1_channel_5_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status1_channel_5_brownout_decode(uint8_t value)
+double PDH_status_1_channel_5_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status1_channel_5_brownout_is_in_range(uint8_t value)
+bool PDH_status_1_channel_5_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint16_t PDH_status1_channel_9_current_encode(double value)
+uint16_t PDH_status_1_channel_9_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status1_channel_9_current_decode(uint16_t value)
+double PDH_status_1_channel_9_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status1_channel_9_current_is_in_range(uint16_t value)
+bool PDH_status_1_channel_9_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint16_t PDH_status1_channel_10_current_encode(double value)
+uint16_t PDH_status_1_channel_10_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status1_channel_10_current_decode(uint16_t value)
+double PDH_status_1_channel_10_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status1_channel_10_current_is_in_range(uint16_t value)
+bool PDH_status_1_channel_10_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint16_t PDH_status1_channel_11_current_encode(double value)
+uint16_t PDH_status_1_channel_11_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status1_channel_11_current_decode(uint16_t value)
+double PDH_status_1_channel_11_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status1_channel_11_current_is_in_range(uint16_t value)
+bool PDH_status_1_channel_11_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint8_t PDH_status1_channel_6_brownout_encode(double value)
+uint8_t PDH_status_1_channel_6_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status1_channel_6_brownout_decode(uint8_t value)
+double PDH_status_1_channel_6_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status1_channel_6_brownout_is_in_range(uint8_t value)
+bool PDH_status_1_channel_6_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status1_channel_7_brownout_encode(double value)
+uint8_t PDH_status_1_channel_7_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status1_channel_7_brownout_decode(uint8_t value)
+double PDH_status_1_channel_7_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status1_channel_7_brownout_is_in_range(uint8_t value)
+bool PDH_status_1_channel_7_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-int PDH_status2_pack(
+int PDH_status_2_pack(
uint8_t *dst_p,
- const struct PDH_status2_t *src_p,
+ const struct PDH_status_2_t *src_p,
size_t size)
{
if (size < 8u) {
@@ -611,22 +594,22 @@
dst_p[2] |= pack_right_shift_u16(src_p->channel_13_current, 6u, 0x0fu);
dst_p[2] |= pack_left_shift_u16(src_p->channel_14_current, 4u, 0xf0u);
dst_p[3] |= pack_right_shift_u16(src_p->channel_14_current, 4u, 0x3fu);
- dst_p[3] |= pack_left_shift_u8(src_p->channel_8_brownout, 6u, 0x40u);
- dst_p[3] |= pack_left_shift_u8(src_p->channel_9_brownout, 7u, 0x80u);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_8_breaker_fault, 6u, 0x40u);
+ dst_p[3] |= pack_left_shift_u8(src_p->channel_9_breaker_fault, 7u, 0x80u);
dst_p[4] |= pack_left_shift_u16(src_p->channel_15_current, 0u, 0xffu);
dst_p[5] |= pack_right_shift_u16(src_p->channel_15_current, 8u, 0x03u);
dst_p[5] |= pack_left_shift_u16(src_p->channel_16_current, 2u, 0xfcu);
dst_p[6] |= pack_right_shift_u16(src_p->channel_16_current, 6u, 0x0fu);
dst_p[6] |= pack_left_shift_u16(src_p->channel_17_current, 4u, 0xf0u);
dst_p[7] |= pack_right_shift_u16(src_p->channel_17_current, 4u, 0x3fu);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_10_brownout, 6u, 0x40u);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_11_brownout, 7u, 0x80u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_10_breaker_fault, 6u, 0x40u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_11_breaker_fault, 7u, 0x80u);
return (8);
}
-int PDH_status2_unpack(
- struct PDH_status2_t *dst_p,
+int PDH_status_2_unpack(
+ struct PDH_status_2_t *dst_p,
const uint8_t *src_p,
size_t size)
{
@@ -640,173 +623,173 @@
dst_p->channel_13_current |= unpack_left_shift_u16(src_p[2], 6u, 0x0fu);
dst_p->channel_14_current = unpack_right_shift_u16(src_p[2], 4u, 0xf0u);
dst_p->channel_14_current |= unpack_left_shift_u16(src_p[3], 4u, 0x3fu);
- dst_p->channel_8_brownout = unpack_right_shift_u8(src_p[3], 6u, 0x40u);
- dst_p->channel_9_brownout = unpack_right_shift_u8(src_p[3], 7u, 0x80u);
+ dst_p->channel_8_breaker_fault = unpack_right_shift_u8(src_p[3], 6u, 0x40u);
+ dst_p->channel_9_breaker_fault = unpack_right_shift_u8(src_p[3], 7u, 0x80u);
dst_p->channel_15_current = unpack_right_shift_u16(src_p[4], 0u, 0xffu);
dst_p->channel_15_current |= unpack_left_shift_u16(src_p[5], 8u, 0x03u);
dst_p->channel_16_current = unpack_right_shift_u16(src_p[5], 2u, 0xfcu);
dst_p->channel_16_current |= unpack_left_shift_u16(src_p[6], 6u, 0x0fu);
dst_p->channel_17_current = unpack_right_shift_u16(src_p[6], 4u, 0xf0u);
dst_p->channel_17_current |= unpack_left_shift_u16(src_p[7], 4u, 0x3fu);
- dst_p->channel_10_brownout = unpack_right_shift_u8(src_p[7], 6u, 0x40u);
- dst_p->channel_11_brownout = unpack_right_shift_u8(src_p[7], 7u, 0x80u);
+ dst_p->channel_10_breaker_fault = unpack_right_shift_u8(src_p[7], 6u, 0x40u);
+ dst_p->channel_11_breaker_fault = unpack_right_shift_u8(src_p[7], 7u, 0x80u);
return (0);
}
-uint16_t PDH_status2_channel_12_current_encode(double value)
+uint16_t PDH_status_2_channel_12_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status2_channel_12_current_decode(uint16_t value)
+double PDH_status_2_channel_12_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status2_channel_12_current_is_in_range(uint16_t value)
+bool PDH_status_2_channel_12_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint16_t PDH_status2_channel_13_current_encode(double value)
+uint16_t PDH_status_2_channel_13_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status2_channel_13_current_decode(uint16_t value)
+double PDH_status_2_channel_13_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status2_channel_13_current_is_in_range(uint16_t value)
+bool PDH_status_2_channel_13_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint16_t PDH_status2_channel_14_current_encode(double value)
+uint16_t PDH_status_2_channel_14_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status2_channel_14_current_decode(uint16_t value)
+double PDH_status_2_channel_14_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status2_channel_14_current_is_in_range(uint16_t value)
+bool PDH_status_2_channel_14_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint8_t PDH_status2_channel_8_brownout_encode(double value)
+uint8_t PDH_status_2_channel_8_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status2_channel_8_brownout_decode(uint8_t value)
+double PDH_status_2_channel_8_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status2_channel_8_brownout_is_in_range(uint8_t value)
+bool PDH_status_2_channel_8_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status2_channel_9_brownout_encode(double value)
+uint8_t PDH_status_2_channel_9_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status2_channel_9_brownout_decode(uint8_t value)
+double PDH_status_2_channel_9_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status2_channel_9_brownout_is_in_range(uint8_t value)
+bool PDH_status_2_channel_9_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint16_t PDH_status2_channel_15_current_encode(double value)
+uint16_t PDH_status_2_channel_15_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status2_channel_15_current_decode(uint16_t value)
+double PDH_status_2_channel_15_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status2_channel_15_current_is_in_range(uint16_t value)
+bool PDH_status_2_channel_15_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint16_t PDH_status2_channel_16_current_encode(double value)
+uint16_t PDH_status_2_channel_16_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status2_channel_16_current_decode(uint16_t value)
+double PDH_status_2_channel_16_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status2_channel_16_current_is_in_range(uint16_t value)
+bool PDH_status_2_channel_16_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint16_t PDH_status2_channel_17_current_encode(double value)
+uint16_t PDH_status_2_channel_17_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status2_channel_17_current_decode(uint16_t value)
+double PDH_status_2_channel_17_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status2_channel_17_current_is_in_range(uint16_t value)
+bool PDH_status_2_channel_17_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint8_t PDH_status2_channel_10_brownout_encode(double value)
+uint8_t PDH_status_2_channel_10_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status2_channel_10_brownout_decode(uint8_t value)
+double PDH_status_2_channel_10_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status2_channel_10_brownout_is_in_range(uint8_t value)
+bool PDH_status_2_channel_10_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status2_channel_11_brownout_encode(double value)
+uint8_t PDH_status_2_channel_11_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status2_channel_11_brownout_decode(uint8_t value)
+double PDH_status_2_channel_11_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status2_channel_11_brownout_is_in_range(uint8_t value)
+bool PDH_status_2_channel_11_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-int PDH_status3_pack(
+int PDH_status_3_pack(
uint8_t *dst_p,
- const struct PDH_status3_t *src_p,
+ const struct PDH_status_3_t *src_p,
size_t size)
{
if (size < 8u) {
@@ -819,28 +802,28 @@
dst_p[1] |= pack_right_shift_u16(src_p->channel_18_current, 8u, 0x03u);
dst_p[1] |= pack_left_shift_u16(src_p->channel_19_current, 2u, 0xfcu);
dst_p[2] |= pack_right_shift_u16(src_p->channel_19_current, 6u, 0x0fu);
- dst_p[2] |= pack_left_shift_u8(src_p->channel_12_brownout, 4u, 0x10u);
- dst_p[2] |= pack_left_shift_u8(src_p->channel_13_brownout, 5u, 0x20u);
- dst_p[2] |= pack_left_shift_u8(src_p->channel_14_brownout, 6u, 0x40u);
- dst_p[2] |= pack_left_shift_u8(src_p->channel_15_brownout, 7u, 0x80u);
+ dst_p[2] |= pack_left_shift_u8(src_p->channel_12_breaker_fault, 4u, 0x10u);
+ dst_p[2] |= pack_left_shift_u8(src_p->channel_13_breaker_fault, 5u, 0x20u);
+ dst_p[2] |= pack_left_shift_u8(src_p->channel_14_breaker_fault, 6u, 0x40u);
+ dst_p[2] |= pack_left_shift_u8(src_p->channel_15_breaker_fault, 7u, 0x80u);
dst_p[3] |= pack_left_shift_u8(src_p->channel_20_current, 0u, 0xffu);
dst_p[4] |= pack_left_shift_u8(src_p->channel_21_current, 0u, 0xffu);
dst_p[5] |= pack_left_shift_u8(src_p->channel_22_current, 0u, 0xffu);
dst_p[6] |= pack_left_shift_u8(src_p->channel_23_current, 0u, 0xffu);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_16_brownout, 0u, 0x01u);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_17_brownout, 1u, 0x02u);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_18_brownout, 2u, 0x04u);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_19_brownout, 3u, 0x08u);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_20_brownout, 4u, 0x10u);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_21_brownout, 5u, 0x20u);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_22_brownout, 6u, 0x40u);
- dst_p[7] |= pack_left_shift_u8(src_p->channel_23_brownout, 7u, 0x80u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_16_breaker_fault, 0u, 0x01u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_17_breaker_fault, 1u, 0x02u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_18_breaker_fault, 2u, 0x04u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_19_breaker_fault, 3u, 0x08u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_20_breaker_fault, 4u, 0x10u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_21_breaker_fault, 5u, 0x20u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_22_breaker_fault, 6u, 0x40u);
+ dst_p[7] |= pack_left_shift_u8(src_p->channel_23_breaker_fault, 7u, 0x80u);
return (8);
}
-int PDH_status3_unpack(
- struct PDH_status3_t *dst_p,
+int PDH_status_3_unpack(
+ struct PDH_status_3_t *dst_p,
const uint8_t *src_p,
size_t size)
{
@@ -852,307 +835,307 @@
dst_p->channel_18_current |= unpack_left_shift_u16(src_p[1], 8u, 0x03u);
dst_p->channel_19_current = unpack_right_shift_u16(src_p[1], 2u, 0xfcu);
dst_p->channel_19_current |= unpack_left_shift_u16(src_p[2], 6u, 0x0fu);
- dst_p->channel_12_brownout = unpack_right_shift_u8(src_p[2], 4u, 0x10u);
- dst_p->channel_13_brownout = unpack_right_shift_u8(src_p[2], 5u, 0x20u);
- dst_p->channel_14_brownout = unpack_right_shift_u8(src_p[2], 6u, 0x40u);
- dst_p->channel_15_brownout = unpack_right_shift_u8(src_p[2], 7u, 0x80u);
+ dst_p->channel_12_breaker_fault = unpack_right_shift_u8(src_p[2], 4u, 0x10u);
+ dst_p->channel_13_breaker_fault = unpack_right_shift_u8(src_p[2], 5u, 0x20u);
+ dst_p->channel_14_breaker_fault = unpack_right_shift_u8(src_p[2], 6u, 0x40u);
+ dst_p->channel_15_breaker_fault = unpack_right_shift_u8(src_p[2], 7u, 0x80u);
dst_p->channel_20_current = unpack_right_shift_u8(src_p[3], 0u, 0xffu);
dst_p->channel_21_current = unpack_right_shift_u8(src_p[4], 0u, 0xffu);
dst_p->channel_22_current = unpack_right_shift_u8(src_p[5], 0u, 0xffu);
dst_p->channel_23_current = unpack_right_shift_u8(src_p[6], 0u, 0xffu);
- dst_p->channel_16_brownout = unpack_right_shift_u8(src_p[7], 0u, 0x01u);
- dst_p->channel_17_brownout = unpack_right_shift_u8(src_p[7], 1u, 0x02u);
- dst_p->channel_18_brownout = unpack_right_shift_u8(src_p[7], 2u, 0x04u);
- dst_p->channel_19_brownout = unpack_right_shift_u8(src_p[7], 3u, 0x08u);
- dst_p->channel_20_brownout = unpack_right_shift_u8(src_p[7], 4u, 0x10u);
- dst_p->channel_21_brownout = unpack_right_shift_u8(src_p[7], 5u, 0x20u);
- dst_p->channel_22_brownout = unpack_right_shift_u8(src_p[7], 6u, 0x40u);
- dst_p->channel_23_brownout = unpack_right_shift_u8(src_p[7], 7u, 0x80u);
+ dst_p->channel_16_breaker_fault = unpack_right_shift_u8(src_p[7], 0u, 0x01u);
+ dst_p->channel_17_breaker_fault = unpack_right_shift_u8(src_p[7], 1u, 0x02u);
+ dst_p->channel_18_breaker_fault = unpack_right_shift_u8(src_p[7], 2u, 0x04u);
+ dst_p->channel_19_breaker_fault = unpack_right_shift_u8(src_p[7], 3u, 0x08u);
+ dst_p->channel_20_breaker_fault = unpack_right_shift_u8(src_p[7], 4u, 0x10u);
+ dst_p->channel_21_breaker_fault = unpack_right_shift_u8(src_p[7], 5u, 0x20u);
+ dst_p->channel_22_breaker_fault = unpack_right_shift_u8(src_p[7], 6u, 0x40u);
+ dst_p->channel_23_breaker_fault = unpack_right_shift_u8(src_p[7], 7u, 0x80u);
return (0);
}
-uint16_t PDH_status3_channel_18_current_encode(double value)
+uint16_t PDH_status_3_channel_18_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status3_channel_18_current_decode(uint16_t value)
+double PDH_status_3_channel_18_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status3_channel_18_current_is_in_range(uint16_t value)
+bool PDH_status_3_channel_18_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint16_t PDH_status3_channel_19_current_encode(double value)
+uint16_t PDH_status_3_channel_19_current_encode(double value)
{
return (uint16_t)(value / 0.125);
}
-double PDH_status3_channel_19_current_decode(uint16_t value)
+double PDH_status_3_channel_19_current_decode(uint16_t value)
{
return ((double)value * 0.125);
}
-bool PDH_status3_channel_19_current_is_in_range(uint16_t value)
+bool PDH_status_3_channel_19_current_is_in_range(uint16_t value)
{
return (value <= 1023u);
}
-uint8_t PDH_status3_channel_12_brownout_encode(double value)
+uint8_t PDH_status_3_channel_12_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status3_channel_12_brownout_decode(uint8_t value)
+double PDH_status_3_channel_12_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status3_channel_12_brownout_is_in_range(uint8_t value)
+bool PDH_status_3_channel_12_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status3_channel_13_brownout_encode(double value)
+uint8_t PDH_status_3_channel_13_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status3_channel_13_brownout_decode(uint8_t value)
+double PDH_status_3_channel_13_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status3_channel_13_brownout_is_in_range(uint8_t value)
+bool PDH_status_3_channel_13_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status3_channel_14_brownout_encode(double value)
+uint8_t PDH_status_3_channel_14_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status3_channel_14_brownout_decode(uint8_t value)
+double PDH_status_3_channel_14_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status3_channel_14_brownout_is_in_range(uint8_t value)
+bool PDH_status_3_channel_14_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status3_channel_15_brownout_encode(double value)
+uint8_t PDH_status_3_channel_15_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status3_channel_15_brownout_decode(uint8_t value)
+double PDH_status_3_channel_15_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status3_channel_15_brownout_is_in_range(uint8_t value)
+bool PDH_status_3_channel_15_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status3_channel_20_current_encode(double value)
+uint8_t PDH_status_3_channel_20_current_encode(double value)
{
return (uint8_t)(value / 0.0625);
}
-double PDH_status3_channel_20_current_decode(uint8_t value)
+double PDH_status_3_channel_20_current_decode(uint8_t value)
{
return ((double)value * 0.0625);
}
-bool PDH_status3_channel_20_current_is_in_range(uint8_t value)
+bool PDH_status_3_channel_20_current_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
-uint8_t PDH_status3_channel_21_current_encode(double value)
+uint8_t PDH_status_3_channel_21_current_encode(double value)
{
return (uint8_t)(value / 0.0625);
}
-double PDH_status3_channel_21_current_decode(uint8_t value)
+double PDH_status_3_channel_21_current_decode(uint8_t value)
{
return ((double)value * 0.0625);
}
-bool PDH_status3_channel_21_current_is_in_range(uint8_t value)
+bool PDH_status_3_channel_21_current_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
-uint8_t PDH_status3_channel_22_current_encode(double value)
+uint8_t PDH_status_3_channel_22_current_encode(double value)
{
return (uint8_t)(value / 0.0625);
}
-double PDH_status3_channel_22_current_decode(uint8_t value)
+double PDH_status_3_channel_22_current_decode(uint8_t value)
{
return ((double)value * 0.0625);
}
-bool PDH_status3_channel_22_current_is_in_range(uint8_t value)
+bool PDH_status_3_channel_22_current_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
-uint8_t PDH_status3_channel_23_current_encode(double value)
+uint8_t PDH_status_3_channel_23_current_encode(double value)
{
return (uint8_t)(value / 0.0625);
}
-double PDH_status3_channel_23_current_decode(uint8_t value)
+double PDH_status_3_channel_23_current_decode(uint8_t value)
{
return ((double)value * 0.0625);
}
-bool PDH_status3_channel_23_current_is_in_range(uint8_t value)
+bool PDH_status_3_channel_23_current_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
-uint8_t PDH_status3_channel_16_brownout_encode(double value)
+uint8_t PDH_status_3_channel_16_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status3_channel_16_brownout_decode(uint8_t value)
+double PDH_status_3_channel_16_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status3_channel_16_brownout_is_in_range(uint8_t value)
+bool PDH_status_3_channel_16_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status3_channel_17_brownout_encode(double value)
+uint8_t PDH_status_3_channel_17_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status3_channel_17_brownout_decode(uint8_t value)
+double PDH_status_3_channel_17_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status3_channel_17_brownout_is_in_range(uint8_t value)
+bool PDH_status_3_channel_17_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status3_channel_18_brownout_encode(double value)
+uint8_t PDH_status_3_channel_18_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status3_channel_18_brownout_decode(uint8_t value)
+double PDH_status_3_channel_18_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status3_channel_18_brownout_is_in_range(uint8_t value)
+bool PDH_status_3_channel_18_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status3_channel_19_brownout_encode(double value)
+uint8_t PDH_status_3_channel_19_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status3_channel_19_brownout_decode(uint8_t value)
+double PDH_status_3_channel_19_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status3_channel_19_brownout_is_in_range(uint8_t value)
+bool PDH_status_3_channel_19_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status3_channel_20_brownout_encode(double value)
+uint8_t PDH_status_3_channel_20_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status3_channel_20_brownout_decode(uint8_t value)
+double PDH_status_3_channel_20_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status3_channel_20_brownout_is_in_range(uint8_t value)
+bool PDH_status_3_channel_20_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status3_channel_21_brownout_encode(double value)
+uint8_t PDH_status_3_channel_21_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status3_channel_21_brownout_decode(uint8_t value)
+double PDH_status_3_channel_21_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status3_channel_21_brownout_is_in_range(uint8_t value)
+bool PDH_status_3_channel_21_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status3_channel_22_brownout_encode(double value)
+uint8_t PDH_status_3_channel_22_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status3_channel_22_brownout_decode(uint8_t value)
+double PDH_status_3_channel_22_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status3_channel_22_brownout_is_in_range(uint8_t value)
+bool PDH_status_3_channel_22_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status3_channel_23_brownout_encode(double value)
+uint8_t PDH_status_3_channel_23_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status3_channel_23_brownout_decode(uint8_t value)
+double PDH_status_3_channel_23_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status3_channel_23_brownout_is_in_range(uint8_t value)
+bool PDH_status_3_channel_23_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-int PDH_status4_pack(
+int PDH_status_4_pack(
uint8_t *dst_p,
- const struct PDH_status4_t *src_p,
+ const struct PDH_status_4_t *src_p,
size_t size)
{
if (size < 8u) {
@@ -1165,29 +1148,49 @@
dst_p[1] |= pack_right_shift_u16(src_p->v_bus, 8u, 0x0fu);
dst_p[1] |= pack_left_shift_u8(src_p->system_enable, 4u, 0x10u);
dst_p[1] |= pack_left_shift_u8(src_p->rsvd0, 5u, 0xe0u);
- dst_p[2] |= pack_left_shift_u8(src_p->brownout, 0u, 0x01u);
+ dst_p[2] |= pack_left_shift_u8(src_p->brownout_fault, 0u, 0x01u);
dst_p[2] |= pack_left_shift_u8(src_p->rsvd1, 1u, 0x02u);
- dst_p[2] |= pack_left_shift_u8(src_p->can_warning, 2u, 0x04u);
+ dst_p[2] |= pack_left_shift_u8(src_p->can_warning_fault, 2u, 0x04u);
dst_p[2] |= pack_left_shift_u8(src_p->hardware_fault, 3u, 0x08u);
- dst_p[2] |= pack_left_shift_u8(src_p->sw_state, 4u, 0x10u);
- dst_p[2] |= pack_left_shift_u8(src_p->sticky_brownout, 5u, 0x20u);
+ dst_p[2] |= pack_left_shift_u8(src_p->switch_channel_state, 4u, 0x10u);
+ dst_p[2] |= pack_left_shift_u8(src_p->sticky_brownout_fault, 5u, 0x20u);
dst_p[2] |= pack_left_shift_u8(src_p->rsvd2, 6u, 0x40u);
- dst_p[2] |= pack_left_shift_u8(src_p->sticky_can_warning, 7u, 0x80u);
- dst_p[3] |= pack_left_shift_u8(src_p->sticky_can_bus_off, 0u, 0x01u);
+ dst_p[2] |= pack_left_shift_u8(src_p->sticky_can_warning_fault, 7u, 0x80u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_can_bus_off_fault, 0u, 0x01u);
dst_p[3] |= pack_left_shift_u8(src_p->sticky_hardware_fault, 1u, 0x02u);
dst_p[3] |= pack_left_shift_u8(src_p->sticky_firmware_fault, 2u, 0x04u);
- dst_p[3] |= pack_left_shift_u8(src_p->sticky_ch20_brownout, 3u, 0x08u);
- dst_p[3] |= pack_left_shift_u8(src_p->sticky_ch21_brownout, 4u, 0x10u);
- dst_p[3] |= pack_left_shift_u8(src_p->sticky_ch22_brownout, 5u, 0x20u);
- dst_p[3] |= pack_left_shift_u8(src_p->sticky_ch23_brownout, 6u, 0x40u);
- dst_p[3] |= pack_left_shift_u8(src_p->sticky_has_reset, 7u, 0x80u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_ch20_breaker_fault, 3u, 0x08u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_ch21_breaker_fault, 4u, 0x10u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_ch22_breaker_fault, 5u, 0x20u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_ch23_breaker_fault, 6u, 0x40u);
+ dst_p[3] |= pack_left_shift_u8(src_p->sticky_has_reset_fault, 7u, 0x80u);
dst_p[4] |= pack_left_shift_u8(src_p->total_current, 0u, 0xffu);
+ dst_p[5] |= pack_left_shift_u8(src_p->sticky_ch0_breaker_fault, 0u, 0x01u);
+ dst_p[5] |= pack_left_shift_u8(src_p->sticky_ch1_breaker_fault, 1u, 0x02u);
+ dst_p[5] |= pack_left_shift_u8(src_p->sticky_ch2_breaker_fault, 2u, 0x04u);
+ dst_p[5] |= pack_left_shift_u8(src_p->sticky_ch3_breaker_fault, 3u, 0x08u);
+ dst_p[5] |= pack_left_shift_u8(src_p->sticky_ch4_breaker_fault, 4u, 0x10u);
+ dst_p[5] |= pack_left_shift_u8(src_p->sticky_ch5_breaker_fault, 5u, 0x20u);
+ dst_p[5] |= pack_left_shift_u8(src_p->sticky_ch6_breaker_fault, 6u, 0x40u);
+ dst_p[5] |= pack_left_shift_u8(src_p->sticky_ch7_breaker_fault, 7u, 0x80u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_ch8_breaker_fault, 0u, 0x01u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_ch9_breaker_fault, 1u, 0x02u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_ch10_breaker_fault, 2u, 0x04u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_ch11_breaker_fault, 3u, 0x08u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_ch12_breaker_fault, 4u, 0x10u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_ch13_breaker_fault, 5u, 0x20u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_ch14_breaker_fault, 6u, 0x40u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_ch15_breaker_fault, 7u, 0x80u);
+ dst_p[7] |= pack_left_shift_u8(src_p->sticky_ch16_breaker_fault, 0u, 0x01u);
+ dst_p[7] |= pack_left_shift_u8(src_p->sticky_ch17_breaker_fault, 1u, 0x02u);
+ dst_p[7] |= pack_left_shift_u8(src_p->sticky_ch18_breaker_fault, 2u, 0x04u);
+ dst_p[7] |= pack_left_shift_u8(src_p->sticky_ch19_breaker_fault, 3u, 0x08u);
return (8);
}
-int PDH_status4_unpack(
- struct PDH_status4_t *dst_p,
+int PDH_status_4_unpack(
+ struct PDH_status_4_t *dst_p,
const uint8_t *src_p,
size_t size)
{
@@ -1199,329 +1202,649 @@
dst_p->v_bus |= unpack_left_shift_u16(src_p[1], 8u, 0x0fu);
dst_p->system_enable = unpack_right_shift_u8(src_p[1], 4u, 0x10u);
dst_p->rsvd0 = unpack_right_shift_u8(src_p[1], 5u, 0xe0u);
- dst_p->brownout = unpack_right_shift_u8(src_p[2], 0u, 0x01u);
+ dst_p->brownout_fault = unpack_right_shift_u8(src_p[2], 0u, 0x01u);
dst_p->rsvd1 = unpack_right_shift_u8(src_p[2], 1u, 0x02u);
- dst_p->can_warning = unpack_right_shift_u8(src_p[2], 2u, 0x04u);
+ dst_p->can_warning_fault = unpack_right_shift_u8(src_p[2], 2u, 0x04u);
dst_p->hardware_fault = unpack_right_shift_u8(src_p[2], 3u, 0x08u);
- dst_p->sw_state = unpack_right_shift_u8(src_p[2], 4u, 0x10u);
- dst_p->sticky_brownout = unpack_right_shift_u8(src_p[2], 5u, 0x20u);
+ dst_p->switch_channel_state = unpack_right_shift_u8(src_p[2], 4u, 0x10u);
+ dst_p->sticky_brownout_fault = unpack_right_shift_u8(src_p[2], 5u, 0x20u);
dst_p->rsvd2 = unpack_right_shift_u8(src_p[2], 6u, 0x40u);
- dst_p->sticky_can_warning = unpack_right_shift_u8(src_p[2], 7u, 0x80u);
- dst_p->sticky_can_bus_off = unpack_right_shift_u8(src_p[3], 0u, 0x01u);
+ dst_p->sticky_can_warning_fault = unpack_right_shift_u8(src_p[2], 7u, 0x80u);
+ dst_p->sticky_can_bus_off_fault = unpack_right_shift_u8(src_p[3], 0u, 0x01u);
dst_p->sticky_hardware_fault = unpack_right_shift_u8(src_p[3], 1u, 0x02u);
dst_p->sticky_firmware_fault = unpack_right_shift_u8(src_p[3], 2u, 0x04u);
- dst_p->sticky_ch20_brownout = unpack_right_shift_u8(src_p[3], 3u, 0x08u);
- dst_p->sticky_ch21_brownout = unpack_right_shift_u8(src_p[3], 4u, 0x10u);
- dst_p->sticky_ch22_brownout = unpack_right_shift_u8(src_p[3], 5u, 0x20u);
- dst_p->sticky_ch23_brownout = unpack_right_shift_u8(src_p[3], 6u, 0x40u);
- dst_p->sticky_has_reset = unpack_right_shift_u8(src_p[3], 7u, 0x80u);
+ dst_p->sticky_ch20_breaker_fault = unpack_right_shift_u8(src_p[3], 3u, 0x08u);
+ dst_p->sticky_ch21_breaker_fault = unpack_right_shift_u8(src_p[3], 4u, 0x10u);
+ dst_p->sticky_ch22_breaker_fault = unpack_right_shift_u8(src_p[3], 5u, 0x20u);
+ dst_p->sticky_ch23_breaker_fault = unpack_right_shift_u8(src_p[3], 6u, 0x40u);
+ dst_p->sticky_has_reset_fault = unpack_right_shift_u8(src_p[3], 7u, 0x80u);
dst_p->total_current = unpack_right_shift_u8(src_p[4], 0u, 0xffu);
+ dst_p->sticky_ch0_breaker_fault = unpack_right_shift_u8(src_p[5], 0u, 0x01u);
+ dst_p->sticky_ch1_breaker_fault = unpack_right_shift_u8(src_p[5], 1u, 0x02u);
+ dst_p->sticky_ch2_breaker_fault = unpack_right_shift_u8(src_p[5], 2u, 0x04u);
+ dst_p->sticky_ch3_breaker_fault = unpack_right_shift_u8(src_p[5], 3u, 0x08u);
+ dst_p->sticky_ch4_breaker_fault = unpack_right_shift_u8(src_p[5], 4u, 0x10u);
+ dst_p->sticky_ch5_breaker_fault = unpack_right_shift_u8(src_p[5], 5u, 0x20u);
+ dst_p->sticky_ch6_breaker_fault = unpack_right_shift_u8(src_p[5], 6u, 0x40u);
+ dst_p->sticky_ch7_breaker_fault = unpack_right_shift_u8(src_p[5], 7u, 0x80u);
+ dst_p->sticky_ch8_breaker_fault = unpack_right_shift_u8(src_p[6], 0u, 0x01u);
+ dst_p->sticky_ch9_breaker_fault = unpack_right_shift_u8(src_p[6], 1u, 0x02u);
+ dst_p->sticky_ch10_breaker_fault = unpack_right_shift_u8(src_p[6], 2u, 0x04u);
+ dst_p->sticky_ch11_breaker_fault = unpack_right_shift_u8(src_p[6], 3u, 0x08u);
+ dst_p->sticky_ch12_breaker_fault = unpack_right_shift_u8(src_p[6], 4u, 0x10u);
+ dst_p->sticky_ch13_breaker_fault = unpack_right_shift_u8(src_p[6], 5u, 0x20u);
+ dst_p->sticky_ch14_breaker_fault = unpack_right_shift_u8(src_p[6], 6u, 0x40u);
+ dst_p->sticky_ch15_breaker_fault = unpack_right_shift_u8(src_p[6], 7u, 0x80u);
+ dst_p->sticky_ch16_breaker_fault = unpack_right_shift_u8(src_p[7], 0u, 0x01u);
+ dst_p->sticky_ch17_breaker_fault = unpack_right_shift_u8(src_p[7], 1u, 0x02u);
+ dst_p->sticky_ch18_breaker_fault = unpack_right_shift_u8(src_p[7], 2u, 0x04u);
+ dst_p->sticky_ch19_breaker_fault = unpack_right_shift_u8(src_p[7], 3u, 0x08u);
return (0);
}
-uint16_t PDH_status4_v_bus_encode(double value)
+uint16_t PDH_status_4_v_bus_encode(double value)
{
return (uint16_t)(value / 0.0078125);
}
-double PDH_status4_v_bus_decode(uint16_t value)
+double PDH_status_4_v_bus_decode(uint16_t value)
{
return ((double)value * 0.0078125);
}
-bool PDH_status4_v_bus_is_in_range(uint16_t value)
+bool PDH_status_4_v_bus_is_in_range(uint16_t value)
{
return (value <= 4095u);
}
-uint8_t PDH_status4_system_enable_encode(double value)
+uint8_t PDH_status_4_system_enable_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_system_enable_decode(uint8_t value)
+double PDH_status_4_system_enable_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_system_enable_is_in_range(uint8_t value)
+bool PDH_status_4_system_enable_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_rsvd0_encode(double value)
+uint8_t PDH_status_4_rsvd0_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_rsvd0_decode(uint8_t value)
+double PDH_status_4_rsvd0_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_rsvd0_is_in_range(uint8_t value)
+bool PDH_status_4_rsvd0_is_in_range(uint8_t value)
{
return (value <= 7u);
}
-uint8_t PDH_status4_brownout_encode(double value)
+uint8_t PDH_status_4_brownout_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_brownout_decode(uint8_t value)
+double PDH_status_4_brownout_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_brownout_is_in_range(uint8_t value)
+bool PDH_status_4_brownout_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_rsvd1_encode(double value)
+uint8_t PDH_status_4_rsvd1_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_rsvd1_decode(uint8_t value)
+double PDH_status_4_rsvd1_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_rsvd1_is_in_range(uint8_t value)
+bool PDH_status_4_rsvd1_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_can_warning_encode(double value)
+uint8_t PDH_status_4_can_warning_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_can_warning_decode(uint8_t value)
+double PDH_status_4_can_warning_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_can_warning_is_in_range(uint8_t value)
+bool PDH_status_4_can_warning_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_hardware_fault_encode(double value)
+uint8_t PDH_status_4_hardware_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_hardware_fault_decode(uint8_t value)
+double PDH_status_4_hardware_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_hardware_fault_is_in_range(uint8_t value)
+bool PDH_status_4_hardware_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_sw_state_encode(double value)
+uint8_t PDH_status_4_switch_channel_state_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_sw_state_decode(uint8_t value)
+double PDH_status_4_switch_channel_state_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_sw_state_is_in_range(uint8_t value)
+bool PDH_status_4_switch_channel_state_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_sticky_brownout_encode(double value)
+uint8_t PDH_status_4_sticky_brownout_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_sticky_brownout_decode(uint8_t value)
+double PDH_status_4_sticky_brownout_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_sticky_brownout_is_in_range(uint8_t value)
+bool PDH_status_4_sticky_brownout_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_rsvd2_encode(double value)
+uint8_t PDH_status_4_rsvd2_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_rsvd2_decode(uint8_t value)
+double PDH_status_4_rsvd2_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_rsvd2_is_in_range(uint8_t value)
+bool PDH_status_4_rsvd2_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_sticky_can_warning_encode(double value)
+uint8_t PDH_status_4_sticky_can_warning_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_sticky_can_warning_decode(uint8_t value)
+double PDH_status_4_sticky_can_warning_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_sticky_can_warning_is_in_range(uint8_t value)
+bool PDH_status_4_sticky_can_warning_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_sticky_can_bus_off_encode(double value)
+uint8_t PDH_status_4_sticky_can_bus_off_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_sticky_can_bus_off_decode(uint8_t value)
+double PDH_status_4_sticky_can_bus_off_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_sticky_can_bus_off_is_in_range(uint8_t value)
+bool PDH_status_4_sticky_can_bus_off_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_sticky_hardware_fault_encode(double value)
+uint8_t PDH_status_4_sticky_hardware_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_sticky_hardware_fault_decode(uint8_t value)
+double PDH_status_4_sticky_hardware_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_sticky_hardware_fault_is_in_range(uint8_t value)
+bool PDH_status_4_sticky_hardware_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_sticky_firmware_fault_encode(double value)
+uint8_t PDH_status_4_sticky_firmware_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_sticky_firmware_fault_decode(uint8_t value)
+double PDH_status_4_sticky_firmware_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_sticky_firmware_fault_is_in_range(uint8_t value)
+bool PDH_status_4_sticky_firmware_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_sticky_ch20_brownout_encode(double value)
+uint8_t PDH_status_4_sticky_ch20_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_sticky_ch20_brownout_decode(uint8_t value)
+double PDH_status_4_sticky_ch20_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_sticky_ch20_brownout_is_in_range(uint8_t value)
+bool PDH_status_4_sticky_ch20_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_sticky_ch21_brownout_encode(double value)
+uint8_t PDH_status_4_sticky_ch21_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_sticky_ch21_brownout_decode(uint8_t value)
+double PDH_status_4_sticky_ch21_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_sticky_ch21_brownout_is_in_range(uint8_t value)
+bool PDH_status_4_sticky_ch21_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_sticky_ch22_brownout_encode(double value)
+uint8_t PDH_status_4_sticky_ch22_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_sticky_ch22_brownout_decode(uint8_t value)
+double PDH_status_4_sticky_ch22_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_sticky_ch22_brownout_is_in_range(uint8_t value)
+bool PDH_status_4_sticky_ch22_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_sticky_ch23_brownout_encode(double value)
+uint8_t PDH_status_4_sticky_ch23_breaker_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_sticky_ch23_brownout_decode(uint8_t value)
+double PDH_status_4_sticky_ch23_breaker_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_sticky_ch23_brownout_is_in_range(uint8_t value)
+bool PDH_status_4_sticky_ch23_breaker_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_sticky_has_reset_encode(double value)
+uint8_t PDH_status_4_sticky_has_reset_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_status4_sticky_has_reset_decode(uint8_t value)
+double PDH_status_4_sticky_has_reset_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_status4_sticky_has_reset_is_in_range(uint8_t value)
+bool PDH_status_4_sticky_has_reset_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PDH_status4_total_current_encode(double value)
+uint8_t PDH_status_4_total_current_encode(double value)
{
return (uint8_t)(value / 2.0);
}
-double PDH_status4_total_current_decode(uint8_t value)
+double PDH_status_4_total_current_decode(uint8_t value)
{
return ((double)value * 2.0);
}
-bool PDH_status4_total_current_is_in_range(uint8_t value)
+bool PDH_status_4_total_current_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
+uint8_t PDH_status_4_sticky_ch0_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch0_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch0_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch1_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch1_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch1_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch2_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch2_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch2_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch3_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch3_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch3_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch4_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch4_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch4_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch5_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch5_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch5_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch6_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch6_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch6_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch7_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch7_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch7_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch8_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch8_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch8_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch9_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch9_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch9_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch10_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch10_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch10_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch11_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch11_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch11_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch12_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch12_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch12_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch13_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch13_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch13_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch14_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch14_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch14_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch15_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch15_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch15_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch16_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch16_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch16_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch17_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch17_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch17_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch18_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch18_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch18_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PDH_status_4_sticky_ch19_breaker_fault_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_status_4_sticky_ch19_breaker_fault_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_status_4_sticky_ch19_breaker_fault_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
int PDH_clear_faults_pack(
uint8_t *dst_p,
const struct PDH_clear_faults_t *src_p,
@@ -1546,30 +1869,6 @@
return (0);
}
-int PDH_identify_pack(
- uint8_t *dst_p,
- const struct PDH_identify_t *src_p,
- size_t size)
-{
- (void)dst_p;
- (void)src_p;
- (void)size;
-
- return (0);
-}
-
-int PDH_identify_unpack(
- struct PDH_identify_t *dst_p,
- const uint8_t *src_p,
- size_t size)
-{
- (void)dst_p;
- (void)src_p;
- (void)size;
-
- return (0);
-}
-
int PDH_version_pack(
uint8_t *dst_p,
const struct PDH_version_t *src_p,
@@ -1584,11 +1883,11 @@
dst_p[0] |= pack_left_shift_u8(src_p->firmware_fix, 0u, 0xffu);
dst_p[1] |= pack_left_shift_u8(src_p->firmware_minor, 0u, 0xffu);
dst_p[2] |= pack_left_shift_u8(src_p->firmware_year, 0u, 0xffu);
- dst_p[3] |= pack_left_shift_u8(src_p->hardware_code, 0u, 0xffu);
- dst_p[4] |= pack_left_shift_u32(src_p->unique_id, 0u, 0xffu);
- dst_p[5] |= pack_right_shift_u32(src_p->unique_id, 8u, 0xffu);
- dst_p[6] |= pack_right_shift_u32(src_p->unique_id, 16u, 0xffu);
- dst_p[7] |= pack_right_shift_u32(src_p->unique_id, 24u, 0xffu);
+ dst_p[3] |= pack_left_shift_u8(src_p->hardware_minor, 0u, 0xffu);
+ dst_p[4] |= pack_left_shift_u8(src_p->hardware_major, 0u, 0xffu);
+ dst_p[5] |= pack_left_shift_u32(src_p->unique_id, 0u, 0xffu);
+ dst_p[6] |= pack_right_shift_u32(src_p->unique_id, 8u, 0xffu);
+ dst_p[7] |= pack_right_shift_u32(src_p->unique_id, 16u, 0xffu);
return (8);
}
@@ -1605,11 +1904,11 @@
dst_p->firmware_fix = unpack_right_shift_u8(src_p[0], 0u, 0xffu);
dst_p->firmware_minor = unpack_right_shift_u8(src_p[1], 0u, 0xffu);
dst_p->firmware_year = unpack_right_shift_u8(src_p[2], 0u, 0xffu);
- dst_p->hardware_code = unpack_right_shift_u8(src_p[3], 0u, 0xffu);
- dst_p->unique_id = unpack_right_shift_u32(src_p[4], 0u, 0xffu);
- dst_p->unique_id |= unpack_left_shift_u32(src_p[5], 8u, 0xffu);
- dst_p->unique_id |= unpack_left_shift_u32(src_p[6], 16u, 0xffu);
- dst_p->unique_id |= unpack_left_shift_u32(src_p[7], 24u, 0xffu);
+ dst_p->hardware_minor = unpack_right_shift_u8(src_p[3], 0u, 0xffu);
+ dst_p->hardware_major = unpack_right_shift_u8(src_p[4], 0u, 0xffu);
+ dst_p->unique_id = unpack_right_shift_u32(src_p[5], 0u, 0xffu);
+ dst_p->unique_id |= unpack_left_shift_u32(src_p[6], 8u, 0xffu);
+ dst_p->unique_id |= unpack_left_shift_u32(src_p[7], 16u, 0xffu);
return (0);
}
@@ -1665,17 +1964,34 @@
return (true);
}
-uint8_t PDH_version_hardware_code_encode(double value)
+uint8_t PDH_version_hardware_minor_encode(double value)
{
return (uint8_t)(value);
}
-double PDH_version_hardware_code_decode(uint8_t value)
+double PDH_version_hardware_minor_decode(uint8_t value)
{
return ((double)value);
}
-bool PDH_version_hardware_code_is_in_range(uint8_t value)
+bool PDH_version_hardware_minor_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PDH_version_hardware_major_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PDH_version_hardware_major_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PDH_version_hardware_major_is_in_range(uint8_t value)
{
(void)value;
@@ -1694,97 +2010,5 @@
bool PDH_version_unique_id_is_in_range(uint32_t value)
{
- (void)value;
-
- return (true);
-}
-
-int PDH_configure_hr_channel_pack(
- uint8_t *dst_p,
- const struct PDH_configure_hr_channel_t *src_p,
- size_t size)
-{
- if (size < 3u) {
- return (-EINVAL);
- }
-
- memset(&dst_p[0], 0, 3);
-
- dst_p[0] |= pack_left_shift_u8(src_p->channel, 0u, 0xffu);
- dst_p[1] |= pack_left_shift_u16(src_p->period, 0u, 0xffu);
- dst_p[2] |= pack_right_shift_u16(src_p->period, 8u, 0xffu);
-
- return (3);
-}
-
-int PDH_configure_hr_channel_unpack(
- struct PDH_configure_hr_channel_t *dst_p,
- const uint8_t *src_p,
- size_t size)
-{
- if (size < 3u) {
- return (-EINVAL);
- }
-
- dst_p->channel = unpack_right_shift_u8(src_p[0], 0u, 0xffu);
- dst_p->period = unpack_right_shift_u16(src_p[1], 0u, 0xffu);
- dst_p->period |= unpack_left_shift_u16(src_p[2], 8u, 0xffu);
-
- return (0);
-}
-
-uint8_t PDH_configure_hr_channel_channel_encode(double value)
-{
- return (uint8_t)(value);
-}
-
-double PDH_configure_hr_channel_channel_decode(uint8_t value)
-{
- return ((double)value);
-}
-
-bool PDH_configure_hr_channel_channel_is_in_range(uint8_t value)
-{
- return (value <= 23u);
-}
-
-uint16_t PDH_configure_hr_channel_period_encode(double value)
-{
- return (uint16_t)(value);
-}
-
-double PDH_configure_hr_channel_period_decode(uint16_t value)
-{
- return ((double)value);
-}
-
-bool PDH_configure_hr_channel_period_is_in_range(uint16_t value)
-{
- (void)value;
-
- return (true);
-}
-
-int PDH_enter_bootloader_pack(
- uint8_t *dst_p,
- const struct PDH_enter_bootloader_t *src_p,
- size_t size)
-{
- (void)dst_p;
- (void)src_p;
- (void)size;
-
- return (0);
-}
-
-int PDH_enter_bootloader_unpack(
- struct PDH_enter_bootloader_t *dst_p,
- const uint8_t *src_p,
- size_t size)
-{
- (void)dst_p;
- (void)src_p;
- (void)size;
-
- return (0);
+ return (value <= 16777215u);
}
diff --git a/third_party/allwpilib/hal/src/main/native/athena/rev/PDHFrames.h b/third_party/allwpilib/hal/src/main/native/athena/rev/PDHFrames.h
index 5d2452a..eb498c9 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/rev/PDHFrames.h
+++ b/third_party/allwpilib/hal/src/main/native/athena/rev/PDHFrames.h
@@ -44,43 +44,34 @@
#endif
/* Frame ids. */
-#define PDH_SWITCH_CHANNEL_SET_FRAME_ID (0x8050840u)
-#define PDH_STATUS0_FRAME_ID (0x8051800u)
-#define PDH_STATUS1_FRAME_ID (0x8051840u)
-#define PDH_STATUS2_FRAME_ID (0x8051880u)
-#define PDH_STATUS3_FRAME_ID (0x80518c0u)
-#define PDH_STATUS4_FRAME_ID (0x8051900u)
+#define PDH_SET_SWITCH_CHANNEL_FRAME_ID (0x8050840u)
+#define PDH_STATUS_0_FRAME_ID (0x8051800u)
+#define PDH_STATUS_1_FRAME_ID (0x8051840u)
+#define PDH_STATUS_2_FRAME_ID (0x8051880u)
+#define PDH_STATUS_3_FRAME_ID (0x80518c0u)
+#define PDH_STATUS_4_FRAME_ID (0x8051900u)
#define PDH_CLEAR_FAULTS_FRAME_ID (0x8051b80u)
-#define PDH_IDENTIFY_FRAME_ID (0x8051d80u)
#define PDH_VERSION_FRAME_ID (0x8052600u)
-#define PDH_CONFIGURE_HR_CHANNEL_FRAME_ID (0x80538c0u)
-#define PDH_ENTER_BOOTLOADER_FRAME_ID (0x8057fc0u)
/* Frame lengths in bytes. */
-#define PDH_SWITCH_CHANNEL_SET_LENGTH (1u)
-#define PDH_STATUS0_LENGTH (8u)
-#define PDH_STATUS1_LENGTH (8u)
-#define PDH_STATUS2_LENGTH (8u)
-#define PDH_STATUS3_LENGTH (8u)
-#define PDH_STATUS4_LENGTH (8u)
+#define PDH_SET_SWITCH_CHANNEL_LENGTH (1u)
+#define PDH_STATUS_0_LENGTH (8u)
+#define PDH_STATUS_1_LENGTH (8u)
+#define PDH_STATUS_2_LENGTH (8u)
+#define PDH_STATUS_3_LENGTH (8u)
+#define PDH_STATUS_4_LENGTH (8u)
#define PDH_CLEAR_FAULTS_LENGTH (0u)
-#define PDH_IDENTIFY_LENGTH (0u)
#define PDH_VERSION_LENGTH (8u)
-#define PDH_CONFIGURE_HR_CHANNEL_LENGTH (3u)
-#define PDH_ENTER_BOOTLOADER_LENGTH (0u)
/* Extended or standard frame types. */
-#define PDH_SWITCH_CHANNEL_SET_IS_EXTENDED (1)
-#define PDH_STATUS0_IS_EXTENDED (1)
-#define PDH_STATUS1_IS_EXTENDED (1)
-#define PDH_STATUS2_IS_EXTENDED (1)
-#define PDH_STATUS3_IS_EXTENDED (1)
-#define PDH_STATUS4_IS_EXTENDED (1)
+#define PDH_SET_SWITCH_CHANNEL_IS_EXTENDED (1)
+#define PDH_STATUS_0_IS_EXTENDED (1)
+#define PDH_STATUS_1_IS_EXTENDED (1)
+#define PDH_STATUS_2_IS_EXTENDED (1)
+#define PDH_STATUS_3_IS_EXTENDED (1)
+#define PDH_STATUS_4_IS_EXTENDED (1)
#define PDH_CLEAR_FAULTS_IS_EXTENDED (1)
-#define PDH_IDENTIFY_IS_EXTENDED (1)
#define PDH_VERSION_IS_EXTENDED (1)
-#define PDH_CONFIGURE_HR_CHANNEL_IS_EXTENDED (1)
-#define PDH_ENTER_BOOTLOADER_IS_EXTENDED (1)
/* Frame cycle times in milliseconds. */
@@ -89,36 +80,29 @@
/**
- * Signals in message SwitchChannelSet.
+ * Signals in message Set_Switch_Channel.
*
* Set the switch channel output
*
* All signal values are as on the CAN bus.
*/
-struct PDH_switch_channel_set_t {
+struct PDH_set_switch_channel_t {
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
uint8_t output_set_value : 1;
-
- /**
- * Range: 0..1 (0..1 -)
- * Scale: 1
- * Offset: 0
- */
- uint8_t use_system_enable : 1;
};
/**
- * Signals in message Status0.
+ * Signals in message Status_0.
*
* Periodic status frame 0
*
* All signal values are as on the CAN bus.
*/
-struct PDH_status0_t {
+struct PDH_status_0_t {
/**
* Range: 0..1023 (0..127.875 A)
* Scale: 0.125
@@ -145,14 +129,14 @@
* Scale: 1
* Offset: 0
*/
- uint8_t channel_0_brownout : 1;
+ uint8_t channel_0_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_1_brownout : 1;
+ uint8_t channel_1_breaker_fault : 1;
/**
* Range: 0..1023 (0..127.875 A)
@@ -180,24 +164,24 @@
* Scale: 1
* Offset: 0
*/
- uint8_t channel_2_brownout : 1;
+ uint8_t channel_2_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_3_brownout : 1;
+ uint8_t channel_3_breaker_fault : 1;
};
/**
- * Signals in message Status1.
+ * Signals in message Status_1.
*
* Periodic status frame 1
*
* All signal values are as on the CAN bus.
*/
-struct PDH_status1_t {
+struct PDH_status_1_t {
/**
* Range: 0..1023 (0..127.875 A)
* Scale: 0.125
@@ -224,14 +208,14 @@
* Scale: 1
* Offset: 0
*/
- uint8_t channel_4_brownout : 1;
+ uint8_t channel_4_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_5_brownout : 1;
+ uint8_t channel_5_breaker_fault : 1;
/**
* Range: 0..1023 (0..127.875 A)
@@ -259,24 +243,24 @@
* Scale: 1
* Offset: 0
*/
- uint8_t channel_6_brownout : 1;
+ uint8_t channel_6_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_7_brownout : 1;
+ uint8_t channel_7_breaker_fault : 1;
};
/**
- * Signals in message Status2.
+ * Signals in message Status_2.
*
* Periodic status frame 2
*
* All signal values are as on the CAN bus.
*/
-struct PDH_status2_t {
+struct PDH_status_2_t {
/**
* Range: 0..1023 (0..127.875 A)
* Scale: 0.125
@@ -303,14 +287,14 @@
* Scale: 1
* Offset: 0
*/
- uint8_t channel_8_brownout : 1;
+ uint8_t channel_8_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_9_brownout : 1;
+ uint8_t channel_9_breaker_fault : 1;
/**
* Range: 0..1023 (0..127.875 A)
@@ -338,24 +322,24 @@
* Scale: 1
* Offset: 0
*/
- uint8_t channel_10_brownout : 1;
+ uint8_t channel_10_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_11_brownout : 1;
+ uint8_t channel_11_breaker_fault : 1;
};
/**
- * Signals in message Status3.
+ * Signals in message Status_3.
*
* Periodic status frame 3
*
* All signal values are as on the CAN bus.
*/
-struct PDH_status3_t {
+struct PDH_status_3_t {
/**
* Range: 0..1023 (0..127.875 A)
* Scale: 0.125
@@ -375,38 +359,38 @@
* Scale: 1
* Offset: 0
*/
- uint8_t channel_12_brownout : 1;
+ uint8_t channel_12_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_13_brownout : 1;
+ uint8_t channel_13_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_14_brownout : 1;
+ uint8_t channel_14_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_15_brownout : 1;
+ uint8_t channel_15_breaker_fault : 1;
/**
- * Range: 0..255 (0..15.9375 A)
+ * Range: 0..511 (0..31.9375 A)
* Scale: 0.0625
* Offset: 0
*/
uint8_t channel_20_current : 8;
/**
- * Range: 0..255 (0..15.9375 A)
+ * Range: 0..511 (0..31.9375 A)
* Scale: 0.0625
* Offset: 0
*/
@@ -431,66 +415,66 @@
* Scale: 1
* Offset: 0
*/
- uint8_t channel_16_brownout : 1;
+ uint8_t channel_16_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_17_brownout : 1;
+ uint8_t channel_17_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_18_brownout : 1;
+ uint8_t channel_18_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_19_brownout : 1;
+ uint8_t channel_19_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_20_brownout : 1;
+ uint8_t channel_20_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_21_brownout : 1;
+ uint8_t channel_21_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_22_brownout : 1;
+ uint8_t channel_22_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel_23_brownout : 1;
+ uint8_t channel_23_breaker_fault : 1;
};
/**
- * Signals in message Status4.
+ * Signals in message Status_4.
*
* Periodic status frame 4
*
* All signal values are as on the CAN bus.
*/
-struct PDH_status4_t {
+struct PDH_status_4_t {
/**
* Range: 0..4095 (0..31.9921875 V)
* Scale: 0.0078125
@@ -517,7 +501,7 @@
* Scale: 1
* Offset: 0
*/
- uint8_t brownout : 1;
+ uint8_t brownout_fault : 1;
/**
* Range: 0..1 (0..1 -)
@@ -531,7 +515,7 @@
* Scale: 1
* Offset: 0
*/
- uint8_t can_warning : 1;
+ uint8_t can_warning_fault : 1;
/**
* Range: 0..1 (0..1 -)
@@ -545,14 +529,14 @@
* Scale: 1
* Offset: 0
*/
- uint8_t sw_state : 1;
+ uint8_t switch_channel_state : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_brownout : 1;
+ uint8_t sticky_brownout_fault : 1;
/**
* Range: 0..1 (0..1 -)
@@ -566,14 +550,14 @@
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_can_warning : 1;
+ uint8_t sticky_can_warning_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_can_bus_off : 1;
+ uint8_t sticky_can_bus_off_fault : 1;
/**
* Range: 0..1 (0..1 -)
@@ -594,35 +578,35 @@
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_ch20_brownout : 1;
+ uint8_t sticky_ch20_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_ch21_brownout : 1;
+ uint8_t sticky_ch21_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_ch22_brownout : 1;
+ uint8_t sticky_ch22_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_ch23_brownout : 1;
+ uint8_t sticky_ch23_breaker_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_has_reset : 1;
+ uint8_t sticky_has_reset_fault : 1;
/**
* Range: 0..255 (0..510 A)
@@ -630,10 +614,150 @@
* Offset: 0
*/
uint8_t total_current : 8;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch0_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch1_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch2_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch3_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch4_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch5_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch6_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch7_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch8_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch9_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch10_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch11_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch12_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch13_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch14_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch15_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch16_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch17_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch18_breaker_fault : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t sticky_ch19_breaker_fault : 1;
};
/**
- * Signals in message ClearFaults.
+ * Signals in message Clear_Faults.
*
* Clear sticky faults on the device
*
@@ -647,20 +771,6 @@
};
/**
- * Signals in message Identify.
- *
- * Flash the LED on the device to identify this device
- *
- * All signal values are as on the CAN bus.
- */
-struct PDH_identify_t {
- /**
- * Dummy signal in empty message.
- */
- uint8_t dummy;
-};
-
-/**
* Signals in message Version.
*
* Get the version of the PDH device
@@ -694,55 +804,25 @@
* Scale: 1
* Offset: 0
*/
- uint8_t hardware_code : 8;
+ uint8_t hardware_minor : 8;
/**
- * Range: 0..4294967295 (0..4294967295 -)
+ * Range: 0..255 (0..255 -)
* Scale: 1
* Offset: 0
*/
- uint32_t unique_id : 32;
-};
+ uint8_t hardware_major : 8;
-/**
- * Signals in message ConfigureHRChannel.
- *
- * Configure a periodic high-resolution channel frame to send back data for a particular channel. This can be useful for more detailed diagnostics, or even for current based control or monitoring.
- *
- * All signal values are as on the CAN bus.
- */
-struct PDH_configure_hr_channel_t {
/**
- * Range: 0..23 (0..23 -)
+ * Range: 0..16777215 (0..16777215 -)
* Scale: 1
* Offset: 0
*/
- uint8_t channel : 8;
-
- /**
- * Range: 0..65535 (0..65535 -)
- * Scale: 1
- * Offset: 0
- */
- uint16_t period : 16;
+ uint32_t unique_id : 24;
};
/**
- * Signals in message Enter_Bootloader.
- *
- * Enter the REV bootloader from user application
- *
- * All signal values are as on the CAN bus.
- */
-struct PDH_enter_bootloader_t {
- /**
- * Dummy signal in empty message.
- */
- uint8_t dummy;
-};
-
-/**
- * Pack message SwitchChannelSet.
+ * Pack message Set_Switch_Channel.
*
* @param[out] dst_p Buffer to pack the message into.
* @param[in] src_p Data to pack.
@@ -750,13 +830,13 @@
*
* @return Size of packed data, or negative error code.
*/
-int PDH_switch_channel_set_pack(
+int PDH_set_switch_channel_pack(
uint8_t *dst_p,
- const struct PDH_switch_channel_set_t *src_p,
+ const struct PDH_set_switch_channel_t *src_p,
size_t size);
/**
- * Unpack message SwitchChannelSet.
+ * Unpack message Set_Switch_Channel.
*
* @param[out] dst_p Object to unpack the message into.
* @param[in] src_p Message to unpack.
@@ -764,8 +844,8 @@
*
* @return zero(0) or negative error code.
*/
-int PDH_switch_channel_set_unpack(
- struct PDH_switch_channel_set_t *dst_p,
+int PDH_set_switch_channel_unpack(
+ struct PDH_set_switch_channel_t *dst_p,
const uint8_t *src_p,
size_t size);
@@ -776,7 +856,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_switch_channel_set_output_set_value_encode(double value);
+uint8_t PDH_set_switch_channel_output_set_value_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -785,7 +865,7 @@
*
* @return Decoded signal.
*/
-double PDH_switch_channel_set_output_set_value_decode(uint8_t value);
+double PDH_set_switch_channel_output_set_value_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -794,37 +874,10 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_switch_channel_set_output_set_value_is_in_range(uint8_t value);
+bool PDH_set_switch_channel_output_set_value_is_in_range(uint8_t value);
/**
- * Encode given signal by applying scaling and offset.
- *
- * @param[in] value Signal to encode.
- *
- * @return Encoded signal.
- */
-uint8_t PDH_switch_channel_set_use_system_enable_encode(double value);
-
-/**
- * Decode given signal by applying scaling and offset.
- *
- * @param[in] value Signal to decode.
- *
- * @return Decoded signal.
- */
-double PDH_switch_channel_set_use_system_enable_decode(uint8_t value);
-
-/**
- * Check that given signal is in allowed range.
- *
- * @param[in] value Signal to check.
- *
- * @return true if in range, false otherwise.
- */
-bool PDH_switch_channel_set_use_system_enable_is_in_range(uint8_t value);
-
-/**
- * Pack message Status0.
+ * Pack message Status_0.
*
* @param[out] dst_p Buffer to pack the message into.
* @param[in] src_p Data to pack.
@@ -832,13 +885,13 @@
*
* @return Size of packed data, or negative error code.
*/
-int PDH_status0_pack(
+int PDH_status_0_pack(
uint8_t *dst_p,
- const struct PDH_status0_t *src_p,
+ const struct PDH_status_0_t *src_p,
size_t size);
/**
- * Unpack message Status0.
+ * Unpack message Status_0.
*
* @param[out] dst_p Object to unpack the message into.
* @param[in] src_p Message to unpack.
@@ -846,8 +899,8 @@
*
* @return zero(0) or negative error code.
*/
-int PDH_status0_unpack(
- struct PDH_status0_t *dst_p,
+int PDH_status_0_unpack(
+ struct PDH_status_0_t *dst_p,
const uint8_t *src_p,
size_t size);
@@ -858,7 +911,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status0_channel_0_current_encode(double value);
+uint16_t PDH_status_0_channel_0_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -867,7 +920,7 @@
*
* @return Decoded signal.
*/
-double PDH_status0_channel_0_current_decode(uint16_t value);
+double PDH_status_0_channel_0_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -876,7 +929,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status0_channel_0_current_is_in_range(uint16_t value);
+bool PDH_status_0_channel_0_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -885,7 +938,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status0_channel_1_current_encode(double value);
+uint16_t PDH_status_0_channel_1_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -894,7 +947,7 @@
*
* @return Decoded signal.
*/
-double PDH_status0_channel_1_current_decode(uint16_t value);
+double PDH_status_0_channel_1_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -903,7 +956,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status0_channel_1_current_is_in_range(uint16_t value);
+bool PDH_status_0_channel_1_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -912,7 +965,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status0_channel_2_current_encode(double value);
+uint16_t PDH_status_0_channel_2_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -921,7 +974,7 @@
*
* @return Decoded signal.
*/
-double PDH_status0_channel_2_current_decode(uint16_t value);
+double PDH_status_0_channel_2_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -930,7 +983,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status0_channel_2_current_is_in_range(uint16_t value);
+bool PDH_status_0_channel_2_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -939,7 +992,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status0_channel_0_brownout_encode(double value);
+uint8_t PDH_status_0_channel_0_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -948,7 +1001,7 @@
*
* @return Decoded signal.
*/
-double PDH_status0_channel_0_brownout_decode(uint8_t value);
+double PDH_status_0_channel_0_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -957,7 +1010,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status0_channel_0_brownout_is_in_range(uint8_t value);
+bool PDH_status_0_channel_0_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -966,7 +1019,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status0_channel_1_brownout_encode(double value);
+uint8_t PDH_status_0_channel_1_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -975,7 +1028,7 @@
*
* @return Decoded signal.
*/
-double PDH_status0_channel_1_brownout_decode(uint8_t value);
+double PDH_status_0_channel_1_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -984,7 +1037,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status0_channel_1_brownout_is_in_range(uint8_t value);
+bool PDH_status_0_channel_1_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -993,7 +1046,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status0_channel_3_current_encode(double value);
+uint16_t PDH_status_0_channel_3_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1002,7 +1055,7 @@
*
* @return Decoded signal.
*/
-double PDH_status0_channel_3_current_decode(uint16_t value);
+double PDH_status_0_channel_3_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1011,7 +1064,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status0_channel_3_current_is_in_range(uint16_t value);
+bool PDH_status_0_channel_3_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1020,7 +1073,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status0_channel_4_current_encode(double value);
+uint16_t PDH_status_0_channel_4_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1029,7 +1082,7 @@
*
* @return Decoded signal.
*/
-double PDH_status0_channel_4_current_decode(uint16_t value);
+double PDH_status_0_channel_4_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1038,7 +1091,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status0_channel_4_current_is_in_range(uint16_t value);
+bool PDH_status_0_channel_4_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1047,7 +1100,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status0_channel_5_current_encode(double value);
+uint16_t PDH_status_0_channel_5_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1056,7 +1109,7 @@
*
* @return Decoded signal.
*/
-double PDH_status0_channel_5_current_decode(uint16_t value);
+double PDH_status_0_channel_5_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1065,7 +1118,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status0_channel_5_current_is_in_range(uint16_t value);
+bool PDH_status_0_channel_5_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1074,7 +1127,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status0_channel_2_brownout_encode(double value);
+uint8_t PDH_status_0_channel_2_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1083,7 +1136,7 @@
*
* @return Decoded signal.
*/
-double PDH_status0_channel_2_brownout_decode(uint8_t value);
+double PDH_status_0_channel_2_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1092,7 +1145,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status0_channel_2_brownout_is_in_range(uint8_t value);
+bool PDH_status_0_channel_2_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1101,7 +1154,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status0_channel_3_brownout_encode(double value);
+uint8_t PDH_status_0_channel_3_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1110,7 +1163,7 @@
*
* @return Decoded signal.
*/
-double PDH_status0_channel_3_brownout_decode(uint8_t value);
+double PDH_status_0_channel_3_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1119,10 +1172,10 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status0_channel_3_brownout_is_in_range(uint8_t value);
+bool PDH_status_0_channel_3_breaker_fault_is_in_range(uint8_t value);
/**
- * Pack message Status1.
+ * Pack message Status_1.
*
* @param[out] dst_p Buffer to pack the message into.
* @param[in] src_p Data to pack.
@@ -1130,13 +1183,13 @@
*
* @return Size of packed data, or negative error code.
*/
-int PDH_status1_pack(
+int PDH_status_1_pack(
uint8_t *dst_p,
- const struct PDH_status1_t *src_p,
+ const struct PDH_status_1_t *src_p,
size_t size);
/**
- * Unpack message Status1.
+ * Unpack message Status_1.
*
* @param[out] dst_p Object to unpack the message into.
* @param[in] src_p Message to unpack.
@@ -1144,8 +1197,8 @@
*
* @return zero(0) or negative error code.
*/
-int PDH_status1_unpack(
- struct PDH_status1_t *dst_p,
+int PDH_status_1_unpack(
+ struct PDH_status_1_t *dst_p,
const uint8_t *src_p,
size_t size);
@@ -1156,7 +1209,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status1_channel_6_current_encode(double value);
+uint16_t PDH_status_1_channel_6_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1165,7 +1218,7 @@
*
* @return Decoded signal.
*/
-double PDH_status1_channel_6_current_decode(uint16_t value);
+double PDH_status_1_channel_6_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1174,7 +1227,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status1_channel_6_current_is_in_range(uint16_t value);
+bool PDH_status_1_channel_6_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1183,7 +1236,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status1_channel_7_current_encode(double value);
+uint16_t PDH_status_1_channel_7_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1192,7 +1245,7 @@
*
* @return Decoded signal.
*/
-double PDH_status1_channel_7_current_decode(uint16_t value);
+double PDH_status_1_channel_7_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1201,7 +1254,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status1_channel_7_current_is_in_range(uint16_t value);
+bool PDH_status_1_channel_7_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1210,7 +1263,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status1_channel_8_current_encode(double value);
+uint16_t PDH_status_1_channel_8_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1219,7 +1272,7 @@
*
* @return Decoded signal.
*/
-double PDH_status1_channel_8_current_decode(uint16_t value);
+double PDH_status_1_channel_8_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1228,7 +1281,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status1_channel_8_current_is_in_range(uint16_t value);
+bool PDH_status_1_channel_8_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1237,7 +1290,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status1_channel_4_brownout_encode(double value);
+uint8_t PDH_status_1_channel_4_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1246,7 +1299,7 @@
*
* @return Decoded signal.
*/
-double PDH_status1_channel_4_brownout_decode(uint8_t value);
+double PDH_status_1_channel_4_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1255,7 +1308,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status1_channel_4_brownout_is_in_range(uint8_t value);
+bool PDH_status_1_channel_4_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1264,7 +1317,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status1_channel_5_brownout_encode(double value);
+uint8_t PDH_status_1_channel_5_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1273,7 +1326,7 @@
*
* @return Decoded signal.
*/
-double PDH_status1_channel_5_brownout_decode(uint8_t value);
+double PDH_status_1_channel_5_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1282,7 +1335,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status1_channel_5_brownout_is_in_range(uint8_t value);
+bool PDH_status_1_channel_5_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1291,7 +1344,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status1_channel_9_current_encode(double value);
+uint16_t PDH_status_1_channel_9_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1300,7 +1353,7 @@
*
* @return Decoded signal.
*/
-double PDH_status1_channel_9_current_decode(uint16_t value);
+double PDH_status_1_channel_9_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1309,7 +1362,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status1_channel_9_current_is_in_range(uint16_t value);
+bool PDH_status_1_channel_9_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1318,7 +1371,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status1_channel_10_current_encode(double value);
+uint16_t PDH_status_1_channel_10_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1327,7 +1380,7 @@
*
* @return Decoded signal.
*/
-double PDH_status1_channel_10_current_decode(uint16_t value);
+double PDH_status_1_channel_10_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1336,7 +1389,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status1_channel_10_current_is_in_range(uint16_t value);
+bool PDH_status_1_channel_10_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1345,7 +1398,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status1_channel_11_current_encode(double value);
+uint16_t PDH_status_1_channel_11_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1354,7 +1407,7 @@
*
* @return Decoded signal.
*/
-double PDH_status1_channel_11_current_decode(uint16_t value);
+double PDH_status_1_channel_11_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1363,7 +1416,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status1_channel_11_current_is_in_range(uint16_t value);
+bool PDH_status_1_channel_11_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1372,7 +1425,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status1_channel_6_brownout_encode(double value);
+uint8_t PDH_status_1_channel_6_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1381,7 +1434,7 @@
*
* @return Decoded signal.
*/
-double PDH_status1_channel_6_brownout_decode(uint8_t value);
+double PDH_status_1_channel_6_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1390,7 +1443,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status1_channel_6_brownout_is_in_range(uint8_t value);
+bool PDH_status_1_channel_6_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1399,7 +1452,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status1_channel_7_brownout_encode(double value);
+uint8_t PDH_status_1_channel_7_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1408,7 +1461,7 @@
*
* @return Decoded signal.
*/
-double PDH_status1_channel_7_brownout_decode(uint8_t value);
+double PDH_status_1_channel_7_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1417,10 +1470,10 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status1_channel_7_brownout_is_in_range(uint8_t value);
+bool PDH_status_1_channel_7_breaker_fault_is_in_range(uint8_t value);
/**
- * Pack message Status2.
+ * Pack message Status_2.
*
* @param[out] dst_p Buffer to pack the message into.
* @param[in] src_p Data to pack.
@@ -1428,13 +1481,13 @@
*
* @return Size of packed data, or negative error code.
*/
-int PDH_status2_pack(
+int PDH_status_2_pack(
uint8_t *dst_p,
- const struct PDH_status2_t *src_p,
+ const struct PDH_status_2_t *src_p,
size_t size);
/**
- * Unpack message Status2.
+ * Unpack message Status_2.
*
* @param[out] dst_p Object to unpack the message into.
* @param[in] src_p Message to unpack.
@@ -1442,8 +1495,8 @@
*
* @return zero(0) or negative error code.
*/
-int PDH_status2_unpack(
- struct PDH_status2_t *dst_p,
+int PDH_status_2_unpack(
+ struct PDH_status_2_t *dst_p,
const uint8_t *src_p,
size_t size);
@@ -1454,7 +1507,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status2_channel_12_current_encode(double value);
+uint16_t PDH_status_2_channel_12_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1463,7 +1516,7 @@
*
* @return Decoded signal.
*/
-double PDH_status2_channel_12_current_decode(uint16_t value);
+double PDH_status_2_channel_12_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1472,7 +1525,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status2_channel_12_current_is_in_range(uint16_t value);
+bool PDH_status_2_channel_12_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1481,7 +1534,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status2_channel_13_current_encode(double value);
+uint16_t PDH_status_2_channel_13_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1490,7 +1543,7 @@
*
* @return Decoded signal.
*/
-double PDH_status2_channel_13_current_decode(uint16_t value);
+double PDH_status_2_channel_13_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1499,7 +1552,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status2_channel_13_current_is_in_range(uint16_t value);
+bool PDH_status_2_channel_13_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1508,7 +1561,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status2_channel_14_current_encode(double value);
+uint16_t PDH_status_2_channel_14_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1517,7 +1570,7 @@
*
* @return Decoded signal.
*/
-double PDH_status2_channel_14_current_decode(uint16_t value);
+double PDH_status_2_channel_14_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1526,7 +1579,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status2_channel_14_current_is_in_range(uint16_t value);
+bool PDH_status_2_channel_14_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1535,7 +1588,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status2_channel_8_brownout_encode(double value);
+uint8_t PDH_status_2_channel_8_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1544,7 +1597,7 @@
*
* @return Decoded signal.
*/
-double PDH_status2_channel_8_brownout_decode(uint8_t value);
+double PDH_status_2_channel_8_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1553,7 +1606,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status2_channel_8_brownout_is_in_range(uint8_t value);
+bool PDH_status_2_channel_8_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1562,7 +1615,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status2_channel_9_brownout_encode(double value);
+uint8_t PDH_status_2_channel_9_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1571,7 +1624,7 @@
*
* @return Decoded signal.
*/
-double PDH_status2_channel_9_brownout_decode(uint8_t value);
+double PDH_status_2_channel_9_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1580,7 +1633,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status2_channel_9_brownout_is_in_range(uint8_t value);
+bool PDH_status_2_channel_9_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1589,7 +1642,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status2_channel_15_current_encode(double value);
+uint16_t PDH_status_2_channel_15_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1598,7 +1651,7 @@
*
* @return Decoded signal.
*/
-double PDH_status2_channel_15_current_decode(uint16_t value);
+double PDH_status_2_channel_15_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1607,7 +1660,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status2_channel_15_current_is_in_range(uint16_t value);
+bool PDH_status_2_channel_15_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1616,7 +1669,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status2_channel_16_current_encode(double value);
+uint16_t PDH_status_2_channel_16_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1625,7 +1678,7 @@
*
* @return Decoded signal.
*/
-double PDH_status2_channel_16_current_decode(uint16_t value);
+double PDH_status_2_channel_16_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1634,7 +1687,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status2_channel_16_current_is_in_range(uint16_t value);
+bool PDH_status_2_channel_16_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1643,7 +1696,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status2_channel_17_current_encode(double value);
+uint16_t PDH_status_2_channel_17_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1652,7 +1705,7 @@
*
* @return Decoded signal.
*/
-double PDH_status2_channel_17_current_decode(uint16_t value);
+double PDH_status_2_channel_17_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1661,7 +1714,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status2_channel_17_current_is_in_range(uint16_t value);
+bool PDH_status_2_channel_17_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1670,7 +1723,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status2_channel_10_brownout_encode(double value);
+uint8_t PDH_status_2_channel_10_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1679,7 +1732,7 @@
*
* @return Decoded signal.
*/
-double PDH_status2_channel_10_brownout_decode(uint8_t value);
+double PDH_status_2_channel_10_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1688,7 +1741,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status2_channel_10_brownout_is_in_range(uint8_t value);
+bool PDH_status_2_channel_10_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1697,7 +1750,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status2_channel_11_brownout_encode(double value);
+uint8_t PDH_status_2_channel_11_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1706,7 +1759,7 @@
*
* @return Decoded signal.
*/
-double PDH_status2_channel_11_brownout_decode(uint8_t value);
+double PDH_status_2_channel_11_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1715,10 +1768,10 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status2_channel_11_brownout_is_in_range(uint8_t value);
+bool PDH_status_2_channel_11_breaker_fault_is_in_range(uint8_t value);
/**
- * Pack message Status3.
+ * Pack message Status_3.
*
* @param[out] dst_p Buffer to pack the message into.
* @param[in] src_p Data to pack.
@@ -1726,13 +1779,13 @@
*
* @return Size of packed data, or negative error code.
*/
-int PDH_status3_pack(
+int PDH_status_3_pack(
uint8_t *dst_p,
- const struct PDH_status3_t *src_p,
+ const struct PDH_status_3_t *src_p,
size_t size);
/**
- * Unpack message Status3.
+ * Unpack message Status_3.
*
* @param[out] dst_p Object to unpack the message into.
* @param[in] src_p Message to unpack.
@@ -1740,8 +1793,8 @@
*
* @return zero(0) or negative error code.
*/
-int PDH_status3_unpack(
- struct PDH_status3_t *dst_p,
+int PDH_status_3_unpack(
+ struct PDH_status_3_t *dst_p,
const uint8_t *src_p,
size_t size);
@@ -1752,7 +1805,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status3_channel_18_current_encode(double value);
+uint16_t PDH_status_3_channel_18_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1761,7 +1814,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_18_current_decode(uint16_t value);
+double PDH_status_3_channel_18_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1770,7 +1823,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_18_current_is_in_range(uint16_t value);
+bool PDH_status_3_channel_18_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1779,7 +1832,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status3_channel_19_current_encode(double value);
+uint16_t PDH_status_3_channel_19_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1788,7 +1841,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_19_current_decode(uint16_t value);
+double PDH_status_3_channel_19_current_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -1797,7 +1850,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_19_current_is_in_range(uint16_t value);
+bool PDH_status_3_channel_19_current_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1806,7 +1859,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_12_brownout_encode(double value);
+uint8_t PDH_status_3_channel_12_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1815,7 +1868,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_12_brownout_decode(uint8_t value);
+double PDH_status_3_channel_12_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1824,7 +1877,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_12_brownout_is_in_range(uint8_t value);
+bool PDH_status_3_channel_12_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1833,7 +1886,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_13_brownout_encode(double value);
+uint8_t PDH_status_3_channel_13_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1842,7 +1895,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_13_brownout_decode(uint8_t value);
+double PDH_status_3_channel_13_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1851,7 +1904,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_13_brownout_is_in_range(uint8_t value);
+bool PDH_status_3_channel_13_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1860,7 +1913,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_14_brownout_encode(double value);
+uint8_t PDH_status_3_channel_14_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1869,7 +1922,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_14_brownout_decode(uint8_t value);
+double PDH_status_3_channel_14_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1878,7 +1931,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_14_brownout_is_in_range(uint8_t value);
+bool PDH_status_3_channel_14_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1887,7 +1940,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_15_brownout_encode(double value);
+uint8_t PDH_status_3_channel_15_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1896,7 +1949,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_15_brownout_decode(uint8_t value);
+double PDH_status_3_channel_15_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1905,7 +1958,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_15_brownout_is_in_range(uint8_t value);
+bool PDH_status_3_channel_15_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1914,7 +1967,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_20_current_encode(double value);
+uint8_t PDH_status_3_channel_20_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1923,7 +1976,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_20_current_decode(uint8_t value);
+double PDH_status_3_channel_20_current_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1932,7 +1985,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_20_current_is_in_range(uint8_t value);
+bool PDH_status_3_channel_20_current_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1941,7 +1994,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_21_current_encode(double value);
+uint8_t PDH_status_3_channel_21_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1950,7 +2003,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_21_current_decode(uint8_t value);
+double PDH_status_3_channel_21_current_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1959,7 +2012,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_21_current_is_in_range(uint8_t value);
+bool PDH_status_3_channel_21_current_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1968,7 +2021,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_22_current_encode(double value);
+uint8_t PDH_status_3_channel_22_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1977,7 +2030,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_22_current_decode(uint8_t value);
+double PDH_status_3_channel_22_current_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1986,7 +2039,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_22_current_is_in_range(uint8_t value);
+bool PDH_status_3_channel_22_current_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1995,7 +2048,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_23_current_encode(double value);
+uint8_t PDH_status_3_channel_23_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2004,7 +2057,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_23_current_decode(uint8_t value);
+double PDH_status_3_channel_23_current_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2013,7 +2066,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_23_current_is_in_range(uint8_t value);
+bool PDH_status_3_channel_23_current_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2022,7 +2075,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_16_brownout_encode(double value);
+uint8_t PDH_status_3_channel_16_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2031,7 +2084,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_16_brownout_decode(uint8_t value);
+double PDH_status_3_channel_16_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2040,7 +2093,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_16_brownout_is_in_range(uint8_t value);
+bool PDH_status_3_channel_16_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2049,7 +2102,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_17_brownout_encode(double value);
+uint8_t PDH_status_3_channel_17_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2058,7 +2111,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_17_brownout_decode(uint8_t value);
+double PDH_status_3_channel_17_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2067,7 +2120,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_17_brownout_is_in_range(uint8_t value);
+bool PDH_status_3_channel_17_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2076,7 +2129,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_18_brownout_encode(double value);
+uint8_t PDH_status_3_channel_18_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2085,7 +2138,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_18_brownout_decode(uint8_t value);
+double PDH_status_3_channel_18_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2094,7 +2147,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_18_brownout_is_in_range(uint8_t value);
+bool PDH_status_3_channel_18_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2103,7 +2156,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_19_brownout_encode(double value);
+uint8_t PDH_status_3_channel_19_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2112,7 +2165,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_19_brownout_decode(uint8_t value);
+double PDH_status_3_channel_19_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2121,7 +2174,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_19_brownout_is_in_range(uint8_t value);
+bool PDH_status_3_channel_19_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2130,7 +2183,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_20_brownout_encode(double value);
+uint8_t PDH_status_3_channel_20_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2139,7 +2192,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_20_brownout_decode(uint8_t value);
+double PDH_status_3_channel_20_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2148,7 +2201,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_20_brownout_is_in_range(uint8_t value);
+bool PDH_status_3_channel_20_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2157,7 +2210,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_21_brownout_encode(double value);
+uint8_t PDH_status_3_channel_21_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2166,7 +2219,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_21_brownout_decode(uint8_t value);
+double PDH_status_3_channel_21_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2175,7 +2228,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_21_brownout_is_in_range(uint8_t value);
+bool PDH_status_3_channel_21_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2184,7 +2237,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_22_brownout_encode(double value);
+uint8_t PDH_status_3_channel_22_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2193,7 +2246,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_22_brownout_decode(uint8_t value);
+double PDH_status_3_channel_22_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2202,7 +2255,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_22_brownout_is_in_range(uint8_t value);
+bool PDH_status_3_channel_22_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2211,7 +2264,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status3_channel_23_brownout_encode(double value);
+uint8_t PDH_status_3_channel_23_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2220,7 +2273,7 @@
*
* @return Decoded signal.
*/
-double PDH_status3_channel_23_brownout_decode(uint8_t value);
+double PDH_status_3_channel_23_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2229,10 +2282,10 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status3_channel_23_brownout_is_in_range(uint8_t value);
+bool PDH_status_3_channel_23_breaker_fault_is_in_range(uint8_t value);
/**
- * Pack message Status4.
+ * Pack message Status_4.
*
* @param[out] dst_p Buffer to pack the message into.
* @param[in] src_p Data to pack.
@@ -2240,13 +2293,13 @@
*
* @return Size of packed data, or negative error code.
*/
-int PDH_status4_pack(
+int PDH_status_4_pack(
uint8_t *dst_p,
- const struct PDH_status4_t *src_p,
+ const struct PDH_status_4_t *src_p,
size_t size);
/**
- * Unpack message Status4.
+ * Unpack message Status_4.
*
* @param[out] dst_p Object to unpack the message into.
* @param[in] src_p Message to unpack.
@@ -2254,8 +2307,8 @@
*
* @return zero(0) or negative error code.
*/
-int PDH_status4_unpack(
- struct PDH_status4_t *dst_p,
+int PDH_status_4_unpack(
+ struct PDH_status_4_t *dst_p,
const uint8_t *src_p,
size_t size);
@@ -2266,7 +2319,7 @@
*
* @return Encoded signal.
*/
-uint16_t PDH_status4_v_bus_encode(double value);
+uint16_t PDH_status_4_v_bus_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2275,7 +2328,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_v_bus_decode(uint16_t value);
+double PDH_status_4_v_bus_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -2284,7 +2337,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_v_bus_is_in_range(uint16_t value);
+bool PDH_status_4_v_bus_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2293,7 +2346,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_system_enable_encode(double value);
+uint8_t PDH_status_4_system_enable_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2302,7 +2355,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_system_enable_decode(uint8_t value);
+double PDH_status_4_system_enable_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2311,7 +2364,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_system_enable_is_in_range(uint8_t value);
+bool PDH_status_4_system_enable_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2320,7 +2373,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_rsvd0_encode(double value);
+uint8_t PDH_status_4_rsvd0_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2329,7 +2382,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_rsvd0_decode(uint8_t value);
+double PDH_status_4_rsvd0_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2338,7 +2391,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_rsvd0_is_in_range(uint8_t value);
+bool PDH_status_4_rsvd0_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2347,7 +2400,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_brownout_encode(double value);
+uint8_t PDH_status_4_brownout_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2356,7 +2409,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_brownout_decode(uint8_t value);
+double PDH_status_4_brownout_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2365,7 +2418,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_brownout_is_in_range(uint8_t value);
+bool PDH_status_4_brownout_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2374,7 +2427,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_rsvd1_encode(double value);
+uint8_t PDH_status_4_rsvd1_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2383,7 +2436,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_rsvd1_decode(uint8_t value);
+double PDH_status_4_rsvd1_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2392,7 +2445,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_rsvd1_is_in_range(uint8_t value);
+bool PDH_status_4_rsvd1_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2401,7 +2454,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_can_warning_encode(double value);
+uint8_t PDH_status_4_can_warning_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2410,7 +2463,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_can_warning_decode(uint8_t value);
+double PDH_status_4_can_warning_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2419,7 +2472,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_can_warning_is_in_range(uint8_t value);
+bool PDH_status_4_can_warning_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2428,7 +2481,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_hardware_fault_encode(double value);
+uint8_t PDH_status_4_hardware_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2437,7 +2490,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_hardware_fault_decode(uint8_t value);
+double PDH_status_4_hardware_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2446,7 +2499,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_hardware_fault_is_in_range(uint8_t value);
+bool PDH_status_4_hardware_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2455,7 +2508,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_sw_state_encode(double value);
+uint8_t PDH_status_4_switch_channel_state_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2464,7 +2517,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_sw_state_decode(uint8_t value);
+double PDH_status_4_switch_channel_state_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2473,7 +2526,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_sw_state_is_in_range(uint8_t value);
+bool PDH_status_4_switch_channel_state_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2482,7 +2535,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_sticky_brownout_encode(double value);
+uint8_t PDH_status_4_sticky_brownout_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2491,7 +2544,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_sticky_brownout_decode(uint8_t value);
+double PDH_status_4_sticky_brownout_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2500,7 +2553,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_sticky_brownout_is_in_range(uint8_t value);
+bool PDH_status_4_sticky_brownout_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2509,7 +2562,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_rsvd2_encode(double value);
+uint8_t PDH_status_4_rsvd2_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2518,7 +2571,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_rsvd2_decode(uint8_t value);
+double PDH_status_4_rsvd2_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2527,7 +2580,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_rsvd2_is_in_range(uint8_t value);
+bool PDH_status_4_rsvd2_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2536,7 +2589,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_sticky_can_warning_encode(double value);
+uint8_t PDH_status_4_sticky_can_warning_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2545,7 +2598,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_sticky_can_warning_decode(uint8_t value);
+double PDH_status_4_sticky_can_warning_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2554,7 +2607,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_sticky_can_warning_is_in_range(uint8_t value);
+bool PDH_status_4_sticky_can_warning_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2563,7 +2616,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_sticky_can_bus_off_encode(double value);
+uint8_t PDH_status_4_sticky_can_bus_off_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2572,7 +2625,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_sticky_can_bus_off_decode(uint8_t value);
+double PDH_status_4_sticky_can_bus_off_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2581,7 +2634,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_sticky_can_bus_off_is_in_range(uint8_t value);
+bool PDH_status_4_sticky_can_bus_off_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2590,7 +2643,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_sticky_hardware_fault_encode(double value);
+uint8_t PDH_status_4_sticky_hardware_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2599,7 +2652,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_sticky_hardware_fault_decode(uint8_t value);
+double PDH_status_4_sticky_hardware_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2608,7 +2661,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_sticky_hardware_fault_is_in_range(uint8_t value);
+bool PDH_status_4_sticky_hardware_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2617,7 +2670,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_sticky_firmware_fault_encode(double value);
+uint8_t PDH_status_4_sticky_firmware_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2626,7 +2679,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_sticky_firmware_fault_decode(uint8_t value);
+double PDH_status_4_sticky_firmware_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2635,7 +2688,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_sticky_firmware_fault_is_in_range(uint8_t value);
+bool PDH_status_4_sticky_firmware_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2644,7 +2697,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_sticky_ch20_brownout_encode(double value);
+uint8_t PDH_status_4_sticky_ch20_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2653,7 +2706,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_sticky_ch20_brownout_decode(uint8_t value);
+double PDH_status_4_sticky_ch20_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2662,7 +2715,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_sticky_ch20_brownout_is_in_range(uint8_t value);
+bool PDH_status_4_sticky_ch20_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2671,7 +2724,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_sticky_ch21_brownout_encode(double value);
+uint8_t PDH_status_4_sticky_ch21_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2680,7 +2733,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_sticky_ch21_brownout_decode(uint8_t value);
+double PDH_status_4_sticky_ch21_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2689,7 +2742,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_sticky_ch21_brownout_is_in_range(uint8_t value);
+bool PDH_status_4_sticky_ch21_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2698,7 +2751,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_sticky_ch22_brownout_encode(double value);
+uint8_t PDH_status_4_sticky_ch22_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2707,7 +2760,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_sticky_ch22_brownout_decode(uint8_t value);
+double PDH_status_4_sticky_ch22_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2716,7 +2769,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_sticky_ch22_brownout_is_in_range(uint8_t value);
+bool PDH_status_4_sticky_ch22_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2725,7 +2778,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_sticky_ch23_brownout_encode(double value);
+uint8_t PDH_status_4_sticky_ch23_breaker_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2734,7 +2787,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_sticky_ch23_brownout_decode(uint8_t value);
+double PDH_status_4_sticky_ch23_breaker_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2743,7 +2796,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_sticky_ch23_brownout_is_in_range(uint8_t value);
+bool PDH_status_4_sticky_ch23_breaker_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2752,7 +2805,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_sticky_has_reset_encode(double value);
+uint8_t PDH_status_4_sticky_has_reset_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2761,7 +2814,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_sticky_has_reset_decode(uint8_t value);
+double PDH_status_4_sticky_has_reset_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2770,7 +2823,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_sticky_has_reset_is_in_range(uint8_t value);
+bool PDH_status_4_sticky_has_reset_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2779,7 +2832,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_status4_total_current_encode(double value);
+uint8_t PDH_status_4_total_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2788,7 +2841,7 @@
*
* @return Decoded signal.
*/
-double PDH_status4_total_current_decode(uint8_t value);
+double PDH_status_4_total_current_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2797,10 +2850,550 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_status4_total_current_is_in_range(uint8_t value);
+bool PDH_status_4_total_current_is_in_range(uint8_t value);
/**
- * Pack message ClearFaults.
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch0_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch0_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch0_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch1_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch1_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch1_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch2_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch2_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch2_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch3_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch3_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch3_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch4_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch4_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch4_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch5_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch5_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch5_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch6_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch6_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch6_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch7_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch7_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch7_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch8_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch8_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch8_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch9_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch9_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch9_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch10_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch10_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch10_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch11_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch11_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch11_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch12_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch12_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch12_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch13_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch13_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch13_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch14_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch14_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch14_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch15_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch15_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch15_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch16_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch16_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch16_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch17_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch17_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch17_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch18_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch18_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch18_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_status_4_sticky_ch19_breaker_fault_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_status_4_sticky_ch19_breaker_fault_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_status_4_sticky_ch19_breaker_fault_is_in_range(uint8_t value);
+
+/**
+ * Pack message Clear_Faults.
*
* @param[out] dst_p Buffer to pack the message into.
* @param[in] src_p Data to pack.
@@ -2814,7 +3407,7 @@
size_t size);
/**
- * Unpack message ClearFaults.
+ * Unpack message Clear_Faults.
*
* @param[out] dst_p Object to unpack the message into.
* @param[in] src_p Message to unpack.
@@ -2828,34 +3421,6 @@
size_t size);
/**
- * Pack message Identify.
- *
- * @param[out] dst_p Buffer to pack the message into.
- * @param[in] src_p Data to pack.
- * @param[in] size Size of dst_p.
- *
- * @return Size of packed data, or negative error code.
- */
-int PDH_identify_pack(
- uint8_t *dst_p,
- const struct PDH_identify_t *src_p,
- size_t size);
-
-/**
- * Unpack message Identify.
- *
- * @param[out] dst_p Object to unpack the message into.
- * @param[in] src_p Message to unpack.
- * @param[in] size Size of src_p.
- *
- * @return zero(0) or negative error code.
- */
-int PDH_identify_unpack(
- struct PDH_identify_t *dst_p,
- const uint8_t *src_p,
- size_t size);
-
-/**
* Pack message Version.
*
* @param[out] dst_p Buffer to pack the message into.
@@ -2971,7 +3536,7 @@
*
* @return Encoded signal.
*/
-uint8_t PDH_version_hardware_code_encode(double value);
+uint8_t PDH_version_hardware_minor_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2980,7 +3545,7 @@
*
* @return Decoded signal.
*/
-double PDH_version_hardware_code_decode(uint8_t value);
+double PDH_version_hardware_minor_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2989,7 +3554,34 @@
*
* @return true if in range, false otherwise.
*/
-bool PDH_version_hardware_code_is_in_range(uint8_t value);
+bool PDH_version_hardware_minor_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PDH_version_hardware_major_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PDH_version_hardware_major_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PDH_version_hardware_major_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -3018,116 +3610,6 @@
*/
bool PDH_version_unique_id_is_in_range(uint32_t value);
-/**
- * Pack message ConfigureHRChannel.
- *
- * @param[out] dst_p Buffer to pack the message into.
- * @param[in] src_p Data to pack.
- * @param[in] size Size of dst_p.
- *
- * @return Size of packed data, or negative error code.
- */
-int PDH_configure_hr_channel_pack(
- uint8_t *dst_p,
- const struct PDH_configure_hr_channel_t *src_p,
- size_t size);
-
-/**
- * Unpack message ConfigureHRChannel.
- *
- * @param[out] dst_p Object to unpack the message into.
- * @param[in] src_p Message to unpack.
- * @param[in] size Size of src_p.
- *
- * @return zero(0) or negative error code.
- */
-int PDH_configure_hr_channel_unpack(
- struct PDH_configure_hr_channel_t *dst_p,
- const uint8_t *src_p,
- size_t size);
-
-/**
- * Encode given signal by applying scaling and offset.
- *
- * @param[in] value Signal to encode.
- *
- * @return Encoded signal.
- */
-uint8_t PDH_configure_hr_channel_channel_encode(double value);
-
-/**
- * Decode given signal by applying scaling and offset.
- *
- * @param[in] value Signal to decode.
- *
- * @return Decoded signal.
- */
-double PDH_configure_hr_channel_channel_decode(uint8_t value);
-
-/**
- * Check that given signal is in allowed range.
- *
- * @param[in] value Signal to check.
- *
- * @return true if in range, false otherwise.
- */
-bool PDH_configure_hr_channel_channel_is_in_range(uint8_t value);
-
-/**
- * Encode given signal by applying scaling and offset.
- *
- * @param[in] value Signal to encode.
- *
- * @return Encoded signal.
- */
-uint16_t PDH_configure_hr_channel_period_encode(double value);
-
-/**
- * Decode given signal by applying scaling and offset.
- *
- * @param[in] value Signal to decode.
- *
- * @return Decoded signal.
- */
-double PDH_configure_hr_channel_period_decode(uint16_t value);
-
-/**
- * Check that given signal is in allowed range.
- *
- * @param[in] value Signal to check.
- *
- * @return true if in range, false otherwise.
- */
-bool PDH_configure_hr_channel_period_is_in_range(uint16_t value);
-
-/**
- * Pack message Enter_Bootloader.
- *
- * @param[out] dst_p Buffer to pack the message into.
- * @param[in] src_p Data to pack.
- * @param[in] size Size of dst_p.
- *
- * @return Size of packed data, or negative error code.
- */
-int PDH_enter_bootloader_pack(
- uint8_t *dst_p,
- const struct PDH_enter_bootloader_t *src_p,
- size_t size);
-
-/**
- * Unpack message Enter_Bootloader.
- *
- * @param[out] dst_p Object to unpack the message into.
- * @param[in] src_p Message to unpack.
- * @param[in] size Size of src_p.
- *
- * @return zero(0) or negative error code.
- */
-int PDH_enter_bootloader_unpack(
- struct PDH_enter_bootloader_t *dst_p,
- const uint8_t *src_p,
- size_t size);
-
#ifdef __cplusplus
}
diff --git a/third_party/allwpilib/hal/src/main/native/athena/rev/PHFrames.cpp b/third_party/allwpilib/hal/src/main/native/athena/rev/PHFrames.cpp
index e7f77e0..d098c00 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/rev/PHFrames.cpp
+++ b/third_party/allwpilib/hal/src/main/native/athena/rev/PHFrames.cpp
@@ -48,6 +48,14 @@
return (uint8_t)((uint8_t)(value << shift) & mask);
}
+static inline uint8_t pack_left_shift_u32(
+ uint32_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint8_t)((uint8_t)(value << shift) & mask);
+}
+
static inline uint8_t pack_right_shift_u16(
uint16_t value,
uint8_t shift,
@@ -56,6 +64,14 @@
return (uint8_t)((uint8_t)(value >> shift) & mask);
}
+static inline uint8_t pack_right_shift_u32(
+ uint32_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint8_t)((uint8_t)(value >> shift) & mask);
+}
+
static inline uint16_t unpack_left_shift_u16(
uint8_t value,
uint8_t shift,
@@ -64,6 +80,14 @@
return (uint16_t)((uint16_t)(value & mask) << shift);
}
+static inline uint32_t unpack_left_shift_u32(
+ uint8_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint32_t)((uint32_t)(value & mask) << shift);
+}
+
static inline uint8_t unpack_right_shift_u8(
uint8_t value,
uint8_t shift,
@@ -80,6 +104,114 @@
return (uint16_t)((uint16_t)(value & mask) >> shift);
}
+static inline uint32_t unpack_right_shift_u32(
+ uint8_t value,
+ uint8_t shift,
+ uint8_t mask)
+{
+ return (uint32_t)((uint32_t)(value & mask) >> shift);
+}
+
+int PH_compressor_config_pack(
+ uint8_t *dst_p,
+ const struct PH_compressor_config_t *src_p,
+ size_t size)
+{
+ if (size < 5u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 5);
+
+ dst_p[0] |= pack_left_shift_u16(src_p->minimum_tank_pressure, 0u, 0xffu);
+ dst_p[1] |= pack_right_shift_u16(src_p->minimum_tank_pressure, 8u, 0xffu);
+ dst_p[2] |= pack_left_shift_u16(src_p->maximum_tank_pressure, 0u, 0xffu);
+ dst_p[3] |= pack_right_shift_u16(src_p->maximum_tank_pressure, 8u, 0xffu);
+ dst_p[4] |= pack_left_shift_u8(src_p->force_disable, 0u, 0x01u);
+ dst_p[4] |= pack_left_shift_u8(src_p->use_digital, 1u, 0x02u);
+
+ return (5);
+}
+
+int PH_compressor_config_unpack(
+ struct PH_compressor_config_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 5u) {
+ return (-EINVAL);
+ }
+
+ dst_p->minimum_tank_pressure = unpack_right_shift_u16(src_p[0], 0u, 0xffu);
+ dst_p->minimum_tank_pressure |= unpack_left_shift_u16(src_p[1], 8u, 0xffu);
+ dst_p->maximum_tank_pressure = unpack_right_shift_u16(src_p[2], 0u, 0xffu);
+ dst_p->maximum_tank_pressure |= unpack_left_shift_u16(src_p[3], 8u, 0xffu);
+ dst_p->force_disable = unpack_right_shift_u8(src_p[4], 0u, 0x01u);
+ dst_p->use_digital = unpack_right_shift_u8(src_p[4], 1u, 0x02u);
+
+ return (0);
+}
+
+uint16_t PH_compressor_config_minimum_tank_pressure_encode(double value)
+{
+ return (uint16_t)(value / 0.001);
+}
+
+double PH_compressor_config_minimum_tank_pressure_decode(uint16_t value)
+{
+ return ((double)value * 0.001);
+}
+
+bool PH_compressor_config_minimum_tank_pressure_is_in_range(uint16_t value)
+{
+ return (value <= 5000u);
+}
+
+uint16_t PH_compressor_config_maximum_tank_pressure_encode(double value)
+{
+ return (uint16_t)(value / 0.001);
+}
+
+double PH_compressor_config_maximum_tank_pressure_decode(uint16_t value)
+{
+ return ((double)value * 0.001);
+}
+
+bool PH_compressor_config_maximum_tank_pressure_is_in_range(uint16_t value)
+{
+ return (value <= 5000u);
+}
+
+uint8_t PH_compressor_config_force_disable_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_compressor_config_force_disable_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_compressor_config_force_disable_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_compressor_config_use_digital_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_compressor_config_use_digital_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_compressor_config_use_digital_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
int PH_set_all_pack(
uint8_t *dst_p,
const struct PH_set_all_t *src_p,
@@ -701,9 +833,9 @@
return (true);
}
-int PH_status0_pack(
+int PH_status_0_pack(
uint8_t *dst_p,
- const struct PH_status0_t *src_p,
+ const struct PH_status_0_t *src_p,
size_t size)
{
if (size < 8u) {
@@ -731,11 +863,11 @@
dst_p[2] |= pack_left_shift_u8(src_p->analog_0, 0u, 0xffu);
dst_p[3] |= pack_left_shift_u8(src_p->analog_1, 0u, 0xffu);
dst_p[4] |= pack_left_shift_u8(src_p->digital_sensor, 0u, 0x01u);
- dst_p[4] |= pack_left_shift_u8(src_p->brownout, 1u, 0x02u);
- dst_p[4] |= pack_left_shift_u8(src_p->compressor_oc, 2u, 0x04u);
- dst_p[4] |= pack_left_shift_u8(src_p->compressor_open, 3u, 0x08u);
- dst_p[4] |= pack_left_shift_u8(src_p->solenoid_oc, 4u, 0x10u);
- dst_p[4] |= pack_left_shift_u8(src_p->can_warning, 5u, 0x20u);
+ dst_p[4] |= pack_left_shift_u8(src_p->brownout_fault, 1u, 0x02u);
+ dst_p[4] |= pack_left_shift_u8(src_p->compressor_oc_fault, 2u, 0x04u);
+ dst_p[4] |= pack_left_shift_u8(src_p->compressor_open_fault, 3u, 0x08u);
+ dst_p[4] |= pack_left_shift_u8(src_p->solenoid_oc_fault, 4u, 0x10u);
+ dst_p[4] |= pack_left_shift_u8(src_p->can_warning_fault, 5u, 0x20u);
dst_p[4] |= pack_left_shift_u8(src_p->hardware_fault, 6u, 0x40u);
dst_p[5] |= pack_left_shift_u8(src_p->channel_0_fault, 0u, 0x01u);
dst_p[5] |= pack_left_shift_u8(src_p->channel_1_fault, 1u, 0x02u);
@@ -755,12 +887,14 @@
dst_p[6] |= pack_left_shift_u8(src_p->channel_15_fault, 7u, 0x80u);
dst_p[7] |= pack_left_shift_u8(src_p->compressor_on, 0u, 0x01u);
dst_p[7] |= pack_left_shift_u8(src_p->system_enabled, 1u, 0x02u);
+ dst_p[7] |= pack_left_shift_u8(src_p->robo_rio_present, 2u, 0x04u);
+ dst_p[7] |= pack_left_shift_u8(src_p->compressor_config, 3u, 0x18u);
return (8);
}
-int PH_status0_unpack(
- struct PH_status0_t *dst_p,
+int PH_status_0_unpack(
+ struct PH_status_0_t *dst_p,
const uint8_t *src_p,
size_t size)
{
@@ -787,11 +921,11 @@
dst_p->analog_0 = unpack_right_shift_u8(src_p[2], 0u, 0xffu);
dst_p->analog_1 = unpack_right_shift_u8(src_p[3], 0u, 0xffu);
dst_p->digital_sensor = unpack_right_shift_u8(src_p[4], 0u, 0x01u);
- dst_p->brownout = unpack_right_shift_u8(src_p[4], 1u, 0x02u);
- dst_p->compressor_oc = unpack_right_shift_u8(src_p[4], 2u, 0x04u);
- dst_p->compressor_open = unpack_right_shift_u8(src_p[4], 3u, 0x08u);
- dst_p->solenoid_oc = unpack_right_shift_u8(src_p[4], 4u, 0x10u);
- dst_p->can_warning = unpack_right_shift_u8(src_p[4], 5u, 0x20u);
+ dst_p->brownout_fault = unpack_right_shift_u8(src_p[4], 1u, 0x02u);
+ dst_p->compressor_oc_fault = unpack_right_shift_u8(src_p[4], 2u, 0x04u);
+ dst_p->compressor_open_fault = unpack_right_shift_u8(src_p[4], 3u, 0x08u);
+ dst_p->solenoid_oc_fault = unpack_right_shift_u8(src_p[4], 4u, 0x10u);
+ dst_p->can_warning_fault = unpack_right_shift_u8(src_p[4], 5u, 0x20u);
dst_p->hardware_fault = unpack_right_shift_u8(src_p[4], 6u, 0x40u);
dst_p->channel_0_fault = unpack_right_shift_u8(src_p[5], 0u, 0x01u);
dst_p->channel_1_fault = unpack_right_shift_u8(src_p[5], 1u, 0x02u);
@@ -811,662 +945,694 @@
dst_p->channel_15_fault = unpack_right_shift_u8(src_p[6], 7u, 0x80u);
dst_p->compressor_on = unpack_right_shift_u8(src_p[7], 0u, 0x01u);
dst_p->system_enabled = unpack_right_shift_u8(src_p[7], 1u, 0x02u);
+ dst_p->robo_rio_present = unpack_right_shift_u8(src_p[7], 2u, 0x04u);
+ dst_p->compressor_config = unpack_right_shift_u8(src_p[7], 3u, 0x18u);
return (0);
}
-uint8_t PH_status0_channel_0_encode(double value)
+uint8_t PH_status_0_channel_0_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_0_decode(uint8_t value)
+double PH_status_0_channel_0_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_0_is_in_range(uint8_t value)
+bool PH_status_0_channel_0_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_1_encode(double value)
+uint8_t PH_status_0_channel_1_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_1_decode(uint8_t value)
+double PH_status_0_channel_1_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_1_is_in_range(uint8_t value)
+bool PH_status_0_channel_1_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_2_encode(double value)
+uint8_t PH_status_0_channel_2_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_2_decode(uint8_t value)
+double PH_status_0_channel_2_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_2_is_in_range(uint8_t value)
+bool PH_status_0_channel_2_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_3_encode(double value)
+uint8_t PH_status_0_channel_3_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_3_decode(uint8_t value)
+double PH_status_0_channel_3_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_3_is_in_range(uint8_t value)
+bool PH_status_0_channel_3_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_4_encode(double value)
+uint8_t PH_status_0_channel_4_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_4_decode(uint8_t value)
+double PH_status_0_channel_4_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_4_is_in_range(uint8_t value)
+bool PH_status_0_channel_4_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_5_encode(double value)
+uint8_t PH_status_0_channel_5_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_5_decode(uint8_t value)
+double PH_status_0_channel_5_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_5_is_in_range(uint8_t value)
+bool PH_status_0_channel_5_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_6_encode(double value)
+uint8_t PH_status_0_channel_6_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_6_decode(uint8_t value)
+double PH_status_0_channel_6_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_6_is_in_range(uint8_t value)
+bool PH_status_0_channel_6_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_7_encode(double value)
+uint8_t PH_status_0_channel_7_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_7_decode(uint8_t value)
+double PH_status_0_channel_7_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_7_is_in_range(uint8_t value)
+bool PH_status_0_channel_7_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_8_encode(double value)
+uint8_t PH_status_0_channel_8_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_8_decode(uint8_t value)
+double PH_status_0_channel_8_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_8_is_in_range(uint8_t value)
+bool PH_status_0_channel_8_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_9_encode(double value)
+uint8_t PH_status_0_channel_9_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_9_decode(uint8_t value)
+double PH_status_0_channel_9_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_9_is_in_range(uint8_t value)
+bool PH_status_0_channel_9_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_10_encode(double value)
+uint8_t PH_status_0_channel_10_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_10_decode(uint8_t value)
+double PH_status_0_channel_10_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_10_is_in_range(uint8_t value)
+bool PH_status_0_channel_10_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_11_encode(double value)
+uint8_t PH_status_0_channel_11_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_11_decode(uint8_t value)
+double PH_status_0_channel_11_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_11_is_in_range(uint8_t value)
+bool PH_status_0_channel_11_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_12_encode(double value)
+uint8_t PH_status_0_channel_12_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_12_decode(uint8_t value)
+double PH_status_0_channel_12_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_12_is_in_range(uint8_t value)
+bool PH_status_0_channel_12_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_13_encode(double value)
+uint8_t PH_status_0_channel_13_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_13_decode(uint8_t value)
+double PH_status_0_channel_13_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_13_is_in_range(uint8_t value)
+bool PH_status_0_channel_13_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_14_encode(double value)
+uint8_t PH_status_0_channel_14_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_14_decode(uint8_t value)
+double PH_status_0_channel_14_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_14_is_in_range(uint8_t value)
+bool PH_status_0_channel_14_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_15_encode(double value)
+uint8_t PH_status_0_channel_15_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_15_decode(uint8_t value)
+double PH_status_0_channel_15_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_15_is_in_range(uint8_t value)
+bool PH_status_0_channel_15_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_analog_0_encode(double value)
+uint8_t PH_status_0_analog_0_encode(double value)
{
return (uint8_t)(value / 0.01961);
}
-double PH_status0_analog_0_decode(uint8_t value)
+double PH_status_0_analog_0_decode(uint8_t value)
{
return ((double)value * 0.01961);
}
-bool PH_status0_analog_0_is_in_range(uint8_t value)
+bool PH_status_0_analog_0_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
-uint8_t PH_status0_analog_1_encode(double value)
+uint8_t PH_status_0_analog_1_encode(double value)
{
return (uint8_t)(value / 0.01961);
}
-double PH_status0_analog_1_decode(uint8_t value)
+double PH_status_0_analog_1_decode(uint8_t value)
{
return ((double)value * 0.01961);
}
-bool PH_status0_analog_1_is_in_range(uint8_t value)
+bool PH_status_0_analog_1_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
-uint8_t PH_status0_digital_sensor_encode(double value)
+uint8_t PH_status_0_digital_sensor_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_digital_sensor_decode(uint8_t value)
+double PH_status_0_digital_sensor_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_digital_sensor_is_in_range(uint8_t value)
+bool PH_status_0_digital_sensor_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_brownout_encode(double value)
+uint8_t PH_status_0_brownout_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_brownout_decode(uint8_t value)
+double PH_status_0_brownout_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_brownout_is_in_range(uint8_t value)
+bool PH_status_0_brownout_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_compressor_oc_encode(double value)
+uint8_t PH_status_0_compressor_oc_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_compressor_oc_decode(uint8_t value)
+double PH_status_0_compressor_oc_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_compressor_oc_is_in_range(uint8_t value)
+bool PH_status_0_compressor_oc_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_compressor_open_encode(double value)
+uint8_t PH_status_0_compressor_open_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_compressor_open_decode(uint8_t value)
+double PH_status_0_compressor_open_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_compressor_open_is_in_range(uint8_t value)
+bool PH_status_0_compressor_open_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_solenoid_oc_encode(double value)
+uint8_t PH_status_0_solenoid_oc_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_solenoid_oc_decode(uint8_t value)
+double PH_status_0_solenoid_oc_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_solenoid_oc_is_in_range(uint8_t value)
+bool PH_status_0_solenoid_oc_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_can_warning_encode(double value)
+uint8_t PH_status_0_can_warning_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_can_warning_decode(uint8_t value)
+double PH_status_0_can_warning_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_can_warning_is_in_range(uint8_t value)
+bool PH_status_0_can_warning_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_hardware_fault_encode(double value)
+uint8_t PH_status_0_hardware_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_hardware_fault_decode(uint8_t value)
+double PH_status_0_hardware_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_hardware_fault_is_in_range(uint8_t value)
+bool PH_status_0_hardware_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_0_fault_encode(double value)
+uint8_t PH_status_0_channel_0_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_0_fault_decode(uint8_t value)
+double PH_status_0_channel_0_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_0_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_0_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_1_fault_encode(double value)
+uint8_t PH_status_0_channel_1_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_1_fault_decode(uint8_t value)
+double PH_status_0_channel_1_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_1_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_1_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_2_fault_encode(double value)
+uint8_t PH_status_0_channel_2_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_2_fault_decode(uint8_t value)
+double PH_status_0_channel_2_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_2_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_2_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_3_fault_encode(double value)
+uint8_t PH_status_0_channel_3_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_3_fault_decode(uint8_t value)
+double PH_status_0_channel_3_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_3_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_3_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_4_fault_encode(double value)
+uint8_t PH_status_0_channel_4_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_4_fault_decode(uint8_t value)
+double PH_status_0_channel_4_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_4_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_4_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_5_fault_encode(double value)
+uint8_t PH_status_0_channel_5_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_5_fault_decode(uint8_t value)
+double PH_status_0_channel_5_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_5_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_5_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_6_fault_encode(double value)
+uint8_t PH_status_0_channel_6_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_6_fault_decode(uint8_t value)
+double PH_status_0_channel_6_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_6_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_6_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_7_fault_encode(double value)
+uint8_t PH_status_0_channel_7_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_7_fault_decode(uint8_t value)
+double PH_status_0_channel_7_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_7_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_7_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_8_fault_encode(double value)
+uint8_t PH_status_0_channel_8_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_8_fault_decode(uint8_t value)
+double PH_status_0_channel_8_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_8_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_8_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_9_fault_encode(double value)
+uint8_t PH_status_0_channel_9_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_9_fault_decode(uint8_t value)
+double PH_status_0_channel_9_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_9_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_9_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_10_fault_encode(double value)
+uint8_t PH_status_0_channel_10_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_10_fault_decode(uint8_t value)
+double PH_status_0_channel_10_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_10_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_10_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_11_fault_encode(double value)
+uint8_t PH_status_0_channel_11_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_11_fault_decode(uint8_t value)
+double PH_status_0_channel_11_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_11_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_11_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_12_fault_encode(double value)
+uint8_t PH_status_0_channel_12_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_12_fault_decode(uint8_t value)
+double PH_status_0_channel_12_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_12_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_12_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_13_fault_encode(double value)
+uint8_t PH_status_0_channel_13_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_13_fault_decode(uint8_t value)
+double PH_status_0_channel_13_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_13_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_13_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_14_fault_encode(double value)
+uint8_t PH_status_0_channel_14_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_14_fault_decode(uint8_t value)
+double PH_status_0_channel_14_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_14_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_14_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_channel_15_fault_encode(double value)
+uint8_t PH_status_0_channel_15_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_channel_15_fault_decode(uint8_t value)
+double PH_status_0_channel_15_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_channel_15_fault_is_in_range(uint8_t value)
+bool PH_status_0_channel_15_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_compressor_on_encode(double value)
+uint8_t PH_status_0_compressor_on_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_compressor_on_decode(uint8_t value)
+double PH_status_0_compressor_on_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_compressor_on_is_in_range(uint8_t value)
+bool PH_status_0_compressor_on_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status0_system_enabled_encode(double value)
+uint8_t PH_status_0_system_enabled_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status0_system_enabled_decode(uint8_t value)
+double PH_status_0_system_enabled_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status0_system_enabled_is_in_range(uint8_t value)
+bool PH_status_0_system_enabled_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-int PH_status1_pack(
+uint8_t PH_status_0_robo_rio_present_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status_0_robo_rio_present_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status_0_robo_rio_present_is_in_range(uint8_t value)
+{
+ return (value <= 1u);
+}
+
+uint8_t PH_status_0_compressor_config_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_status_0_compressor_config_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_status_0_compressor_config_is_in_range(uint8_t value)
+{
+ return (value <= 3u);
+}
+
+int PH_status_1_pack(
uint8_t *dst_p,
- const struct PH_status1_t *src_p,
+ const struct PH_status_1_t *src_p,
size_t size)
{
if (size < 8u) {
@@ -1480,21 +1646,22 @@
dst_p[2] |= pack_right_shift_u16(src_p->solenoid_voltage, 8u, 0x0fu);
dst_p[4] |= pack_left_shift_u8(src_p->compressor_current, 0u, 0xffu);
dst_p[5] |= pack_left_shift_u8(src_p->solenoid_current, 0u, 0xffu);
- dst_p[6] |= pack_left_shift_u8(src_p->sticky_brownout, 0u, 0x01u);
- dst_p[6] |= pack_left_shift_u8(src_p->sticky_compressor_over_current, 1u, 0x02u);
- dst_p[6] |= pack_left_shift_u8(src_p->sticky_compressor_not_present, 2u, 0x04u);
- dst_p[6] |= pack_left_shift_u8(src_p->sticky_solenoid_over_current, 3u, 0x08u);
- dst_p[6] |= pack_left_shift_u8(src_p->sticky_can_warning, 4u, 0x10u);
- dst_p[6] |= pack_left_shift_u8(src_p->sticky_can_bus_off, 5u, 0x20u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_brownout_fault, 0u, 0x01u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_compressor_oc_fault, 1u, 0x02u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_compressor_open_fault, 2u, 0x04u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_solenoid_oc_fault, 3u, 0x08u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_can_warning_fault, 4u, 0x10u);
+ dst_p[6] |= pack_left_shift_u8(src_p->sticky_can_bus_off_fault, 5u, 0x20u);
dst_p[6] |= pack_left_shift_u8(src_p->sticky_hardware_fault, 6u, 0x40u);
dst_p[6] |= pack_left_shift_u8(src_p->sticky_firmware_fault, 7u, 0x80u);
- dst_p[7] |= pack_left_shift_u8(src_p->sticky_has_reset, 0u, 0x01u);
+ dst_p[7] |= pack_left_shift_u8(src_p->sticky_has_reset_fault, 0u, 0x01u);
+ dst_p[7] |= pack_left_shift_u8(src_p->supply_voltage_5_v, 1u, 0xfeu);
return (8);
}
-int PH_status1_unpack(
- struct PH_status1_t *dst_p,
+int PH_status_1_unpack(
+ struct PH_status_1_t *dst_p,
const uint8_t *src_p,
size_t size)
{
@@ -1507,214 +1674,398 @@
dst_p->solenoid_voltage |= unpack_left_shift_u16(src_p[2], 8u, 0x0fu);
dst_p->compressor_current = unpack_right_shift_u8(src_p[4], 0u, 0xffu);
dst_p->solenoid_current = unpack_right_shift_u8(src_p[5], 0u, 0xffu);
- dst_p->sticky_brownout = unpack_right_shift_u8(src_p[6], 0u, 0x01u);
- dst_p->sticky_compressor_over_current = unpack_right_shift_u8(src_p[6], 1u, 0x02u);
- dst_p->sticky_compressor_not_present = unpack_right_shift_u8(src_p[6], 2u, 0x04u);
- dst_p->sticky_solenoid_over_current = unpack_right_shift_u8(src_p[6], 3u, 0x08u);
- dst_p->sticky_can_warning = unpack_right_shift_u8(src_p[6], 4u, 0x10u);
- dst_p->sticky_can_bus_off = unpack_right_shift_u8(src_p[6], 5u, 0x20u);
+ dst_p->sticky_brownout_fault = unpack_right_shift_u8(src_p[6], 0u, 0x01u);
+ dst_p->sticky_compressor_oc_fault = unpack_right_shift_u8(src_p[6], 1u, 0x02u);
+ dst_p->sticky_compressor_open_fault = unpack_right_shift_u8(src_p[6], 2u, 0x04u);
+ dst_p->sticky_solenoid_oc_fault = unpack_right_shift_u8(src_p[6], 3u, 0x08u);
+ dst_p->sticky_can_warning_fault = unpack_right_shift_u8(src_p[6], 4u, 0x10u);
+ dst_p->sticky_can_bus_off_fault = unpack_right_shift_u8(src_p[6], 5u, 0x20u);
dst_p->sticky_hardware_fault = unpack_right_shift_u8(src_p[6], 6u, 0x40u);
dst_p->sticky_firmware_fault = unpack_right_shift_u8(src_p[6], 7u, 0x80u);
- dst_p->sticky_has_reset = unpack_right_shift_u8(src_p[7], 0u, 0x01u);
+ dst_p->sticky_has_reset_fault = unpack_right_shift_u8(src_p[7], 0u, 0x01u);
+ dst_p->supply_voltage_5_v = unpack_right_shift_u8(src_p[7], 1u, 0xfeu);
return (0);
}
-uint8_t PH_status1_v_bus_encode(double value)
+uint8_t PH_status_1_v_bus_encode(double value)
{
return (uint8_t)((value - 4.0) / 0.0625);
}
-double PH_status1_v_bus_decode(uint8_t value)
+double PH_status_1_v_bus_decode(uint8_t value)
{
return (((double)value * 0.0625) + 4.0);
}
-bool PH_status1_v_bus_is_in_range(uint8_t value)
+bool PH_status_1_v_bus_is_in_range(uint8_t value)
{
return (value <= 192u);
}
-uint16_t PH_status1_solenoid_voltage_encode(double value)
+uint16_t PH_status_1_solenoid_voltage_encode(double value)
{
return (uint16_t)(value / 0.0078125);
}
-double PH_status1_solenoid_voltage_decode(uint16_t value)
+double PH_status_1_solenoid_voltage_decode(uint16_t value)
{
return ((double)value * 0.0078125);
}
-bool PH_status1_solenoid_voltage_is_in_range(uint16_t value)
+bool PH_status_1_solenoid_voltage_is_in_range(uint16_t value)
{
return (value <= 4096u);
}
-uint8_t PH_status1_compressor_current_encode(double value)
+uint8_t PH_status_1_compressor_current_encode(double value)
{
return (uint8_t)(value / 0.125);
}
-double PH_status1_compressor_current_decode(uint8_t value)
+double PH_status_1_compressor_current_decode(uint8_t value)
{
return ((double)value * 0.125);
}
-bool PH_status1_compressor_current_is_in_range(uint8_t value)
+bool PH_status_1_compressor_current_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
-uint8_t PH_status1_solenoid_current_encode(double value)
+uint8_t PH_status_1_solenoid_current_encode(double value)
{
return (uint8_t)(value / 0.125);
}
-double PH_status1_solenoid_current_decode(uint8_t value)
+double PH_status_1_solenoid_current_decode(uint8_t value)
{
return ((double)value * 0.125);
}
-bool PH_status1_solenoid_current_is_in_range(uint8_t value)
+bool PH_status_1_solenoid_current_is_in_range(uint8_t value)
{
(void)value;
return (true);
}
-uint8_t PH_status1_sticky_brownout_encode(double value)
+uint8_t PH_status_1_sticky_brownout_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status1_sticky_brownout_decode(uint8_t value)
+double PH_status_1_sticky_brownout_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status1_sticky_brownout_is_in_range(uint8_t value)
+bool PH_status_1_sticky_brownout_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status1_sticky_compressor_over_current_encode(double value)
+uint8_t PH_status_1_sticky_compressor_oc_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status1_sticky_compressor_over_current_decode(uint8_t value)
+double PH_status_1_sticky_compressor_oc_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status1_sticky_compressor_over_current_is_in_range(uint8_t value)
+bool PH_status_1_sticky_compressor_oc_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status1_sticky_compressor_not_present_encode(double value)
+uint8_t PH_status_1_sticky_compressor_open_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status1_sticky_compressor_not_present_decode(uint8_t value)
+double PH_status_1_sticky_compressor_open_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status1_sticky_compressor_not_present_is_in_range(uint8_t value)
+bool PH_status_1_sticky_compressor_open_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status1_sticky_solenoid_over_current_encode(double value)
+uint8_t PH_status_1_sticky_solenoid_oc_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status1_sticky_solenoid_over_current_decode(uint8_t value)
+double PH_status_1_sticky_solenoid_oc_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status1_sticky_solenoid_over_current_is_in_range(uint8_t value)
+bool PH_status_1_sticky_solenoid_oc_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status1_sticky_can_warning_encode(double value)
+uint8_t PH_status_1_sticky_can_warning_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status1_sticky_can_warning_decode(uint8_t value)
+double PH_status_1_sticky_can_warning_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status1_sticky_can_warning_is_in_range(uint8_t value)
+bool PH_status_1_sticky_can_warning_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status1_sticky_can_bus_off_encode(double value)
+uint8_t PH_status_1_sticky_can_bus_off_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status1_sticky_can_bus_off_decode(uint8_t value)
+double PH_status_1_sticky_can_bus_off_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status1_sticky_can_bus_off_is_in_range(uint8_t value)
+bool PH_status_1_sticky_can_bus_off_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status1_sticky_hardware_fault_encode(double value)
+uint8_t PH_status_1_sticky_hardware_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status1_sticky_hardware_fault_decode(uint8_t value)
+double PH_status_1_sticky_hardware_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status1_sticky_hardware_fault_is_in_range(uint8_t value)
+bool PH_status_1_sticky_hardware_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status1_sticky_firmware_fault_encode(double value)
+uint8_t PH_status_1_sticky_firmware_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status1_sticky_firmware_fault_decode(uint8_t value)
+double PH_status_1_sticky_firmware_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status1_sticky_firmware_fault_is_in_range(uint8_t value)
+bool PH_status_1_sticky_firmware_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
-uint8_t PH_status1_sticky_has_reset_encode(double value)
+uint8_t PH_status_1_sticky_has_reset_fault_encode(double value)
{
return (uint8_t)(value);
}
-double PH_status1_sticky_has_reset_decode(uint8_t value)
+double PH_status_1_sticky_has_reset_fault_decode(uint8_t value)
{
return ((double)value);
}
-bool PH_status1_sticky_has_reset_is_in_range(uint8_t value)
+bool PH_status_1_sticky_has_reset_fault_is_in_range(uint8_t value)
{
return (value <= 1u);
}
+
+uint8_t PH_status_1_supply_voltage_5_v_encode(double value)
+{
+ return (uint8_t)((value - 4.5) / 0.0078125);
+}
+
+double PH_status_1_supply_voltage_5_v_decode(uint8_t value)
+{
+ return (((double)value * 0.0078125) + 4.5);
+}
+
+bool PH_status_1_supply_voltage_5_v_is_in_range(uint8_t value)
+{
+ return (value <= 128u);
+}
+
+int PH_clear_faults_pack(
+ uint8_t *dst_p,
+ const struct PH_clear_faults_t *src_p,
+ size_t size)
+{
+ (void)dst_p;
+ (void)src_p;
+ (void)size;
+
+ return (0);
+}
+
+int PH_clear_faults_unpack(
+ struct PH_clear_faults_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ (void)dst_p;
+ (void)src_p;
+ (void)size;
+
+ return (0);
+}
+
+int PH_version_pack(
+ uint8_t *dst_p,
+ const struct PH_version_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ memset(&dst_p[0], 0, 8);
+
+ dst_p[0] |= pack_left_shift_u8(src_p->firmware_fix, 0u, 0xffu);
+ dst_p[1] |= pack_left_shift_u8(src_p->firmware_minor, 0u, 0xffu);
+ dst_p[2] |= pack_left_shift_u8(src_p->firmware_year, 0u, 0xffu);
+ dst_p[3] |= pack_left_shift_u8(src_p->hardware_minor, 0u, 0xffu);
+ dst_p[4] |= pack_left_shift_u8(src_p->hardware_major, 0u, 0xffu);
+ dst_p[5] |= pack_left_shift_u32(src_p->unique_id, 0u, 0xffu);
+ dst_p[6] |= pack_right_shift_u32(src_p->unique_id, 8u, 0xffu);
+ dst_p[7] |= pack_right_shift_u32(src_p->unique_id, 16u, 0xffu);
+
+ return (8);
+}
+
+int PH_version_unpack(
+ struct PH_version_t *dst_p,
+ const uint8_t *src_p,
+ size_t size)
+{
+ if (size < 8u) {
+ return (-EINVAL);
+ }
+
+ dst_p->firmware_fix = unpack_right_shift_u8(src_p[0], 0u, 0xffu);
+ dst_p->firmware_minor = unpack_right_shift_u8(src_p[1], 0u, 0xffu);
+ dst_p->firmware_year = unpack_right_shift_u8(src_p[2], 0u, 0xffu);
+ dst_p->hardware_minor = unpack_right_shift_u8(src_p[3], 0u, 0xffu);
+ dst_p->hardware_major = unpack_right_shift_u8(src_p[4], 0u, 0xffu);
+ dst_p->unique_id = unpack_right_shift_u32(src_p[5], 0u, 0xffu);
+ dst_p->unique_id |= unpack_left_shift_u32(src_p[6], 8u, 0xffu);
+ dst_p->unique_id |= unpack_left_shift_u32(src_p[7], 16u, 0xffu);
+
+ return (0);
+}
+
+uint8_t PH_version_firmware_fix_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_version_firmware_fix_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_version_firmware_fix_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PH_version_firmware_minor_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_version_firmware_minor_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_version_firmware_minor_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PH_version_firmware_year_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_version_firmware_year_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_version_firmware_year_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PH_version_hardware_minor_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_version_hardware_minor_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_version_hardware_minor_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint8_t PH_version_hardware_major_encode(double value)
+{
+ return (uint8_t)(value);
+}
+
+double PH_version_hardware_major_decode(uint8_t value)
+{
+ return ((double)value);
+}
+
+bool PH_version_hardware_major_is_in_range(uint8_t value)
+{
+ (void)value;
+
+ return (true);
+}
+
+uint32_t PH_version_unique_id_encode(double value)
+{
+ return (uint32_t)(value);
+}
+
+double PH_version_unique_id_decode(uint32_t value)
+{
+ return ((double)value);
+}
+
+bool PH_version_unique_id_is_in_range(uint32_t value)
+{
+ return (value <= 16777215u);
+}
diff --git a/third_party/allwpilib/hal/src/main/native/athena/rev/PHFrames.h b/third_party/allwpilib/hal/src/main/native/athena/rev/PHFrames.h
index 295be0a..20411a8 100644
--- a/third_party/allwpilib/hal/src/main/native/athena/rev/PHFrames.h
+++ b/third_party/allwpilib/hal/src/main/native/athena/rev/PHFrames.h
@@ -44,22 +44,31 @@
#endif
/* Frame ids. */
+#define PH_COMPRESSOR_CONFIG_FRAME_ID (0x9050840u)
#define PH_SET_ALL_FRAME_ID (0x9050c00u)
#define PH_PULSE_ONCE_FRAME_ID (0x9050c40u)
-#define PH_STATUS0_FRAME_ID (0x9051800u)
-#define PH_STATUS1_FRAME_ID (0x9051840u)
+#define PH_STATUS_0_FRAME_ID (0x9051800u)
+#define PH_STATUS_1_FRAME_ID (0x9051840u)
+#define PH_CLEAR_FAULTS_FRAME_ID (0x9051b80u)
+#define PH_VERSION_FRAME_ID (0x9052600u)
/* Frame lengths in bytes. */
+#define PH_COMPRESSOR_CONFIG_LENGTH (5u)
#define PH_SET_ALL_LENGTH (4u)
#define PH_PULSE_ONCE_LENGTH (4u)
-#define PH_STATUS0_LENGTH (8u)
-#define PH_STATUS1_LENGTH (8u)
+#define PH_STATUS_0_LENGTH (8u)
+#define PH_STATUS_1_LENGTH (8u)
+#define PH_CLEAR_FAULTS_LENGTH (0u)
+#define PH_VERSION_LENGTH (8u)
/* Extended or standard frame types. */
+#define PH_COMPRESSOR_CONFIG_IS_EXTENDED (1)
#define PH_SET_ALL_IS_EXTENDED (1)
#define PH_PULSE_ONCE_IS_EXTENDED (1)
-#define PH_STATUS0_IS_EXTENDED (1)
-#define PH_STATUS1_IS_EXTENDED (1)
+#define PH_STATUS_0_IS_EXTENDED (1)
+#define PH_STATUS_1_IS_EXTENDED (1)
+#define PH_CLEAR_FAULTS_IS_EXTENDED (1)
+#define PH_VERSION_IS_EXTENDED (1)
/* Frame cycle times in milliseconds. */
@@ -68,7 +77,44 @@
/**
- * Signals in message SetAll.
+ * Signals in message Compressor_Config.
+ *
+ * Configures compressor to use digitial/analog sensors
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PH_compressor_config_t {
+ /**
+ * Range: 0..5000 (0..5 V)
+ * Scale: 0.001
+ * Offset: 0
+ */
+ uint16_t minimum_tank_pressure : 16;
+
+ /**
+ * Range: 0..5000 (0..5 V)
+ * Scale: 0.001
+ * Offset: 0
+ */
+ uint16_t maximum_tank_pressure : 16;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t force_disable : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t use_digital : 1;
+};
+
+/**
+ * Signals in message Set_All.
*
* Set state of all channels
*
@@ -189,7 +235,7 @@
};
/**
- * Signals in message PulseOnce.
+ * Signals in message Pulse_Once.
*
* Pulse selected channels once
*
@@ -317,13 +363,13 @@
};
/**
- * Signals in message Status0.
+ * Signals in message Status_0.
*
* Periodic status frame 0
*
* All signal values are as on the CAN bus.
*/
-struct PH_status0_t {
+struct PH_status_0_t {
/**
* Range: 0..1 (0..1 -)
* Scale: 1
@@ -462,35 +508,35 @@
* Scale: 1
* Offset: 0
*/
- uint8_t brownout : 1;
+ uint8_t brownout_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t compressor_oc : 1;
+ uint8_t compressor_oc_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t compressor_open : 1;
+ uint8_t compressor_open_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t solenoid_oc : 1;
+ uint8_t solenoid_oc_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t can_warning : 1;
+ uint8_t can_warning_fault : 1;
/**
* Range: 0..1 (0..1 -)
@@ -624,16 +670,30 @@
* Offset: 0
*/
uint8_t system_enabled : 1;
+
+ /**
+ * Range: 0..1 (0..1 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t robo_rio_present : 1;
+
+ /**
+ * Range: 0..3 (0..3 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t compressor_config : 2;
};
/**
- * Signals in message Status1.
+ * Signals in message Status_1.
*
* Periodic status frame 1
*
* All signal values are as on the CAN bus.
*/
-struct PH_status1_t {
+struct PH_status_1_t {
/**
* Range: 0..192 (4..16 V)
* Scale: 0.0625
@@ -667,42 +727,42 @@
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_brownout : 1;
+ uint8_t sticky_brownout_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_compressor_over_current : 1;
+ uint8_t sticky_compressor_oc_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_compressor_not_present : 1;
+ uint8_t sticky_compressor_open_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_solenoid_over_current : 1;
+ uint8_t sticky_solenoid_oc_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_can_warning : 1;
+ uint8_t sticky_can_warning_fault : 1;
/**
* Range: 0..1 (0..1 -)
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_can_bus_off : 1;
+ uint8_t sticky_can_bus_off_fault : 1;
/**
* Range: 0..1 (0..1 -)
@@ -723,11 +783,219 @@
* Scale: 1
* Offset: 0
*/
- uint8_t sticky_has_reset : 1;
+ uint8_t sticky_has_reset_fault : 1;
+
+ /**
+ * Range: 0..128 (4.5..5.5 V)
+ * Scale: 0.0078125
+ * Offset: 4.5
+ */
+ uint8_t supply_voltage_5_v : 7;
};
/**
- * Pack message SetAll.
+ * Signals in message Clear_Faults.
+ *
+ * Clear sticky faults on the device
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PH_clear_faults_t {
+ /**
+ * Dummy signal in empty message.
+ */
+ uint8_t dummy;
+};
+
+/**
+ * Signals in message Version.
+ *
+ * Get the version of the PH
+ *
+ * All signal values are as on the CAN bus.
+ */
+struct PH_version_t {
+ /**
+ * Range: 0..255 (0..255 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t firmware_fix : 8;
+
+ /**
+ * Range: 0..255 (0..255 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t firmware_minor : 8;
+
+ /**
+ * Range: 0..255 (0..255 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t firmware_year : 8;
+
+ /**
+ * Range: 0..255 (0..255 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t hardware_minor : 8;
+
+ /**
+ * Range: 0..255 (0..255 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint8_t hardware_major : 8;
+
+ /**
+ * Range: 0..16777215 (0..16777215 -)
+ * Scale: 1
+ * Offset: 0
+ */
+ uint32_t unique_id : 24;
+};
+
+/**
+ * Pack message Compressor_Config.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PH_compressor_config_pack(
+ uint8_t *dst_p,
+ const struct PH_compressor_config_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message Compressor_Config.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PH_compressor_config_unpack(
+ struct PH_compressor_config_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PH_compressor_config_minimum_tank_pressure_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_compressor_config_minimum_tank_pressure_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_compressor_config_minimum_tank_pressure_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint16_t PH_compressor_config_maximum_tank_pressure_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_compressor_config_maximum_tank_pressure_decode(uint16_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_compressor_config_maximum_tank_pressure_is_in_range(uint16_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_compressor_config_force_disable_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_compressor_config_force_disable_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_compressor_config_force_disable_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_compressor_config_use_digital_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_compressor_config_use_digital_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_compressor_config_use_digital_is_in_range(uint8_t value);
+
+/**
+ * Pack message Set_All.
*
* @param[out] dst_p Buffer to pack the message into.
* @param[in] src_p Data to pack.
@@ -741,7 +1009,7 @@
size_t size);
/**
- * Unpack message SetAll.
+ * Unpack message Set_All.
*
* @param[out] dst_p Object to unpack the message into.
* @param[in] src_p Message to unpack.
@@ -1187,7 +1455,7 @@
bool PH_set_all_channel_15_is_in_range(uint8_t value);
/**
- * Pack message PulseOnce.
+ * Pack message Pulse_Once.
*
* @param[out] dst_p Buffer to pack the message into.
* @param[in] src_p Data to pack.
@@ -1201,7 +1469,7 @@
size_t size);
/**
- * Unpack message PulseOnce.
+ * Unpack message Pulse_Once.
*
* @param[out] dst_p Object to unpack the message into.
* @param[in] src_p Message to unpack.
@@ -1674,7 +1942,7 @@
bool PH_pulse_once_pulse_length_ms_is_in_range(uint16_t value);
/**
- * Pack message Status0.
+ * Pack message Status_0.
*
* @param[out] dst_p Buffer to pack the message into.
* @param[in] src_p Data to pack.
@@ -1682,13 +1950,13 @@
*
* @return Size of packed data, or negative error code.
*/
-int PH_status0_pack(
+int PH_status_0_pack(
uint8_t *dst_p,
- const struct PH_status0_t *src_p,
+ const struct PH_status_0_t *src_p,
size_t size);
/**
- * Unpack message Status0.
+ * Unpack message Status_0.
*
* @param[out] dst_p Object to unpack the message into.
* @param[in] src_p Message to unpack.
@@ -1696,8 +1964,8 @@
*
* @return zero(0) or negative error code.
*/
-int PH_status0_unpack(
- struct PH_status0_t *dst_p,
+int PH_status_0_unpack(
+ struct PH_status_0_t *dst_p,
const uint8_t *src_p,
size_t size);
@@ -1708,7 +1976,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_0_encode(double value);
+uint8_t PH_status_0_channel_0_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1717,7 +1985,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_0_decode(uint8_t value);
+double PH_status_0_channel_0_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1726,7 +1994,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_0_is_in_range(uint8_t value);
+bool PH_status_0_channel_0_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1735,7 +2003,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_1_encode(double value);
+uint8_t PH_status_0_channel_1_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1744,7 +2012,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_1_decode(uint8_t value);
+double PH_status_0_channel_1_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1753,7 +2021,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_1_is_in_range(uint8_t value);
+bool PH_status_0_channel_1_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1762,7 +2030,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_2_encode(double value);
+uint8_t PH_status_0_channel_2_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1771,7 +2039,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_2_decode(uint8_t value);
+double PH_status_0_channel_2_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1780,7 +2048,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_2_is_in_range(uint8_t value);
+bool PH_status_0_channel_2_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1789,7 +2057,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_3_encode(double value);
+uint8_t PH_status_0_channel_3_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1798,7 +2066,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_3_decode(uint8_t value);
+double PH_status_0_channel_3_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1807,7 +2075,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_3_is_in_range(uint8_t value);
+bool PH_status_0_channel_3_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1816,7 +2084,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_4_encode(double value);
+uint8_t PH_status_0_channel_4_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1825,7 +2093,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_4_decode(uint8_t value);
+double PH_status_0_channel_4_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1834,7 +2102,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_4_is_in_range(uint8_t value);
+bool PH_status_0_channel_4_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1843,7 +2111,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_5_encode(double value);
+uint8_t PH_status_0_channel_5_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1852,7 +2120,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_5_decode(uint8_t value);
+double PH_status_0_channel_5_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1861,7 +2129,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_5_is_in_range(uint8_t value);
+bool PH_status_0_channel_5_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1870,7 +2138,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_6_encode(double value);
+uint8_t PH_status_0_channel_6_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1879,7 +2147,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_6_decode(uint8_t value);
+double PH_status_0_channel_6_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1888,7 +2156,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_6_is_in_range(uint8_t value);
+bool PH_status_0_channel_6_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1897,7 +2165,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_7_encode(double value);
+uint8_t PH_status_0_channel_7_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1906,7 +2174,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_7_decode(uint8_t value);
+double PH_status_0_channel_7_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1915,7 +2183,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_7_is_in_range(uint8_t value);
+bool PH_status_0_channel_7_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1924,7 +2192,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_8_encode(double value);
+uint8_t PH_status_0_channel_8_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1933,7 +2201,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_8_decode(uint8_t value);
+double PH_status_0_channel_8_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1942,7 +2210,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_8_is_in_range(uint8_t value);
+bool PH_status_0_channel_8_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1951,7 +2219,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_9_encode(double value);
+uint8_t PH_status_0_channel_9_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1960,7 +2228,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_9_decode(uint8_t value);
+double PH_status_0_channel_9_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1969,7 +2237,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_9_is_in_range(uint8_t value);
+bool PH_status_0_channel_9_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -1978,7 +2246,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_10_encode(double value);
+uint8_t PH_status_0_channel_10_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -1987,7 +2255,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_10_decode(uint8_t value);
+double PH_status_0_channel_10_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -1996,7 +2264,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_10_is_in_range(uint8_t value);
+bool PH_status_0_channel_10_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2005,7 +2273,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_11_encode(double value);
+uint8_t PH_status_0_channel_11_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2014,7 +2282,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_11_decode(uint8_t value);
+double PH_status_0_channel_11_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2023,7 +2291,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_11_is_in_range(uint8_t value);
+bool PH_status_0_channel_11_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2032,7 +2300,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_12_encode(double value);
+uint8_t PH_status_0_channel_12_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2041,7 +2309,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_12_decode(uint8_t value);
+double PH_status_0_channel_12_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2050,7 +2318,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_12_is_in_range(uint8_t value);
+bool PH_status_0_channel_12_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2059,7 +2327,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_13_encode(double value);
+uint8_t PH_status_0_channel_13_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2068,7 +2336,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_13_decode(uint8_t value);
+double PH_status_0_channel_13_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2077,7 +2345,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_13_is_in_range(uint8_t value);
+bool PH_status_0_channel_13_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2086,7 +2354,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_14_encode(double value);
+uint8_t PH_status_0_channel_14_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2095,7 +2363,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_14_decode(uint8_t value);
+double PH_status_0_channel_14_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2104,7 +2372,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_14_is_in_range(uint8_t value);
+bool PH_status_0_channel_14_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2113,7 +2381,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_15_encode(double value);
+uint8_t PH_status_0_channel_15_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2122,7 +2390,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_15_decode(uint8_t value);
+double PH_status_0_channel_15_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2131,7 +2399,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_15_is_in_range(uint8_t value);
+bool PH_status_0_channel_15_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2140,7 +2408,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_analog_0_encode(double value);
+uint8_t PH_status_0_analog_0_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2149,7 +2417,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_analog_0_decode(uint8_t value);
+double PH_status_0_analog_0_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2158,7 +2426,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_analog_0_is_in_range(uint8_t value);
+bool PH_status_0_analog_0_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2167,7 +2435,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_analog_1_encode(double value);
+uint8_t PH_status_0_analog_1_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2176,7 +2444,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_analog_1_decode(uint8_t value);
+double PH_status_0_analog_1_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2185,7 +2453,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_analog_1_is_in_range(uint8_t value);
+bool PH_status_0_analog_1_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2194,7 +2462,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_digital_sensor_encode(double value);
+uint8_t PH_status_0_digital_sensor_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2203,7 +2471,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_digital_sensor_decode(uint8_t value);
+double PH_status_0_digital_sensor_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2212,7 +2480,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_digital_sensor_is_in_range(uint8_t value);
+bool PH_status_0_digital_sensor_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2221,7 +2489,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_brownout_encode(double value);
+uint8_t PH_status_0_brownout_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2230,7 +2498,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_brownout_decode(uint8_t value);
+double PH_status_0_brownout_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2239,7 +2507,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_brownout_is_in_range(uint8_t value);
+bool PH_status_0_brownout_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2248,7 +2516,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_compressor_oc_encode(double value);
+uint8_t PH_status_0_compressor_oc_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2257,7 +2525,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_compressor_oc_decode(uint8_t value);
+double PH_status_0_compressor_oc_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2266,7 +2534,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_compressor_oc_is_in_range(uint8_t value);
+bool PH_status_0_compressor_oc_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2275,7 +2543,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_compressor_open_encode(double value);
+uint8_t PH_status_0_compressor_open_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2284,7 +2552,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_compressor_open_decode(uint8_t value);
+double PH_status_0_compressor_open_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2293,7 +2561,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_compressor_open_is_in_range(uint8_t value);
+bool PH_status_0_compressor_open_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2302,7 +2570,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_solenoid_oc_encode(double value);
+uint8_t PH_status_0_solenoid_oc_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2311,7 +2579,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_solenoid_oc_decode(uint8_t value);
+double PH_status_0_solenoid_oc_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2320,7 +2588,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_solenoid_oc_is_in_range(uint8_t value);
+bool PH_status_0_solenoid_oc_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2329,7 +2597,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_can_warning_encode(double value);
+uint8_t PH_status_0_can_warning_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2338,7 +2606,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_can_warning_decode(uint8_t value);
+double PH_status_0_can_warning_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2347,7 +2615,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_can_warning_is_in_range(uint8_t value);
+bool PH_status_0_can_warning_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2356,7 +2624,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_hardware_fault_encode(double value);
+uint8_t PH_status_0_hardware_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2365,7 +2633,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_hardware_fault_decode(uint8_t value);
+double PH_status_0_hardware_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2374,7 +2642,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_hardware_fault_is_in_range(uint8_t value);
+bool PH_status_0_hardware_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2383,7 +2651,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_0_fault_encode(double value);
+uint8_t PH_status_0_channel_0_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2392,7 +2660,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_0_fault_decode(uint8_t value);
+double PH_status_0_channel_0_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2401,7 +2669,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_0_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_0_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2410,7 +2678,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_1_fault_encode(double value);
+uint8_t PH_status_0_channel_1_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2419,7 +2687,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_1_fault_decode(uint8_t value);
+double PH_status_0_channel_1_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2428,7 +2696,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_1_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_1_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2437,7 +2705,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_2_fault_encode(double value);
+uint8_t PH_status_0_channel_2_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2446,7 +2714,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_2_fault_decode(uint8_t value);
+double PH_status_0_channel_2_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2455,7 +2723,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_2_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_2_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2464,7 +2732,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_3_fault_encode(double value);
+uint8_t PH_status_0_channel_3_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2473,7 +2741,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_3_fault_decode(uint8_t value);
+double PH_status_0_channel_3_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2482,7 +2750,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_3_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_3_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2491,7 +2759,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_4_fault_encode(double value);
+uint8_t PH_status_0_channel_4_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2500,7 +2768,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_4_fault_decode(uint8_t value);
+double PH_status_0_channel_4_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2509,7 +2777,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_4_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_4_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2518,7 +2786,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_5_fault_encode(double value);
+uint8_t PH_status_0_channel_5_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2527,7 +2795,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_5_fault_decode(uint8_t value);
+double PH_status_0_channel_5_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2536,7 +2804,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_5_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_5_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2545,7 +2813,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_6_fault_encode(double value);
+uint8_t PH_status_0_channel_6_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2554,7 +2822,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_6_fault_decode(uint8_t value);
+double PH_status_0_channel_6_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2563,7 +2831,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_6_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_6_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2572,7 +2840,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_7_fault_encode(double value);
+uint8_t PH_status_0_channel_7_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2581,7 +2849,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_7_fault_decode(uint8_t value);
+double PH_status_0_channel_7_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2590,7 +2858,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_7_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_7_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2599,7 +2867,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_8_fault_encode(double value);
+uint8_t PH_status_0_channel_8_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2608,7 +2876,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_8_fault_decode(uint8_t value);
+double PH_status_0_channel_8_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2617,7 +2885,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_8_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_8_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2626,7 +2894,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_9_fault_encode(double value);
+uint8_t PH_status_0_channel_9_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2635,7 +2903,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_9_fault_decode(uint8_t value);
+double PH_status_0_channel_9_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2644,7 +2912,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_9_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_9_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2653,7 +2921,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_10_fault_encode(double value);
+uint8_t PH_status_0_channel_10_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2662,7 +2930,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_10_fault_decode(uint8_t value);
+double PH_status_0_channel_10_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2671,7 +2939,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_10_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_10_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2680,7 +2948,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_11_fault_encode(double value);
+uint8_t PH_status_0_channel_11_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2689,7 +2957,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_11_fault_decode(uint8_t value);
+double PH_status_0_channel_11_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2698,7 +2966,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_11_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_11_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2707,7 +2975,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_12_fault_encode(double value);
+uint8_t PH_status_0_channel_12_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2716,7 +2984,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_12_fault_decode(uint8_t value);
+double PH_status_0_channel_12_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2725,7 +2993,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_12_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_12_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2734,7 +3002,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_13_fault_encode(double value);
+uint8_t PH_status_0_channel_13_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2743,7 +3011,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_13_fault_decode(uint8_t value);
+double PH_status_0_channel_13_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2752,7 +3020,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_13_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_13_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2761,7 +3029,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_14_fault_encode(double value);
+uint8_t PH_status_0_channel_14_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2770,7 +3038,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_14_fault_decode(uint8_t value);
+double PH_status_0_channel_14_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2779,7 +3047,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_14_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_14_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2788,7 +3056,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_channel_15_fault_encode(double value);
+uint8_t PH_status_0_channel_15_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2797,7 +3065,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_channel_15_fault_decode(uint8_t value);
+double PH_status_0_channel_15_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2806,7 +3074,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_channel_15_fault_is_in_range(uint8_t value);
+bool PH_status_0_channel_15_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2815,7 +3083,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_compressor_on_encode(double value);
+uint8_t PH_status_0_compressor_on_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2824,7 +3092,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_compressor_on_decode(uint8_t value);
+double PH_status_0_compressor_on_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2833,7 +3101,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_compressor_on_is_in_range(uint8_t value);
+bool PH_status_0_compressor_on_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2842,7 +3110,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status0_system_enabled_encode(double value);
+uint8_t PH_status_0_system_enabled_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2851,7 +3119,7 @@
*
* @return Decoded signal.
*/
-double PH_status0_system_enabled_decode(uint8_t value);
+double PH_status_0_system_enabled_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2860,10 +3128,64 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status0_system_enabled_is_in_range(uint8_t value);
+bool PH_status_0_system_enabled_is_in_range(uint8_t value);
/**
- * Pack message Status1.
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status_0_robo_rio_present_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status_0_robo_rio_present_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status_0_robo_rio_present_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status_0_compressor_config_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status_0_compressor_config_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status_0_compressor_config_is_in_range(uint8_t value);
+
+/**
+ * Pack message Status_1.
*
* @param[out] dst_p Buffer to pack the message into.
* @param[in] src_p Data to pack.
@@ -2871,13 +3193,13 @@
*
* @return Size of packed data, or negative error code.
*/
-int PH_status1_pack(
+int PH_status_1_pack(
uint8_t *dst_p,
- const struct PH_status1_t *src_p,
+ const struct PH_status_1_t *src_p,
size_t size);
/**
- * Unpack message Status1.
+ * Unpack message Status_1.
*
* @param[out] dst_p Object to unpack the message into.
* @param[in] src_p Message to unpack.
@@ -2885,8 +3207,8 @@
*
* @return zero(0) or negative error code.
*/
-int PH_status1_unpack(
- struct PH_status1_t *dst_p,
+int PH_status_1_unpack(
+ struct PH_status_1_t *dst_p,
const uint8_t *src_p,
size_t size);
@@ -2897,7 +3219,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status1_v_bus_encode(double value);
+uint8_t PH_status_1_v_bus_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2906,7 +3228,7 @@
*
* @return Decoded signal.
*/
-double PH_status1_v_bus_decode(uint8_t value);
+double PH_status_1_v_bus_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2915,7 +3237,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status1_v_bus_is_in_range(uint8_t value);
+bool PH_status_1_v_bus_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2924,7 +3246,7 @@
*
* @return Encoded signal.
*/
-uint16_t PH_status1_solenoid_voltage_encode(double value);
+uint16_t PH_status_1_solenoid_voltage_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2933,7 +3255,7 @@
*
* @return Decoded signal.
*/
-double PH_status1_solenoid_voltage_decode(uint16_t value);
+double PH_status_1_solenoid_voltage_decode(uint16_t value);
/**
* Check that given signal is in allowed range.
@@ -2942,7 +3264,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status1_solenoid_voltage_is_in_range(uint16_t value);
+bool PH_status_1_solenoid_voltage_is_in_range(uint16_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2951,7 +3273,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status1_compressor_current_encode(double value);
+uint8_t PH_status_1_compressor_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2960,7 +3282,7 @@
*
* @return Decoded signal.
*/
-double PH_status1_compressor_current_decode(uint8_t value);
+double PH_status_1_compressor_current_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2969,7 +3291,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status1_compressor_current_is_in_range(uint8_t value);
+bool PH_status_1_compressor_current_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -2978,7 +3300,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status1_solenoid_current_encode(double value);
+uint8_t PH_status_1_solenoid_current_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -2987,7 +3309,7 @@
*
* @return Decoded signal.
*/
-double PH_status1_solenoid_current_decode(uint8_t value);
+double PH_status_1_solenoid_current_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -2996,7 +3318,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status1_solenoid_current_is_in_range(uint8_t value);
+bool PH_status_1_solenoid_current_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -3005,7 +3327,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status1_sticky_brownout_encode(double value);
+uint8_t PH_status_1_sticky_brownout_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -3014,7 +3336,7 @@
*
* @return Decoded signal.
*/
-double PH_status1_sticky_brownout_decode(uint8_t value);
+double PH_status_1_sticky_brownout_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -3023,7 +3345,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status1_sticky_brownout_is_in_range(uint8_t value);
+bool PH_status_1_sticky_brownout_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -3032,7 +3354,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status1_sticky_compressor_over_current_encode(double value);
+uint8_t PH_status_1_sticky_compressor_oc_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -3041,7 +3363,7 @@
*
* @return Decoded signal.
*/
-double PH_status1_sticky_compressor_over_current_decode(uint8_t value);
+double PH_status_1_sticky_compressor_oc_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -3050,7 +3372,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status1_sticky_compressor_over_current_is_in_range(uint8_t value);
+bool PH_status_1_sticky_compressor_oc_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -3059,7 +3381,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status1_sticky_compressor_not_present_encode(double value);
+uint8_t PH_status_1_sticky_compressor_open_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -3068,7 +3390,7 @@
*
* @return Decoded signal.
*/
-double PH_status1_sticky_compressor_not_present_decode(uint8_t value);
+double PH_status_1_sticky_compressor_open_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -3077,7 +3399,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status1_sticky_compressor_not_present_is_in_range(uint8_t value);
+bool PH_status_1_sticky_compressor_open_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -3086,7 +3408,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status1_sticky_solenoid_over_current_encode(double value);
+uint8_t PH_status_1_sticky_solenoid_oc_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -3095,7 +3417,7 @@
*
* @return Decoded signal.
*/
-double PH_status1_sticky_solenoid_over_current_decode(uint8_t value);
+double PH_status_1_sticky_solenoid_oc_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -3104,7 +3426,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status1_sticky_solenoid_over_current_is_in_range(uint8_t value);
+bool PH_status_1_sticky_solenoid_oc_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -3113,7 +3435,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status1_sticky_can_warning_encode(double value);
+uint8_t PH_status_1_sticky_can_warning_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -3122,7 +3444,7 @@
*
* @return Decoded signal.
*/
-double PH_status1_sticky_can_warning_decode(uint8_t value);
+double PH_status_1_sticky_can_warning_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -3131,7 +3453,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status1_sticky_can_warning_is_in_range(uint8_t value);
+bool PH_status_1_sticky_can_warning_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -3140,7 +3462,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status1_sticky_can_bus_off_encode(double value);
+uint8_t PH_status_1_sticky_can_bus_off_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -3149,7 +3471,7 @@
*
* @return Decoded signal.
*/
-double PH_status1_sticky_can_bus_off_decode(uint8_t value);
+double PH_status_1_sticky_can_bus_off_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -3158,7 +3480,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status1_sticky_can_bus_off_is_in_range(uint8_t value);
+bool PH_status_1_sticky_can_bus_off_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -3167,7 +3489,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status1_sticky_hardware_fault_encode(double value);
+uint8_t PH_status_1_sticky_hardware_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -3176,7 +3498,7 @@
*
* @return Decoded signal.
*/
-double PH_status1_sticky_hardware_fault_decode(uint8_t value);
+double PH_status_1_sticky_hardware_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -3185,7 +3507,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status1_sticky_hardware_fault_is_in_range(uint8_t value);
+bool PH_status_1_sticky_hardware_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -3194,7 +3516,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status1_sticky_firmware_fault_encode(double value);
+uint8_t PH_status_1_sticky_firmware_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -3203,7 +3525,7 @@
*
* @return Decoded signal.
*/
-double PH_status1_sticky_firmware_fault_decode(uint8_t value);
+double PH_status_1_sticky_firmware_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -3212,7 +3534,7 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status1_sticky_firmware_fault_is_in_range(uint8_t value);
+bool PH_status_1_sticky_firmware_fault_is_in_range(uint8_t value);
/**
* Encode given signal by applying scaling and offset.
@@ -3221,7 +3543,7 @@
*
* @return Encoded signal.
*/
-uint8_t PH_status1_sticky_has_reset_encode(double value);
+uint8_t PH_status_1_sticky_has_reset_fault_encode(double value);
/**
* Decode given signal by applying scaling and offset.
@@ -3230,7 +3552,7 @@
*
* @return Decoded signal.
*/
-double PH_status1_sticky_has_reset_decode(uint8_t value);
+double PH_status_1_sticky_has_reset_fault_decode(uint8_t value);
/**
* Check that given signal is in allowed range.
@@ -3239,7 +3561,252 @@
*
* @return true if in range, false otherwise.
*/
-bool PH_status1_sticky_has_reset_is_in_range(uint8_t value);
+bool PH_status_1_sticky_has_reset_fault_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_status_1_supply_voltage_5_v_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_status_1_supply_voltage_5_v_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_status_1_supply_voltage_5_v_is_in_range(uint8_t value);
+
+/**
+ * Pack message Clear_Faults.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PH_clear_faults_pack(
+ uint8_t *dst_p,
+ const struct PH_clear_faults_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message Clear_Faults.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PH_clear_faults_unpack(
+ struct PH_clear_faults_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Pack message Version.
+ *
+ * @param[out] dst_p Buffer to pack the message into.
+ * @param[in] src_p Data to pack.
+ * @param[in] size Size of dst_p.
+ *
+ * @return Size of packed data, or negative error code.
+ */
+int PH_version_pack(
+ uint8_t *dst_p,
+ const struct PH_version_t *src_p,
+ size_t size);
+
+/**
+ * Unpack message Version.
+ *
+ * @param[out] dst_p Object to unpack the message into.
+ * @param[in] src_p Message to unpack.
+ * @param[in] size Size of src_p.
+ *
+ * @return zero(0) or negative error code.
+ */
+int PH_version_unpack(
+ struct PH_version_t *dst_p,
+ const uint8_t *src_p,
+ size_t size);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_version_firmware_fix_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_version_firmware_fix_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_version_firmware_fix_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_version_firmware_minor_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_version_firmware_minor_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_version_firmware_minor_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_version_firmware_year_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_version_firmware_year_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_version_firmware_year_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_version_hardware_minor_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_version_hardware_minor_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_version_hardware_minor_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint8_t PH_version_hardware_major_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_version_hardware_major_decode(uint8_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_version_hardware_major_is_in_range(uint8_t value);
+
+/**
+ * Encode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to encode.
+ *
+ * @return Encoded signal.
+ */
+uint32_t PH_version_unique_id_encode(double value);
+
+/**
+ * Decode given signal by applying scaling and offset.
+ *
+ * @param[in] value Signal to decode.
+ *
+ * @return Decoded signal.
+ */
+double PH_version_unique_id_decode(uint32_t value);
+
+/**
+ * Check that given signal is in allowed range.
+ *
+ * @param[in] value Signal to check.
+ *
+ * @return true if in range, false otherwise.
+ */
+bool PH_version_unique_id_is_in_range(uint32_t value);
#ifdef __cplusplus
diff --git a/third_party/allwpilib/hal/src/main/native/cpp/jni/CounterJNI.cpp b/third_party/allwpilib/hal/src/main/native/cpp/jni/CounterJNI.cpp
index 0565d5b..6fc12df 100644
--- a/third_party/allwpilib/hal/src/main/native/cpp/jni/CounterJNI.cpp
+++ b/third_party/allwpilib/hal/src/main/native/cpp/jni/CounterJNI.cpp
@@ -11,6 +11,18 @@
#include "hal/Counter.h"
#include "hal/Errors.h"
+static_assert(HAL_Counter_Mode::HAL_Counter_kTwoPulse ==
+ edu_wpi_first_hal_CounterJNI_TWO_PULSE);
+
+static_assert(HAL_Counter_Mode::HAL_Counter_kSemiperiod ==
+ edu_wpi_first_hal_CounterJNI_SEMI_PERIOD);
+
+static_assert(HAL_Counter_Mode::HAL_Counter_kPulseLength ==
+ edu_wpi_first_hal_CounterJNI_PULSE_LENGTH);
+
+static_assert(HAL_Counter_Mode::HAL_Counter_kExternalDirection ==
+ edu_wpi_first_hal_CounterJNI_EXTERNAL_DIRECTION);
+
using namespace hal;
extern "C" {
diff --git a/third_party/allwpilib/hal/src/main/native/cpp/jni/HALUtil.cpp b/third_party/allwpilib/hal/src/main/native/cpp/jni/HALUtil.cpp
index 1070085..5d5a958 100644
--- a/third_party/allwpilib/hal/src/main/native/cpp/jni/HALUtil.cpp
+++ b/third_party/allwpilib/hal/src/main/native/cpp/jni/HALUtil.cpp
@@ -46,6 +46,7 @@
static JException canMessageNotAllowedExCls;
static JException canNotInitializedExCls;
static JException uncleanStatusExCls;
+static JClass powerDistributionVersionCls;
static JClass pwmConfigDataResultCls;
static JClass canStatusCls;
static JClass matchInfoDataCls;
@@ -53,15 +54,19 @@
static JClass canDataCls;
static JClass halValueCls;
static JClass baseStoreCls;
+static JClass revPHVersionCls;
static const JClassInit classes[] = {
+ {"edu/wpi/first/hal/PowerDistributionVersion",
+ &powerDistributionVersionCls},
{"edu/wpi/first/hal/PWMConfigDataResult", &pwmConfigDataResultCls},
{"edu/wpi/first/hal/can/CANStatus", &canStatusCls},
{"edu/wpi/first/hal/MatchInfoData", &matchInfoDataCls},
{"edu/wpi/first/hal/AccumulatorResult", &accumulatorResultCls},
{"edu/wpi/first/hal/CANData", &canDataCls},
{"edu/wpi/first/hal/HALValue", &halValueCls},
- {"edu/wpi/first/hal/DMAJNISample$BaseStore", &baseStoreCls}};
+ {"edu/wpi/first/hal/DMAJNISample$BaseStore", &baseStoreCls},
+ {"edu/wpi/first/hal/REVPHVersion", &revPHVersionCls}};
static const JExceptionInit exceptions[] = {
{"java/lang/IllegalArgumentException", &illegalArgExCls},
@@ -238,6 +243,19 @@
static_cast<jint>(deadbandMinPwm), static_cast<jint>(minPwm));
}
+jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor,
+ uint32_t firmwareMinor, uint32_t firmwareFix,
+ uint32_t hardwareMinor, uint32_t hardwareMajor,
+ uint32_t uniqueId) {
+ static jmethodID constructor =
+ env->GetMethodID(revPHVersionCls, "<init>", "(IIIIII)V");
+ return env->NewObject(
+ revPHVersionCls, constructor, static_cast<jint>(firmwareMajor),
+ static_cast<jint>(firmwareMinor), static_cast<jint>(firmwareFix),
+ static_cast<jint>(hardwareMinor), static_cast<jint>(hardwareMajor),
+ static_cast<jint>(uniqueId));
+}
+
void SetCanStatusObject(JNIEnv* env, jobject canStatus,
float percentBusUtilization, uint32_t busOffCount,
uint32_t txFullCount, uint32_t receiveErrorCount,
@@ -318,6 +336,21 @@
return env->NewObject(baseStoreCls, ctor, valueType, index);
}
+jobject CreatePowerDistributionVersion(JNIEnv* env, uint32_t firmwareMajor,
+ uint32_t firmwareMinor,
+ uint32_t firmwareFix,
+ uint32_t hardwareMinor,
+ uint32_t hardwareMajor,
+ uint32_t uniqueId) {
+ static jmethodID constructor =
+ env->GetMethodID(powerDistributionVersionCls, "<init>", "(IIIIII)V");
+ return env->NewObject(
+ powerDistributionVersionCls, constructor,
+ static_cast<jint>(firmwareMajor), static_cast<jint>(firmwareMinor),
+ static_cast<jint>(firmwareFix), static_cast<jint>(hardwareMinor),
+ static_cast<jint>(hardwareMajor), static_cast<jint>(uniqueId));
+}
+
JavaVM* GetJVM() {
return jvm;
}
diff --git a/third_party/allwpilib/hal/src/main/native/cpp/jni/HALUtil.h b/third_party/allwpilib/hal/src/main/native/cpp/jni/HALUtil.h
index 2afe595..cf3956c 100644
--- a/third_party/allwpilib/hal/src/main/native/cpp/jni/HALUtil.h
+++ b/third_party/allwpilib/hal/src/main/native/cpp/jni/HALUtil.h
@@ -59,6 +59,11 @@
int32_t deadbandMaxPwm, int32_t centerPwm,
int32_t deadbandMinPwm, int32_t minPwm);
+jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor,
+ uint32_t firmwareMinor, uint32_t firmwareFix,
+ uint32_t hardwareMinor, uint32_t hardwareMajor,
+ uint32_t uniqueId);
+
void SetCanStatusObject(JNIEnv* env, jobject canStatus,
float percentBusUtilization, uint32_t busOffCount,
uint32_t txFullCount, uint32_t receiveErrorCount,
@@ -77,6 +82,13 @@
jobject CreateDMABaseStore(JNIEnv* env, jint valueType, jint index);
+jobject CreatePowerDistributionVersion(JNIEnv* env, uint32_t firmwareMajor,
+ uint32_t firmwareMinor,
+ uint32_t firmwareFix,
+ uint32_t hardwareMinor,
+ uint32_t hardwareMajor,
+ uint32_t uniqueId);
+
JavaVM* GetJVM();
} // namespace hal
diff --git a/third_party/allwpilib/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp b/third_party/allwpilib/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp
index b608458..9d85ea4 100644
--- a/third_party/allwpilib/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp
+++ b/third_party/allwpilib/hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp
@@ -292,4 +292,133 @@
return state;
}
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getVoltageNoError
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getVoltageNoError
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ double voltage = HAL_GetPowerDistributionVoltage(handle, &status);
+ return voltage;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getChannelCurrentNoError
+ * Signature: (II)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getChannelCurrentNoError
+ (JNIEnv* env, jclass, jint handle, jint channel)
+{
+ int32_t status = 0;
+ double current =
+ HAL_GetPowerDistributionChannelCurrent(handle, channel, &status);
+ return current;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getTotalCurrentNoError
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getTotalCurrentNoError
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ double current = HAL_GetPowerDistributionTotalCurrent(handle, &status);
+ return current;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: setSwitchableChannelNoError
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_setSwitchableChannelNoError
+ (JNIEnv* env, jclass, jint handle, jboolean enabled)
+{
+ int32_t status = 0;
+ HAL_SetPowerDistributionSwitchableChannel(handle, enabled, &status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getSwitchableChannelNoError
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getSwitchableChannelNoError
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto state = HAL_GetPowerDistributionSwitchableChannel(handle, &status);
+ return state;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getStickyFaultsNative
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getStickyFaultsNative
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_PowerDistributionStickyFaults halFaults;
+ std::memset(&halFaults, 0, sizeof(halFaults));
+ HAL_GetPowerDistributionStickyFaults(handle, &halFaults, &status);
+ CheckStatus(env, status, false);
+ jint faults;
+ static_assert(sizeof(faults) == sizeof(halFaults));
+ std::memcpy(&faults, &halFaults, sizeof(faults));
+ return faults;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getFaultsNative
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getFaultsNative
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_PowerDistributionFaults halFaults;
+ std::memset(&halFaults, 0, sizeof(halFaults));
+ HAL_GetPowerDistributionFaults(handle, &halFaults, &status);
+ CheckStatus(env, status, false);
+ jint faults;
+ static_assert(sizeof(faults) == sizeof(halFaults));
+ std::memcpy(&faults, &halFaults, sizeof(faults));
+ return faults;
+}
+
+/*
+ * Class: edu_wpi_first_hal_PowerDistributionJNI
+ * Method: getVersion
+ * Signature: (I)Ljava/lang/Object;
+ */
+JNIEXPORT jobject JNICALL
+Java_edu_wpi_first_hal_PowerDistributionJNI_getVersion
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_PowerDistributionVersion version;
+ std::memset(&version, 0, sizeof(version));
+ HAL_GetPowerDistributionVersion(handle, &version, &status);
+ CheckStatus(env, status, false);
+ return CreatePowerDistributionVersion(
+ env, version.firmwareMajor, version.firmwareMinor, version.firmwareFix,
+ version.hardwareMinor, version.hardwareMajor, version.uniqueId);
+}
+
} // extern "C"
diff --git a/third_party/allwpilib/hal/src/main/native/cpp/jni/REVPHJNI.cpp b/third_party/allwpilib/hal/src/main/native/cpp/jni/REVPHJNI.cpp
index 3e99430..c630974 100644
--- a/third_party/allwpilib/hal/src/main/native/cpp/jni/REVPHJNI.cpp
+++ b/third_party/allwpilib/hal/src/main/native/cpp/jni/REVPHJNI.cpp
@@ -12,6 +12,19 @@
#include "hal/REVPH.h"
#include "hal/handles/HandlesInternal.h"
+static_assert(
+ edu_wpi_first_hal_REVPHJNI_COMPRESSOR_CONFIG_TYPE_DISABLED ==
+ HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kDisabled);
+static_assert(
+ edu_wpi_first_hal_REVPHJNI_COMPRESSOR_CONFIG_TYPE_DIGITAL ==
+ HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kDigital);
+static_assert(
+ edu_wpi_first_hal_REVPHJNI_COMPRESSOR_CONFIG_TYPE_ANALOG ==
+ HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kAnalog);
+static_assert(
+ edu_wpi_first_hal_REVPHJNI_COMPRESSOR_CONFIG_TYPE_HYBRID ==
+ HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kHybrid);
+
using namespace hal;
extern "C" {
@@ -73,31 +86,97 @@
/*
* Class: edu_wpi_first_hal_REVPHJNI
- * Method: setClosedLoopControl
- * Signature: (IZ)V
+ * Method: setCompressorConfig
+ * Signature: (IDDZZ)V
*/
JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControl
- (JNIEnv* env, jclass, jint handle, jboolean enabled)
+Java_edu_wpi_first_hal_REVPHJNI_setCompressorConfig
+ (JNIEnv* env, jclass, jint handle, jdouble minAnalogVoltage,
+ jdouble maxAnalogVoltage, jboolean forceDisable, jboolean useDigital)
{
int32_t status = 0;
- HAL_SetREVPHClosedLoopControl(handle, enabled, &status);
+ HAL_REVPHCompressorConfig config;
+ config.minAnalogVoltage = minAnalogVoltage;
+ config.maxAnalogVoltage = maxAnalogVoltage;
+ config.useDigital = useDigital;
+ config.forceDisable = forceDisable;
+ HAL_SetREVPHCompressorConfig(handle, &config, &status);
CheckStatus(env, status, false);
}
/*
* Class: edu_wpi_first_hal_REVPHJNI
- * Method: getClosedLoopControl
- * Signature: (I)Z
+ * Method: setClosedLoopControlDisabled
+ * Signature: (I)V
*/
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_REVPHJNI_getClosedLoopControl
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControlDisabled
(JNIEnv* env, jclass, jint handle)
{
int32_t status = 0;
- auto result = HAL_GetREVPHClosedLoopControl(handle, &status);
+ HAL_SetREVPHClosedLoopControlDisabled(handle, &status);
CheckStatus(env, status, false);
- return result;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: setClosedLoopControlDigital
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControlDigital
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_SetREVPHClosedLoopControlDigital(handle, &status);
+ CheckStatus(env, status, false);
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: setClosedLoopControlAnalog
+ * Signature: (IDD)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControlAnalog
+ (JNIEnv* env, jclass, jint handle, jdouble minAnalogVoltage,
+ jdouble maxAnalogVoltage)
+{
+ int32_t status = 0;
+ HAL_SetREVPHClosedLoopControlAnalog(handle, minAnalogVoltage,
+ maxAnalogVoltage, &status);
+ CheckStatus(env, status, false);
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: setClosedLoopControlHybrid
+ * Signature: (IDD)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControlHybrid
+ (JNIEnv* env, jclass, jint handle, jdouble minAnalogVoltage,
+ jdouble maxAnalogVoltage)
+{
+ int32_t status = 0;
+ HAL_SetREVPHClosedLoopControlHybrid(handle, minAnalogVoltage,
+ maxAnalogVoltage, &status);
+ CheckStatus(env, status, false);
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: getCompressorConfig
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getCompressorConfig
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto config = HAL_GetREVPHCompressorConfig(handle, &status);
+ CheckStatus(env, status, false);
+ return static_cast<jint>(config);
}
/*
@@ -117,15 +196,15 @@
/*
* Class: edu_wpi_first_hal_REVPHJNI
- * Method: getAnalogPressure
+ * Method: getAnalogVoltage
* Signature: (II)D
*/
JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_hal_REVPHJNI_getAnalogPressure
+Java_edu_wpi_first_hal_REVPHJNI_getAnalogVoltage
(JNIEnv* env, jclass, jint handle, jint channel)
{
int32_t status = 0;
- auto result = HAL_GetREVPHAnalogPressure(handle, channel, &status);
+ auto result = HAL_GetREVPHAnalogVoltage(handle, channel, &status);
CheckStatus(env, status, false);
return result;
}
@@ -188,4 +267,137 @@
CheckStatus(env, status, false);
}
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: clearStickyFaults
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_clearStickyFaults
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_ClearREVPHStickyFaults(handle, &status);
+ CheckStatus(env, status, false);
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: getInputVoltage
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getInputVoltage
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto voltage = HAL_GetREVPHVoltage(handle, &status);
+ CheckStatus(env, status, false);
+ return voltage;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: get5VVoltage
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_get5VVoltage
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto voltage = HAL_GetREVPH5VVoltage(handle, &status);
+ CheckStatus(env, status, false);
+ return voltage;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: getSolenoidCurrent
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getSolenoidCurrent
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto voltage = HAL_GetREVPHSolenoidCurrent(handle, &status);
+ CheckStatus(env, status, false);
+ return voltage;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: getSolenoidVoltage
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getSolenoidVoltage
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ auto voltage = HAL_GetREVPHSolenoidVoltage(handle, &status);
+ CheckStatus(env, status, false);
+ return voltage;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: getStickyFaultsNative
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getStickyFaultsNative
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_REVPHStickyFaults halFaults;
+ std::memset(&halFaults, 0, sizeof(halFaults));
+ HAL_GetREVPHStickyFaults(handle, &halFaults, &status);
+ CheckStatus(env, status, false);
+ jint faults;
+ static_assert(sizeof(faults) == sizeof(halFaults));
+ std::memcpy(&faults, &halFaults, sizeof(faults));
+ return faults;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: getFaultsNative
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getFaultsNative
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_REVPHFaults halFaults;
+ std::memset(&halFaults, 0, sizeof(halFaults));
+ HAL_GetREVPHFaults(handle, &halFaults, &status);
+ CheckStatus(env, status, false);
+ jint faults;
+ static_assert(sizeof(faults) == sizeof(halFaults));
+ std::memcpy(&faults, &halFaults, sizeof(faults));
+ return faults;
+}
+
+/*
+ * Class: edu_wpi_first_hal_REVPHJNI
+ * Method: getVersion
+ * Signature: (I)Ljava/lang/Object;
+ */
+JNIEXPORT jobject JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getVersion
+ (JNIEnv* env, jclass, jint handle)
+{
+ int32_t status = 0;
+ HAL_REVPHVersion version;
+ std::memset(&version, 0, sizeof(version));
+ HAL_GetREVPHVersion(handle, &version, &status);
+ CheckStatus(env, status, false);
+ return CreateREVPHVersion(env, version.firmwareMajor, version.firmwareMinor,
+ version.firmwareFix, version.hardwareMinor,
+ version.hardwareMajor, version.uniqueId);
+}
+
} // extern "C"
diff --git a/third_party/allwpilib/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp b/third_party/allwpilib/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp
index da473de..ca718f5 100644
--- a/third_party/allwpilib/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp
+++ b/third_party/allwpilib/hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp
@@ -166,52 +166,54 @@
/*
* Class: edu_wpi_first_hal_simulation_REVPHDataJNI
- * Method: registerClosedLoopEnabledCallback
+ * Method: registerCompressorConfigTypeCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
-Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerClosedLoopEnabledCallback
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerCompressorConfigTypeCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
- return sim::AllocateCallback(env, index, callback, initialNotify,
- &HALSIM_RegisterREVPHClosedLoopEnabledCallback);
+ return sim::AllocateCallback(
+ env, index, callback, initialNotify,
+ &HALSIM_RegisterREVPHCompressorConfigTypeCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_REVPHDataJNI
- * Method: cancelClosedLoopEnabledCallback
+ * Method: cancelCompressorConfigTypeCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelClosedLoopEnabledCallback
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelCompressorConfigTypeCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
- &HALSIM_CancelREVPHClosedLoopEnabledCallback);
+ &HALSIM_CancelREVPHCompressorConfigTypeCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_REVPHDataJNI
- * Method: getClosedLoopEnabled
- * Signature: (I)Z
+ * Method: getCompressorConfigType
+ * Signature: (I)I
*/
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getClosedLoopEnabled
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getCompressorConfigType
(JNIEnv*, jclass, jint index)
{
- return HALSIM_GetREVPHClosedLoopEnabled(index);
+ return static_cast<jint>(HALSIM_GetREVPHCompressorConfigType(index));
}
/*
* Class: edu_wpi_first_hal_simulation_REVPHDataJNI
- * Method: setClosedLoopEnabled
- * Signature: (IZ)V
+ * Method: setCompressorConfigType
+ * Signature: (II)V
*/
JNIEXPORT void JNICALL
-Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setClosedLoopEnabled
- (JNIEnv*, jclass, jint index, jboolean value)
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setCompressorConfigType
+ (JNIEnv*, jclass, jint index, jint value)
{
- HALSIM_SetREVPHClosedLoopEnabled(index, value);
+ HALSIM_SetREVPHCompressorConfigType(
+ index, static_cast<HAL_REVPHCompressorConfigType>(value));
}
/*
diff --git a/third_party/allwpilib/hal/src/main/native/include/hal/PowerDistribution.h b/third_party/allwpilib/hal/src/main/native/include/hal/PowerDistribution.h
index fabb8b7..47cc9b2 100644
--- a/third_party/allwpilib/hal/src/main/native/include/hal/PowerDistribution.h
+++ b/third_party/allwpilib/hal/src/main/native/include/hal/PowerDistribution.h
@@ -218,6 +218,89 @@
HAL_Bool HAL_GetPowerDistributionSwitchableChannel(
HAL_PowerDistributionHandle handle, int32_t* status);
+struct HAL_PowerDistributionVersion {
+ uint32_t firmwareMajor;
+ uint32_t firmwareMinor;
+ uint32_t firmwareFix;
+ uint32_t hardwareMinor;
+ uint32_t hardwareMajor;
+ uint32_t uniqueId;
+};
+
+struct HAL_PowerDistributionFaults {
+ uint32_t channel0BreakerFault : 1;
+ uint32_t channel1BreakerFault : 1;
+ uint32_t channel2BreakerFault : 1;
+ uint32_t channel3BreakerFault : 1;
+ uint32_t channel4BreakerFault : 1;
+ uint32_t channel5BreakerFault : 1;
+ uint32_t channel6BreakerFault : 1;
+ uint32_t channel7BreakerFault : 1;
+ uint32_t channel8BreakerFault : 1;
+ uint32_t channel9BreakerFault : 1;
+ uint32_t channel10BreakerFault : 1;
+ uint32_t channel11BreakerFault : 1;
+ uint32_t channel12BreakerFault : 1;
+ uint32_t channel13BreakerFault : 1;
+ uint32_t channel14BreakerFault : 1;
+ uint32_t channel15BreakerFault : 1;
+ uint32_t channel16BreakerFault : 1;
+ uint32_t channel17BreakerFault : 1;
+ uint32_t channel18BreakerFault : 1;
+ uint32_t channel19BreakerFault : 1;
+ uint32_t channel20BreakerFault : 1;
+ uint32_t channel21BreakerFault : 1;
+ uint32_t channel22BreakerFault : 1;
+ uint32_t channel23BreakerFault : 1;
+ uint32_t brownout : 1;
+ uint32_t canWarning : 1;
+ uint32_t hardwareFault : 1;
+};
+
+/**
+ * Storage for REV PDH Sticky Faults
+ */
+struct HAL_PowerDistributionStickyFaults {
+ uint32_t channel0BreakerFault : 1;
+ uint32_t channel1BreakerFault : 1;
+ uint32_t channel2BreakerFault : 1;
+ uint32_t channel3BreakerFault : 1;
+ uint32_t channel4BreakerFault : 1;
+ uint32_t channel5BreakerFault : 1;
+ uint32_t channel6BreakerFault : 1;
+ uint32_t channel7BreakerFault : 1;
+ uint32_t channel8BreakerFault : 1;
+ uint32_t channel9BreakerFault : 1;
+ uint32_t channel10BreakerFault : 1;
+ uint32_t channel11BreakerFault : 1;
+ uint32_t channel12BreakerFault : 1;
+ uint32_t channel13BreakerFault : 1;
+ uint32_t channel14BreakerFault : 1;
+ uint32_t channel15BreakerFault : 1;
+ uint32_t channel16BreakerFault : 1;
+ uint32_t channel17BreakerFault : 1;
+ uint32_t channel18BreakerFault : 1;
+ uint32_t channel19BreakerFault : 1;
+ uint32_t channel20BreakerFault : 1;
+ uint32_t channel21BreakerFault : 1;
+ uint32_t channel22BreakerFault : 1;
+ uint32_t channel23BreakerFault : 1;
+ uint32_t brownout : 1;
+ uint32_t canWarning : 1;
+ uint32_t canBusOff : 1;
+ uint32_t hasReset : 1;
+};
+
+void HAL_GetPowerDistributionVersion(HAL_PowerDistributionHandle handle,
+ HAL_PowerDistributionVersion* version,
+ int32_t* status);
+void HAL_GetPowerDistributionFaults(HAL_PowerDistributionHandle handle,
+ HAL_PowerDistributionFaults* faults,
+ int32_t* status);
+void HAL_GetPowerDistributionStickyFaults(
+ HAL_PowerDistributionHandle handle,
+ HAL_PowerDistributionStickyFaults* stickyFaults, int32_t* status);
+
#ifdef __cplusplus
} // extern "C"
#endif
diff --git a/third_party/allwpilib/hal/src/main/native/include/hal/REVPH.h b/third_party/allwpilib/hal/src/main/native/include/hal/REVPH.h
index 0cab15e..430c53d 100644
--- a/third_party/allwpilib/hal/src/main/native/include/hal/REVPH.h
+++ b/third_party/allwpilib/hal/src/main/native/include/hal/REVPH.h
@@ -14,6 +14,79 @@
* @{
*/
+/**
+ * The compressor configuration type
+ */
+HAL_ENUM(HAL_REVPHCompressorConfigType){
+ HAL_REVPHCompressorConfigType_kDisabled = 0,
+ HAL_REVPHCompressorConfigType_kDigital = 1,
+ HAL_REVPHCompressorConfigType_kAnalog = 2,
+ HAL_REVPHCompressorConfigType_kHybrid = 3,
+};
+
+/**
+ * Storage for REV PH Version
+ */
+struct HAL_REVPHVersion {
+ uint32_t firmwareMajor;
+ uint32_t firmwareMinor;
+ uint32_t firmwareFix;
+ uint32_t hardwareMinor;
+ uint32_t hardwareMajor;
+ uint32_t uniqueId;
+};
+
+/**
+ * Storage for compressor config
+ */
+struct HAL_REVPHCompressorConfig {
+ double minAnalogVoltage;
+ double maxAnalogVoltage;
+ HAL_Bool forceDisable;
+ HAL_Bool useDigital;
+};
+
+/**
+ * Storage for REV PH Faults
+ */
+struct HAL_REVPHFaults {
+ uint32_t channel0Fault : 1;
+ uint32_t channel1Fault : 1;
+ uint32_t channel2Fault : 1;
+ uint32_t channel3Fault : 1;
+ uint32_t channel4Fault : 1;
+ uint32_t channel5Fault : 1;
+ uint32_t channel6Fault : 1;
+ uint32_t channel7Fault : 1;
+ uint32_t channel8Fault : 1;
+ uint32_t channel9Fault : 1;
+ uint32_t channel10Fault : 1;
+ uint32_t channel11Fault : 1;
+ uint32_t channel12Fault : 1;
+ uint32_t channel13Fault : 1;
+ uint32_t channel14Fault : 1;
+ uint32_t channel15Fault : 1;
+ uint32_t compressorOverCurrent : 1;
+ uint32_t compressorOpen : 1;
+ uint32_t solenoidOverCurrent : 1;
+ uint32_t brownout : 1;
+ uint32_t canWarning : 1;
+ uint32_t hardwareFault : 1;
+};
+
+/**
+ * Storage for REV PH Sticky Faults
+ */
+struct HAL_REVPHStickyFaults {
+ uint32_t compressorOverCurrent : 1;
+ uint32_t compressorOpen : 1;
+ uint32_t solenoidOverCurrent : 1;
+ uint32_t brownout : 1;
+ uint32_t canWarning : 1;
+ uint32_t canBusOff : 1;
+ uint32_t hasReset : 1;
+};
+
#ifdef __cplusplus
extern "C" {
#endif
@@ -28,13 +101,33 @@
HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module);
HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status);
-void HAL_SetREVPHClosedLoopControl(HAL_REVPHHandle handle, HAL_Bool enabled,
- int32_t* status);
-HAL_Bool HAL_GetREVPHClosedLoopControl(HAL_REVPHHandle handle, int32_t* status);
+void HAL_SetREVPHCompressorConfig(HAL_REVPHHandle handle,
+ const HAL_REVPHCompressorConfig* config,
+ int32_t* status);
+void HAL_SetREVPHClosedLoopControlDisabled(HAL_REVPHHandle handle,
+ int32_t* status);
+void HAL_SetREVPHClosedLoopControlDigital(HAL_REVPHHandle handle,
+ int32_t* status);
+void HAL_SetREVPHClosedLoopControlAnalog(HAL_REVPHHandle handle,
+ double minAnalogVoltage,
+ double maxAnalogVoltage,
+ int32_t* status);
+void HAL_SetREVPHClosedLoopControlHybrid(HAL_REVPHHandle handle,
+ double minAnalogVoltage,
+ double maxAnalogVoltage,
+ int32_t* status);
+HAL_REVPHCompressorConfigType HAL_GetREVPHCompressorConfig(
+ HAL_REVPHHandle handle, int32_t* status);
HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status);
double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status);
-double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
- int32_t* status);
+double HAL_GetREVPHAnalogVoltage(HAL_REVPHHandle handle, int32_t channel,
+ int32_t* status);
+double HAL_GetREVPHVoltage(HAL_REVPHHandle handle, int32_t* status);
+double HAL_GetREVPH5VVoltage(HAL_REVPHHandle handle, int32_t* status);
+double HAL_GetREVPHSolenoidCurrent(HAL_REVPHHandle handle, int32_t* status);
+double HAL_GetREVPHSolenoidVoltage(HAL_REVPHHandle handle, int32_t* status);
+void HAL_GetREVPHVersion(HAL_REVPHHandle handle, HAL_REVPHVersion* version,
+ int32_t* status);
int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status);
void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
@@ -43,6 +136,15 @@
void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
int32_t* status);
+void HAL_GetREVPHFaults(HAL_REVPHHandle handle, HAL_REVPHFaults* faults,
+ int32_t* status);
+
+void HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
+ HAL_REVPHStickyFaults* stickyFaults,
+ int32_t* status);
+
+void HAL_ClearREVPHStickyFaults(HAL_REVPHHandle handle, int32_t* status);
+
#ifdef __cplusplus
} // extern "C"
#endif
diff --git a/third_party/allwpilib/hal/src/main/native/include/hal/Types.h b/third_party/allwpilib/hal/src/main/native/include/hal/Types.h
index 6b95447..ac7c748 100644
--- a/third_party/allwpilib/hal/src/main/native/include/hal/Types.h
+++ b/third_party/allwpilib/hal/src/main/native/include/hal/Types.h
@@ -74,6 +74,11 @@
#ifdef __cplusplus
#define HAL_ENUM(name) enum name : int32_t
+#elif defined(__clang__)
+#define HAL_ENUM(name) \
+ enum name : int32_t; \
+ typedef enum name name; \
+ enum name : int32_t
#else
#define HAL_ENUM(name) \
typedef int32_t name; \
diff --git a/third_party/allwpilib/hal/src/main/native/include/hal/simulation/REVPHData.h b/third_party/allwpilib/hal/src/main/native/include/hal/simulation/REVPHData.h
index 17e4f2c..a836516 100644
--- a/third_party/allwpilib/hal/src/main/native/include/hal/simulation/REVPHData.h
+++ b/third_party/allwpilib/hal/src/main/native/include/hal/simulation/REVPHData.h
@@ -4,6 +4,7 @@
#pragma once
+#include "hal/REVPH.h"
#include "hal/Types.h"
#include "hal/simulation/NotifyListener.h"
@@ -39,13 +40,14 @@
HAL_Bool HALSIM_GetREVPHCompressorOn(int32_t index);
void HALSIM_SetREVPHCompressorOn(int32_t index, HAL_Bool compressorOn);
-int32_t HALSIM_RegisterREVPHClosedLoopEnabledCallback(
+int32_t HALSIM_RegisterREVPHCompressorConfigTypeCallback(
int32_t index, HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
-void HALSIM_CancelREVPHClosedLoopEnabledCallback(int32_t index, int32_t uid);
-HAL_Bool HALSIM_GetREVPHClosedLoopEnabled(int32_t index);
-void HALSIM_SetREVPHClosedLoopEnabled(int32_t index,
- HAL_Bool closedLoopEnabled);
+void HALSIM_CancelREVPHCompressorConfigTypeCallback(int32_t index, int32_t uid);
+HAL_REVPHCompressorConfigType HALSIM_GetREVPHCompressorConfigType(
+ int32_t index);
+void HALSIM_SetREVPHCompressorConfigType(
+ int32_t index, HAL_REVPHCompressorConfigType configType);
int32_t HALSIM_RegisterREVPHPressureSwitchCallback(int32_t index,
HAL_NotifyCallback callback,
diff --git a/third_party/allwpilib/hal/src/main/native/sim/Notifier.cpp b/third_party/allwpilib/hal/src/main/native/sim/Notifier.cpp
index 49f1c80..c686eea 100644
--- a/third_party/allwpilib/hal/src/main/native/sim/Notifier.cpp
+++ b/third_party/allwpilib/hal/src/main/native/sim/Notifier.cpp
@@ -320,7 +320,7 @@
static_cast<int>(getHandleIndex(handle)));
} else {
std::strncpy(arr[num].name, notifier->name.c_str(),
- sizeof(arr[num].name));
+ sizeof(arr[num].name) - 1);
arr[num].name[sizeof(arr[num].name) - 1] = '\0';
}
arr[num].timeout = notifier->waitTime;
diff --git a/third_party/allwpilib/hal/src/main/native/sim/PortsInternal.h b/third_party/allwpilib/hal/src/main/native/sim/PortsInternal.h
index 2d1a205..190573b 100644
--- a/third_party/allwpilib/hal/src/main/native/sim/PortsInternal.h
+++ b/third_party/allwpilib/hal/src/main/native/sim/PortsInternal.h
@@ -7,6 +7,7 @@
#include <stdint.h>
namespace hal {
+constexpr int32_t kAccelerometers = 1;
constexpr int32_t kNumAccumulators = 2;
constexpr int32_t kNumAnalogTriggers = 8;
constexpr int32_t kNumAnalogInputs = 8;
@@ -18,6 +19,7 @@
constexpr int32_t kNumPWMChannels = 20;
constexpr int32_t kNumDigitalPWMOutputs = 6;
constexpr int32_t kNumEncoders = 8;
+constexpr int32_t kI2CPorts = 2;
constexpr int32_t kNumInterrupts = 8;
constexpr int32_t kNumRelayChannels = 8;
constexpr int32_t kNumRelayHeaders = kNumRelayChannels / 2;
@@ -27,8 +29,13 @@
constexpr int32_t kNumCTREPDPChannels = 16;
constexpr int32_t kNumREVPDHModules = 63;
constexpr int32_t kNumREVPDHChannels = 24;
+constexpr int32_t kNumPDSimModules = kNumREVPDHModules;
+constexpr int32_t kNumPDSimChannels = kNumREVPDHChannels;
constexpr int32_t kNumDutyCycles = 8;
constexpr int32_t kNumAddressableLEDs = 1;
constexpr int32_t kNumREVPHModules = 63;
constexpr int32_t kNumREVPHChannels = 16;
+constexpr int32_t kSPIAccelerometers = 5;
+constexpr int32_t kSPIPorts = 5;
+
} // namespace hal
diff --git a/third_party/allwpilib/hal/src/main/native/sim/PowerDistribution.cpp b/third_party/allwpilib/hal/src/main/native/sim/PowerDistribution.cpp
index 85646cf..ddda420 100644
--- a/third_party/allwpilib/hal/src/main/native/sim/PowerDistribution.cpp
+++ b/third_party/allwpilib/hal/src/main/native/sim/PowerDistribution.cpp
@@ -30,6 +30,19 @@
HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
int32_t module, HAL_PowerDistributionType type,
const char* allocationLocation, int32_t* status) {
+ if (type == HAL_PowerDistributionType_kAutomatic) {
+ if (module != HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
+ *status = PARAMETER_OUT_OF_RANGE;
+ hal::SetLastError(
+ status, "Automatic PowerDistributionType must have default module");
+ return HAL_kInvalidHandle;
+ }
+
+ // TODO Make this not matter
+ type = HAL_PowerDistributionType_kCTRE;
+ module = 0;
+ }
+
if (!HAL_CheckPowerDistributionModule(module, type)) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(status, fmt::format("Invalid pdp module {}", module));
@@ -155,4 +168,16 @@
HAL_PowerDistributionHandle handle, int32_t* status) {
return false;
}
+
+void HAL_GetPowerDistributionVersion(HAL_PowerDistributionHandle handle,
+ HAL_PowerDistributionVersion* version,
+ int32_t* status) {}
+
+void HAL_GetPowerDistributionFaults(HAL_PowerDistributionHandle handle,
+ HAL_PowerDistributionFaults* faults,
+ int32_t* status) {}
+
+void HAL_GetPowerDistributionStickyFaults(
+ HAL_PowerDistributionHandle handle,
+ HAL_PowerDistributionStickyFaults* stickyFaults, int32_t* status) {}
} // extern "C"
diff --git a/third_party/allwpilib/hal/src/main/native/sim/REVPH.cpp b/third_party/allwpilib/hal/src/main/native/sim/REVPH.cpp
index 9ddb655..163ca9c 100644
--- a/third_party/allwpilib/hal/src/main/native/sim/REVPH.cpp
+++ b/third_party/allwpilib/hal/src/main/native/sim/REVPH.cpp
@@ -64,7 +64,8 @@
SimREVPHData[module].initialized = true;
// Enable closed loop
- SimREVPHData[module].closedLoopEnabled = true;
+ SimREVPHData[module].compressorConfigType =
+ HAL_REVPHCompressorConfigType_kDigital;
return handle;
}
@@ -97,26 +98,73 @@
return SimREVPHData[pcm->module].compressorOn;
}
-void HAL_SetREVPHClosedLoopControl(HAL_REVPHHandle handle, HAL_Bool enabled,
- int32_t* status) {
+void HAL_SetREVPHCompressorConfig(HAL_REVPHHandle handle,
+ const HAL_REVPHCompressorConfig* config,
+ int32_t* status) {
auto pcm = pcmHandles->Get(handle);
if (pcm == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
-
- SimREVPHData[pcm->module].closedLoopEnabled = enabled;
+ // TODO
+ // SimREVPHData[pcm->module].compressorConfigType = config.
}
-
-HAL_Bool HAL_GetREVPHClosedLoopControl(HAL_REVPHHandle handle,
- int32_t* status) {
+void HAL_SetREVPHClosedLoopControlDisabled(HAL_REVPHHandle handle,
+ int32_t* status) {
auto pcm = pcmHandles->Get(handle);
if (pcm == nullptr) {
*status = HAL_HANDLE_ERROR;
- return false;
+ return;
}
+ SimREVPHData[pcm->module].compressorConfigType =
+ HAL_REVPHCompressorConfigType_kDisabled;
+}
- return SimREVPHData[pcm->module].closedLoopEnabled;
+void HAL_SetREVPHClosedLoopControlDigital(HAL_REVPHHandle handle,
+ int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+ SimREVPHData[pcm->module].compressorConfigType =
+ HAL_REVPHCompressorConfigType_kDigital;
+}
+
+void HAL_SetREVPHClosedLoopControlAnalog(HAL_REVPHHandle handle,
+ double minAnalogVoltage,
+ double maxAnalogVoltage,
+ int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+ SimREVPHData[pcm->module].compressorConfigType =
+ HAL_REVPHCompressorConfigType_kAnalog;
+}
+
+void HAL_SetREVPHClosedLoopControlHybrid(HAL_REVPHHandle handle,
+ double minAnalogVoltage,
+ double maxAnalogVoltage,
+ int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+ SimREVPHData[pcm->module].compressorConfigType =
+ HAL_REVPHCompressorConfigType_kHybrid;
+}
+
+HAL_REVPHCompressorConfigType HAL_GetREVPHCompressorConfig(
+ HAL_REVPHHandle handle, int32_t* status) {
+ auto pcm = pcmHandles->Get(handle);
+ if (pcm == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return HAL_REVPHCompressorConfigType_kDisabled;
+ }
+ return SimREVPHData[pcm->module].compressorConfigType;
}
HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status) {
@@ -129,8 +177,8 @@
return SimREVPHData[pcm->module].pressureSwitch;
}
-double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
- int32_t* status) {
+double HAL_GetREVPHAnalogVoltage(HAL_REVPHHandle handle, int32_t channel,
+ int32_t* status) {
return 0;
}
@@ -179,3 +227,31 @@
void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
int32_t* status) {}
+
+double HAL_GetREVPHVoltage(HAL_REVPHHandle handle, int32_t* status) {
+ return 0;
+}
+
+double HAL_GetREVPH5VVoltage(HAL_REVPHHandle handle, int32_t* status) {
+ return 0;
+}
+
+double HAL_GetREVPHSolenoidCurrent(HAL_REVPHHandle handle, int32_t* status) {
+ return 0;
+}
+
+double HAL_GetREVPHSolenoidVoltage(HAL_REVPHHandle handle, int32_t* status) {
+ return 0;
+}
+
+void HAL_GetREVPHVersion(HAL_REVPHHandle handle, HAL_REVPHVersion* version,
+ int32_t* status) {}
+
+void HAL_GetREVPHFaults(HAL_REVPHHandle handle, HAL_REVPHFaults* faults,
+ int32_t* status) {}
+
+void HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
+ HAL_REVPHStickyFaults* stickyFaults,
+ int32_t* status) {}
+
+void HAL_ClearREVPHStickyFaults(HAL_REVPHHandle handle, int32_t* status) {}
diff --git a/third_party/allwpilib/hal/src/main/native/sim/mockdata/AccelerometerData.cpp b/third_party/allwpilib/hal/src/main/native/sim/mockdata/AccelerometerData.cpp
index 8ed4d78..9284830 100644
--- a/third_party/allwpilib/hal/src/main/native/sim/mockdata/AccelerometerData.cpp
+++ b/third_party/allwpilib/hal/src/main/native/sim/mockdata/AccelerometerData.cpp
@@ -9,7 +9,7 @@
namespace hal::init {
void InitializeAccelerometerData() {
- static AccelerometerData sad[1];
+ static AccelerometerData sad[kAccelerometers];
::hal::SimAccelerometerData = sad;
}
} // namespace hal::init
diff --git a/third_party/allwpilib/hal/src/main/native/sim/mockdata/DriverStationData.cpp b/third_party/allwpilib/hal/src/main/native/sim/mockdata/DriverStationData.cpp
index c704f2b..1c76a7a 100644
--- a/third_party/allwpilib/hal/src/main/native/sim/mockdata/DriverStationData.cpp
+++ b/third_party/allwpilib/hal/src/main/native/sim/mockdata/DriverStationData.cpp
@@ -30,7 +30,7 @@
fmsAttached.Reset(false);
dsAttached.Reset(true);
allianceStationId.Reset(static_cast<HAL_AllianceStationID>(0));
- matchTime.Reset(0.0);
+ matchTime.Reset(-1.0);
{
std::scoped_lock lock(m_joystickDataMutex);
diff --git a/third_party/allwpilib/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h b/third_party/allwpilib/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
index e0f545e..2470b04 100644
--- a/third_party/allwpilib/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
+++ b/third_party/allwpilib/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
@@ -126,7 +126,7 @@
SimDataValue<HAL_AllianceStationID, MakeAllianceStationIdValue,
GetAllianceStationIdName>
allianceStationId{static_cast<HAL_AllianceStationID>(0)};
- SimDataValue<double, HAL_MakeDouble, GetMatchTimeName> matchTime{0.0};
+ SimDataValue<double, HAL_MakeDouble, GetMatchTimeName> matchTime{-1.0};
private:
SimCallbackRegistry<HAL_JoystickAxesCallback, GetJoystickAxesName>
diff --git a/third_party/allwpilib/hal/src/main/native/sim/mockdata/I2CData.cpp b/third_party/allwpilib/hal/src/main/native/sim/mockdata/I2CData.cpp
index 0ac813d..d3b7db6 100644
--- a/third_party/allwpilib/hal/src/main/native/sim/mockdata/I2CData.cpp
+++ b/third_party/allwpilib/hal/src/main/native/sim/mockdata/I2CData.cpp
@@ -9,7 +9,7 @@
namespace hal::init {
void InitializeI2CData() {
- static I2CData sid[2];
+ static I2CData sid[kI2CPorts];
::hal::SimI2CData = sid;
}
} // namespace hal::init
diff --git a/third_party/allwpilib/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h b/third_party/allwpilib/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h
index 4876dbd..cb3e4b3 100644
--- a/third_party/allwpilib/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h
+++ b/third_party/allwpilib/hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h
@@ -9,8 +9,6 @@
#include "hal/simulation/SimDataValue.h"
namespace hal {
-constexpr int32_t kNumPDSimModules = hal::kNumREVPDHModules;
-constexpr int32_t kNumPDSimChannels = hal::kNumREVPDHChannels;
class PowerDistributionData {
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
diff --git a/third_party/allwpilib/hal/src/main/native/sim/mockdata/REVPHData.cpp b/third_party/allwpilib/hal/src/main/native/sim/mockdata/REVPHData.cpp
index 6c0ed5a..cb1a3a8 100644
--- a/third_party/allwpilib/hal/src/main/native/sim/mockdata/REVPHData.cpp
+++ b/third_party/allwpilib/hal/src/main/native/sim/mockdata/REVPHData.cpp
@@ -21,7 +21,7 @@
}
initialized.Reset(false);
compressorOn.Reset(false);
- closedLoopEnabled.Reset(true);
+ compressorConfigType.Reset(HAL_REVPHCompressorConfigType_kDisabled);
pressureSwitch.Reset(false);
compressorCurrent.Reset(0.0);
}
@@ -39,7 +39,8 @@
SimREVPHData, solenoidOutput)
DEFINE_CAPI(HAL_Bool, Initialized, initialized)
DEFINE_CAPI(HAL_Bool, CompressorOn, compressorOn)
-DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, closedLoopEnabled)
+DEFINE_CAPI(HAL_REVPHCompressorConfigType, CompressorConfigType,
+ compressorConfigType)
DEFINE_CAPI(HAL_Bool, PressureSwitch, pressureSwitch)
DEFINE_CAPI(double, CompressorCurrent, compressorCurrent)
@@ -69,7 +70,7 @@
HAL_Bool initialNotify) {
REGISTER(initialized);
REGISTER(compressorOn);
- REGISTER(closedLoopEnabled);
+ REGISTER(compressorConfigType);
REGISTER(pressureSwitch);
REGISTER(compressorCurrent);
}
diff --git a/third_party/allwpilib/hal/src/main/native/sim/mockdata/REVPHDataInternal.h b/third_party/allwpilib/hal/src/main/native/sim/mockdata/REVPHDataInternal.h
index ebf4964..c41cbbe 100644
--- a/third_party/allwpilib/hal/src/main/native/sim/mockdata/REVPHDataInternal.h
+++ b/third_party/allwpilib/hal/src/main/native/sim/mockdata/REVPHDataInternal.h
@@ -13,7 +13,7 @@
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
HAL_SIMDATAVALUE_DEFINE_NAME(SolenoidOutput)
HAL_SIMDATAVALUE_DEFINE_NAME(CompressorOn)
- HAL_SIMDATAVALUE_DEFINE_NAME(ClosedLoopEnabled)
+ HAL_SIMDATAVALUE_DEFINE_NAME(CompressorConfigType)
HAL_SIMDATAVALUE_DEFINE_NAME(PressureSwitch)
HAL_SIMDATAVALUE_DEFINE_NAME(CompressorCurrent)
@@ -22,6 +22,11 @@
return false;
}
+ static inline HAL_Value MakeCompressorConfigTypeValue(
+ HAL_REVPHCompressorConfigType value) {
+ return HAL_MakeEnum(value);
+ }
+
public:
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
false};
@@ -30,8 +35,10 @@
solenoidOutput[kNumREVPHChannels];
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetCompressorOnName> compressorOn{
false};
- SimDataValue<HAL_Bool, HAL_MakeBoolean, GetClosedLoopEnabledName>
- closedLoopEnabled{true};
+ SimDataValue<HAL_REVPHCompressorConfigType, MakeCompressorConfigTypeValue,
+ GetCompressorConfigTypeName>
+ compressorConfigType{HAL_REVPHCompressorConfigType::
+ HAL_REVPHCompressorConfigType_kDisabled};
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetPressureSwitchName> pressureSwitch{
false};
SimDataValue<double, HAL_MakeDouble, GetCompressorCurrentName>
diff --git a/third_party/allwpilib/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp b/third_party/allwpilib/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp
index 6c5f341..0ec10cf 100644
--- a/third_party/allwpilib/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp
+++ b/third_party/allwpilib/hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp
@@ -9,7 +9,7 @@
namespace hal::init {
void InitializeSPIAccelerometerData() {
- static SPIAccelerometerData ssad[5];
+ static SPIAccelerometerData ssad[kSPIAccelerometers];
::hal::SimSPIAccelerometerData = ssad;
}
} // namespace hal::init
diff --git a/third_party/allwpilib/hal/src/main/native/sim/mockdata/SPIData.cpp b/third_party/allwpilib/hal/src/main/native/sim/mockdata/SPIData.cpp
index 9499b9b..82f7650 100644
--- a/third_party/allwpilib/hal/src/main/native/sim/mockdata/SPIData.cpp
+++ b/third_party/allwpilib/hal/src/main/native/sim/mockdata/SPIData.cpp
@@ -9,7 +9,7 @@
namespace hal::init {
void InitializeSPIData() {
- static SPIData ssd[5];
+ static SPIData ssd[kSPIPorts];
::hal::SimSPIData = ssd;
}
} // namespace hal::init
diff --git a/third_party/allwpilib/imgui/CMakeLists.txt.in b/third_party/allwpilib/imgui/CMakeLists.txt.in
index be649d0..1e3cde4 100644
--- a/third_party/allwpilib/imgui/CMakeLists.txt.in
+++ b/third_party/allwpilib/imgui/CMakeLists.txt.in
@@ -5,7 +5,7 @@
include(ExternalProject)
ExternalProject_Add(glfw3
GIT_REPOSITORY https://github.com/glfw/glfw.git
- GIT_TAG 3.3.4
+ GIT_TAG 3.3.6
SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/glfw-src"
BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/glfw-build"
CONFIGURE_COMMAND ""
@@ -15,7 +15,7 @@
)
ExternalProject_Add(gl3w
GIT_REPOSITORY https://github.com/skaslev/gl3w
- GIT_TAG 8418c1b38d195edbd3b20a8f13ec91de6c8c570c
+ GIT_TAG 3755745085ac2e865fd22270cfe9169c26640f70
SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/gl3w-src"
BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/gl3w-build"
INSTALL_COMMAND ""
@@ -23,7 +23,7 @@
)
ExternalProject_Add(imgui
GIT_REPOSITORY https://github.com/ocornut/imgui.git
- GIT_TAG v1.82
+ GIT_TAG v1.86
SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/imgui-src"
BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/imgui-build"
CONFIGURE_COMMAND ""
@@ -33,7 +33,7 @@
)
ExternalProject_Add(implot
GIT_REPOSITORY https://github.com/epezent/implot.git
- GIT_TAG 555ff688a8134bc0c602123149abe9c17d577475
+ GIT_TAG 4fcc6e01aca406ef17d5a2dabdcbc9e1bd962c0d
SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/implot-src"
BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/implot-build"
CONFIGURE_COMMAND ""
diff --git a/third_party/allwpilib/myRobot/build.gradle b/third_party/allwpilib/myRobot/build.gradle
index 045f827..d531161 100644
--- a/third_party/allwpilib/myRobot/build.gradle
+++ b/third_party/allwpilib/myRobot/build.gradle
@@ -86,6 +86,9 @@
myRobotCpp(NativeExecutableArtifact) {
libraryDirectory = '/usr/local/frc/third-party/lib'
+ def excludes = getLibraryFilter().getExcludes()
+ excludes.add('**/*.so.debug')
+ excludes.add('**/*.so.*.debug')
postdeploy << { ctx ->
ctx.execute('chmod +x myRobotCpp')
}
@@ -162,14 +165,16 @@
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
+ lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
lib project: ':cscore', library: 'cscore', linkage: 'shared'
lib project: ':ntcore', library: 'ntcoreJNIShared', linkage: 'shared'
lib project: ':cscore', library: 'cscoreJNIShared', linkage: 'shared'
+ lib project: ':wpimath', library: 'wpimathJNIShared', linkage: 'shared'
+ lib project: ':wpiutil', library: 'wpiutilJNIShared', linkage: 'shared'
project(':hal').addHalDependency(binary, 'shared')
project(':hal').addHalJniDependency(binary)
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
} else {
@@ -207,11 +212,11 @@
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'static'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
lib project: ':wpimath', library: 'wpimath', linkage: 'static'
+ lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
lib project: ':ntcore', library: 'ntcore', linkage: 'static'
lib project: ':cscore', library: 'cscore', linkage: 'static'
project(':hal').addHalDependency(binary, 'static')
lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
- lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
}
diff --git a/third_party/allwpilib/ntcore/src/main/native/cpp/Storage_load.cpp b/third_party/allwpilib/ntcore/src/main/native/cpp/Storage_load.cpp
index 11bbb0e..98046e7 100644
--- a/third_party/allwpilib/ntcore/src/main/native/cpp/Storage_load.cpp
+++ b/third_party/allwpilib/ntcore/src/main/native/cpp/Storage_load.cpp
@@ -87,7 +87,7 @@
break;
}
}
- return {wpi::slice(source, 0, pos), source.substr(pos)};
+ return {wpi::slice(source, 0, pos), wpi::substr(source, pos)};
}
static int fromxdigit(char ch) {
diff --git a/third_party/allwpilib/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp b/third_party/allwpilib/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
index cc519f5..0c28dd4 100644
--- a/third_party/allwpilib/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
+++ b/third_party/allwpilib/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
@@ -22,7 +22,7 @@
if (slash == std::string_view::npos) {
return key;
}
- return key.substr(slash + 1);
+ return wpi::substr(key, slash + 1);
}
std::string NetworkTable::NormalizeKey(std::string_view key,
@@ -105,7 +105,7 @@
return nt::AddEntryListener(
m_inst, fmt::format("{}/", m_path),
[=](const EntryNotification& event) {
- auto relative_key = std::string_view{event.name}.substr(prefix_len);
+ auto relative_key = wpi::substr(event.name, prefix_len);
if (relative_key.find(PATH_SEPARATOR_CHAR) != std::string_view::npos) {
return;
}
@@ -124,8 +124,8 @@
entry.GetHandle(),
[=](const EntryNotification& event) {
listener(const_cast<NetworkTable*>(this),
- std::string_view{event.name}.substr(prefix_len), entry,
- event.value, event.flags);
+ wpi::substr(event.name, prefix_len), entry, event.value,
+ event.flags);
},
flags);
}
@@ -149,12 +149,12 @@
NT_EntryListener id = nt::AddEntryListener(
m_inst, fmt::format("{}/", m_path),
[=](const EntryNotification& event) {
- auto relative_key = std::string_view{event.name}.substr(prefix_len);
+ auto relative_key = wpi::substr(event.name, prefix_len);
auto end_sub_table = relative_key.find(PATH_SEPARATOR_CHAR);
if (end_sub_table == std::string_view::npos) {
return;
}
- auto sub_table_key = relative_key.substr(0, end_sub_table);
+ auto sub_table_key = wpi::substr(relative_key, 0, end_sub_table);
if (notified_tables->find(sub_table_key) == notified_tables->end()) {
return;
}
@@ -196,7 +196,7 @@
auto infos = GetEntryInfo(m_inst, fmt::format("{}/", m_path), types);
std::scoped_lock lock(m_mutex);
for (auto& info : infos) {
- auto relative_key = std::string_view{info.name}.substr(prefix_len);
+ auto relative_key = wpi::substr(info.name, prefix_len);
if (relative_key.find(PATH_SEPARATOR_CHAR) != std::string_view::npos) {
continue;
}
@@ -210,12 +210,12 @@
std::vector<std::string> keys;
size_t prefix_len = m_path.size() + 1;
for (auto& entry : GetEntryInfo(m_inst, fmt::format("{}/", m_path), 0)) {
- auto relative_key = std::string_view{entry.name}.substr(prefix_len);
+ auto relative_key = wpi::substr(entry.name, prefix_len);
size_t end_subtable = relative_key.find(PATH_SEPARATOR_CHAR);
if (end_subtable == std::string_view::npos) {
continue;
}
- keys.emplace_back(relative_key.substr(0, end_subtable));
+ keys.emplace_back(wpi::substr(relative_key, 0, end_subtable));
}
return keys;
}
diff --git a/third_party/allwpilib/ntcore/src/test/native/cpp/WireEncoderTest.cpp b/third_party/allwpilib/ntcore/src/test/native/cpp/WireEncoderTest.cpp
index b714112..b0cc664 100644
--- a/third_party/allwpilib/ntcore/src/test/native/cpp/WireEncoderTest.cpp
+++ b/third_party/allwpilib/ntcore/src/test/native/cpp/WireEncoderTest.cpp
@@ -7,6 +7,8 @@
#include <string>
#include <string_view>
+#include <wpi/StringExtras.h>
+
#include "TestPrinters.h"
#include "WireEncoder.h"
#include "gtest/gtest.h"
@@ -84,7 +86,7 @@
e.Write8(0x101u); // should be truncated
e.Write8(0u);
ASSERT_EQ(3u, e.size() - off);
- ASSERT_EQ("\x05\x01\x00"sv, std::string_view(e.data(), e.size()).substr(off));
+ ASSERT_EQ("\x05\x01\x00"sv, wpi::substr({e.data(), e.size()}, off));
}
TEST_F(WireEncoderTest, Write16) {
@@ -99,7 +101,7 @@
e.Write16(0u);
ASSERT_EQ(8u, e.size() - off);
ASSERT_EQ("\x00\x05\x00\x01\x45\x67\x00\x00"sv,
- std::string_view(e.data(), e.size()).substr(off));
+ wpi::substr({e.data(), e.size()}, off));
}
TEST_F(WireEncoderTest, Write32) {
@@ -117,7 +119,7 @@
ASSERT_EQ(std::string_view("\x00\x00\x00\x05\x00\x00\x00\x01\x00\x00\xab\xcd"
"\x12\x34\x56\x78\x00\x00\x00\x00",
20),
- std::string_view(e.data(), e.size()).substr(off));
+ wpi::substr({e.data(), e.size()}, off));
}
TEST_F(WireEncoderTest, WriteDouble) {
@@ -140,7 +142,7 @@
"\x00\x10\x00\x00\x00\x00\x00\x00"
"\x7f\xef\xff\xff\xff\xff\xff\xff",
40),
- std::string_view(e.data(), e.size()).substr(off));
+ wpi::substr({e.data(), e.size()}, off));
}
TEST_F(WireEncoderTest, WriteUleb128) {
@@ -153,8 +155,7 @@
e.WriteUleb128(0x7ful);
e.WriteUleb128(0x80ul);
ASSERT_EQ(4u, e.size() - off);
- ASSERT_EQ("\x00\x7f\x80\x01"sv,
- std::string_view(e.data(), e.size()).substr(off));
+ ASSERT_EQ("\x00\x7f\x80\x01"sv, wpi::substr({e.data(), e.size()}, off));
}
TEST_F(WireEncoderTest, WriteType) {
@@ -174,7 +175,7 @@
ASSERT_EQ(nullptr, e.error());
ASSERT_EQ(8u, e.size() - off);
ASSERT_EQ("\x00\x01\x02\x03\x10\x11\x12\x20"sv,
- std::string_view(e.data(), e.size()).substr(off));
+ wpi::substr({e.data(), e.size()}, off));
}
TEST_F(WireEncoderTest, WriteTypeError) {
diff --git a/third_party/allwpilib/outlineviewer/publish.gradle b/third_party/allwpilib/outlineviewer/publish.gradle
index b0fa202..aa35009 100644
--- a/third_party/allwpilib/outlineviewer/publish.gradle
+++ b/third_party/allwpilib/outlineviewer/publish.gradle
@@ -76,6 +76,14 @@
}
from(applicationPath)
+
+ if (binary.targetPlatform.operatingSystem.isWindows()) {
+ def exePath = binary.executable.file.absolutePath
+ exePath = exePath.substring(0, exePath.length() - 4)
+ def pdbPath = new File(exePath + '.pdb')
+ from(pdbPath)
+ }
+
into(nativeUtils.getPlatformPath(binary))
}
diff --git a/third_party/allwpilib/outlineviewer/src/main/native/cpp/main.cpp b/third_party/allwpilib/outlineviewer/src/main/native/cpp/main.cpp
index 11428f5..2c2debc 100644
--- a/third_party/allwpilib/outlineviewer/src/main/native/cpp/main.cpp
+++ b/third_party/allwpilib/outlineviewer/src/main/native/cpp/main.cpp
@@ -11,7 +11,9 @@
#include <wpigui.h>
#include "glass/Context.h"
+#include "glass/MainMenuBar.h"
#include "glass/Model.h"
+#include "glass/Storage.h"
#include "glass/networktables/NetworkTables.h"
#include "glass/networktables/NetworkTablesSettings.h"
#include "glass/other/Log.h"
@@ -34,6 +36,7 @@
static std::unique_ptr<glass::NetworkTablesSettings> gSettings;
static glass::LogData gLog;
static glass::NetworkTablesFlagsSettings gFlagsSettings;
+static glass::MainMenuBar gMainMenu;
static void NtInitialize() {
// update window title when connection status changes
@@ -87,7 +90,8 @@
gui::AddEarlyExecute([] { gModel->Update(); });
// NetworkTables settings window
- gSettings = std::make_unique<glass::NetworkTablesSettings>();
+ gSettings = std::make_unique<glass::NetworkTablesSettings>(
+ glass::GetStorageRoot().GetChild("NetworkTables Settings"));
gui::AddEarlyExecute([] { gSettings->Update(); });
}
@@ -114,6 +118,7 @@
// main menu
ImGui::BeginMenuBar();
+ gMainMenu.WorkspaceMenu();
gui::EmitViewMenu();
if (ImGui::BeginMenu("View")) {
gFlagsSettings.DisplayMenu();
@@ -179,6 +184,8 @@
ImGui::Text("OutlineViewer");
ImGui::Separator();
ImGui::Text("v%s", GetWPILibVersion());
+ ImGui::Separator();
+ ImGui::Text("Save location: %s", glass::GetStorageDir().c_str());
if (ImGui::Button("Close")) {
ImGui::CloseCurrentPopup();
}
@@ -194,9 +201,16 @@
#ifdef _WIN32
int __stdcall WinMain(void* hInstance, void* hPrevInstance, char* pCmdLine,
int nCmdShow) {
+ int argc = __argc;
+ char** argv = __argv;
#else
-int main() {
+int main(int argc, char** argv) {
#endif
+ std::string_view saveDir;
+ if (argc == 2) {
+ saveDir = argv[1];
+ }
+
gui::CreateContext();
glass::CreateContext();
@@ -208,7 +222,10 @@
gui::AddIcon(ov::GetResource_ov_256_png());
gui::AddIcon(ov::GetResource_ov_512_png());
- gui::ConfigurePlatformSaveFile("outlineviewer.ini");
+ glass::SetStorageName("outlineviewer");
+ glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
+ : saveDir);
+
gui::AddInit(NtInitialize);
gui::AddLateExecute(DisplayGui);
@@ -221,4 +238,6 @@
glass::DestroyContext();
gui::DestroyContext();
+
+ return 0;
}
diff --git a/third_party/allwpilib/roborioteamnumbersetter/.styleguide b/third_party/allwpilib/roborioteamnumbersetter/.styleguide
new file mode 100644
index 0000000..1d44898
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/.styleguide
@@ -0,0 +1,28 @@
+cppHeaderFileInclude {
+ \.h$
+ \.inc$
+ \.inl$
+}
+
+cppSrcFileInclude {
+ \.cpp$
+}
+
+generatedFileExclude {
+ src/main/native/resources/
+ src/main/native/win/roborioteamnumbersetter.ico
+ src/main/native/mac/rtns.icns
+}
+
+repoRootNameOverride {
+ roborioteamnumbersetter
+}
+
+includeOtherLibs {
+ ^GLFW
+ ^fmt/
+ ^imgui
+ ^ntcore
+ ^wpi/
+ ^wpigui
+}
diff --git a/third_party/allwpilib/roborioteamnumbersetter/CMakeLists.txt b/third_party/allwpilib/roborioteamnumbersetter/CMakeLists.txt
new file mode 100644
index 0000000..3d81f3e
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/CMakeLists.txt
@@ -0,0 +1,29 @@
+project(roborioteamnumbersetter)
+
+include(CompileWarnings)
+include(GenResources)
+include(LinkMacOSGUI)
+
+configure_file(src/main/generate/WPILibVersion.cpp.in WPILibVersion.cpp)
+GENERATE_RESOURCES(src/main/native/resources generated/main/cpp RTNS rtns rtns_resources_src)
+
+file(GLOB rtns_src src/main/native/cpp/*.cpp ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.cpp)
+
+if (WIN32)
+ set(rtns_rc src/main/native/win/roborioteamnumbersetter.rc)
+elseif(APPLE)
+ set(MACOSX_BUNDLE_ICON_FILE rtns.icns)
+ set(APP_ICON_MACOSX src/main/native/mac/rtns.icns)
+ set_source_files_properties(${APP_ICON_MACOSX} PROPERTIES MACOSX_PACKAGE_LOCATION "Resources")
+endif()
+
+add_executable(roborioteamnumbersetter ${rtns_src} ${rtns_resources_src} ${rtns_rc} ${APP_ICON_MACOSX})
+wpilib_link_macos_gui(roborioteamnumbersetter)
+target_link_libraries(roborioteamnumbersetter libglass ${LIBSSH_LIBRARIES})
+target_include_directories(roborioteamnumbersetter PRIVATE ${LIBSSH_INCLUDE_DIRS})
+
+if (WIN32)
+ set_target_properties(roborioteamnumbersetter PROPERTIES WIN32_EXECUTABLE YES)
+elseif(APPLE)
+ set_target_properties(roborioteamnumbersetter PROPERTIES MACOSX_BUNDLE YES OUTPUT_NAME "roborioTeamNumberSetter")
+endif()
diff --git a/third_party/allwpilib/roborioteamnumbersetter/Info.plist b/third_party/allwpilib/roborioteamnumbersetter/Info.plist
new file mode 100644
index 0000000..9c61700
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/Info.plist
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+ <key>CFBundleName</key>
+ <string>roboRIOTeamNumberSetter</string>
+ <key>CFBundleExecutable</key>
+ <string>roborioteamnumbersetter</string>
+ <key>CFBundleDisplayName</key>
+ <string>roboRIOTeamNumberSetter</string>
+ <key>CFBundleIdentifier</key>
+ <string>edu.wpi.first.tools.roboRIOTeamNumberSetter</string>
+ <key>CFBundleIconFile</key>
+ <string>rtns.icns</string>
+ <key>CFBundlePackageType</key>
+ <string>APPL</string>
+ <key>CFBundleSupportedPlatforms</key>
+ <array>
+ <string>MacOSX</string>
+ </array>
+ <key>CFBundleInfoDictionaryVersion</key>
+ <string>6.0</string>
+ <key>CFBundleShortVersionString</key>
+ <string>2021</string>
+ <key>CFBundleVersion</key>
+ <string>2021</string>
+ <key>LSMinimumSystemVersion</key>
+ <string>10.11</string>
+ <key>NSHighResolutionCapable</key>
+ <true/>
+</dict>
+</plist>
diff --git a/third_party/allwpilib/roborioteamnumbersetter/build.gradle b/third_party/allwpilib/roborioteamnumbersetter/build.gradle
new file mode 100644
index 0000000..2b1a229
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/build.gradle
@@ -0,0 +1,134 @@
+import org.gradle.internal.os.OperatingSystem
+
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+
+ description = "roboRIO Team Number Setter"
+
+ apply plugin: 'cpp'
+ apply plugin: 'c'
+ apply plugin: 'google-test-test-suite'
+ apply plugin: 'visual-studio'
+ apply plugin: 'edu.wpi.first.NativeUtils'
+
+ if (OperatingSystem.current().isWindows()) {
+ apply plugin: 'windows-resources'
+ }
+
+ ext {
+ nativeName = 'roborioteamnumbersetter'
+ }
+
+ apply from: "${rootDir}/shared/resources.gradle"
+ apply from: "${rootDir}/shared/config.gradle"
+
+ def wpilibVersionFileInput = file("src/main/generate/WPILibVersion.cpp.in")
+ def wpilibVersionFileOutput = file("$buildDir/generated/main/cpp/WPILibVersion.cpp")
+
+ nativeUtils {
+ nativeDependencyContainer {
+ libssh(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
+ groupId = "edu.wpi.first.thirdparty.frc2022"
+ artifactId = "libssh"
+ headerClassifier = "headers"
+ sourceClassifier = "sources"
+ ext = "zip"
+ version = '0.95-1'
+ targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
+ }
+ }
+ }
+
+ task generateCppVersion() {
+ description = 'Generates the wpilib version class'
+ group = 'WPILib'
+
+ outputs.file wpilibVersionFileOutput
+ inputs.file wpilibVersionFileInput
+
+ if (wpilibVersioning.releaseMode) {
+ outputs.upToDateWhen { false }
+ }
+
+ // We follow a simple set of checks to determine whether we should generate a new version file:
+ // 1. If the release type is not development, we generate a new version file
+ // 2. If there is no generated version number, we generate a new version file
+ // 3. If there is a generated build number, and the release type is development, then we will
+ // only generate if the publish task is run.
+ doLast {
+ def version = wpilibVersioning.version.get()
+ println "Writing version ${version} to $wpilibVersionFileOutput"
+
+ if (wpilibVersionFileOutput.exists()) {
+ wpilibVersionFileOutput.delete()
+ }
+ def read = wpilibVersionFileInput.text.replace('${wpilib_version}', version)
+ wpilibVersionFileOutput.write(read)
+ }
+ }
+
+ gradle.taskGraph.addTaskExecutionGraphListener { graph ->
+ def willPublish = graph.hasTask(publish)
+ if (willPublish) {
+ generateCppVersion.outputs.upToDateWhen { false }
+ }
+ }
+
+ def generateTask = createGenerateResourcesTask('main', 'RTNS', 'rtns', project)
+
+ project(':').libraryBuild.dependsOn build
+ tasks.withType(CppCompile) {
+ dependsOn generateTask
+ dependsOn generateCppVersion
+ }
+
+ model {
+ components {
+ // By default, a development executable will be generated. This is to help the case of
+ // testing specific functionality of the library.
+ "${nativeName}"(NativeExecutableSpec) {
+ baseName = 'roborioteamnumbersetter'
+ sources {
+ cpp {
+ source {
+ srcDirs 'src/main/native/cpp', "$buildDir/generated/main/cpp"
+ include '**/*.cpp'
+ }
+ exportedHeaders {
+ srcDirs 'src/main/native/include'
+ }
+ }
+ if (OperatingSystem.current().isWindows()) {
+ rc {
+ source {
+ srcDirs 'src/main/native/win'
+ include '*.rc'
+ }
+ }
+ }
+ }
+ binaries.all {
+ if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+ it.buildable = false
+ return
+ }
+ it.cppCompiler.define("LIBSSH_STATIC")
+ lib project: ':glass', library: 'glass', linkage: 'static'
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+ lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+ nativeUtils.useRequiredLibrary(it, 'imgui_static', 'libssh')
+ if (it.targetPlatform.operatingSystem.isWindows()) {
+ it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
+ it.linker.args << 'ws2_32.lib' << 'advapi32.lib' << 'crypt32.lib' << 'user32.lib'
+ } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
+ it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
+ it.linker.args << '-framework' << 'Kerberos'
+ } else {
+ it.linker.args << '-lX11'
+ }
+ }
+ }
+ }
+ }
+
+ apply from: 'publish.gradle'
+}
diff --git a/third_party/allwpilib/roborioteamnumbersetter/publish.gradle b/third_party/allwpilib/roborioteamnumbersetter/publish.gradle
new file mode 100644
index 0000000..3e8e6c3
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/publish.gradle
@@ -0,0 +1,115 @@
+apply plugin: 'maven-publish'
+
+def baseArtifactId = 'roboRIOTeamNumberSetter'
+def artifactGroupId = 'edu.wpi.first.tools'
+def zipBaseName = '_GROUP_edu_wpi_first_tools_ID_roboRIOTeamNumberSetter_CLS'
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+model {
+ tasks {
+ // Create the run task.
+ $.components.roborioteamnumbersetter.binaries.each { bin ->
+ if (bin.buildable && bin.name.toLowerCase().contains("debug")) {
+ Task run = project.tasks.create("run", Exec) {
+ commandLine bin.tasks.install.runScriptFile.get().asFile.toString()
+ }
+ run.dependsOn bin.tasks.install
+ }
+ }
+ }
+ publishing {
+ def roboRIOTeamNumberSetterTaskList = []
+ $.components.each { component ->
+ component.binaries.each { binary ->
+ if (binary in NativeExecutableBinarySpec && binary.component.name.contains("roborioteamnumbersetter")) {
+ if (binary.buildable && binary.name.contains("Release")) {
+ // We are now in the binary that we want.
+ // This is the default application path for the ZIP task.
+ def applicationPath = binary.executable.file
+ def icon = file("$project.projectDir/src/main/native/mac/rtns.icns")
+
+ // Create the macOS bundle.
+ def bundleTask = project.tasks.create("bundleroboRIOTeamNumberSetterOsxApp", Copy) {
+ description("Creates a macOS application bundle for roboRIO Team Number Setter")
+ from(file("$project.projectDir/Info.plist"))
+ into(file("$project.buildDir/outputs/bundles/roboRIOTeamNumberSetter.app/Contents"))
+ into("MacOS") { with copySpec { from binary.executable.file } }
+ into("Resources") { with copySpec { from icon } }
+
+ doLast {
+ if (project.hasProperty("developerID")) {
+ // Get path to binary.
+ exec {
+ workingDir rootDir
+ def args = [
+ "sh",
+ "-c",
+ "codesign --force --strict --deep " +
+ "--timestamp --options=runtime " +
+ "--verbose -s ${project.findProperty("developerID")} " +
+ "$project.buildDir/outputs/bundles/roboRIOTeamNumberSetter.app/"
+ ]
+ commandLine args
+ }
+ }
+ }
+ }
+
+ // Reset the application path if we are creating a bundle.
+ if (binary.targetPlatform.operatingSystem.isMacOsX()) {
+ applicationPath = file("$project.buildDir/outputs/bundles")
+ project.build.dependsOn bundleTask
+ }
+
+ // Create the ZIP.
+ def task = project.tasks.create("copyroboRIOTeamNumberSetterExecutable", Zip) {
+ description("Copies the roboRIOTeamNumberSetter executable to the outputs directory.")
+ destinationDirectory = outputsFolder
+
+ archiveBaseName = '_M_' + zipBaseName
+ duplicatesStrategy = 'exclude'
+ classifier = nativeUtils.getPublishClassifier(binary)
+
+ from(licenseFile) {
+ into '/'
+ }
+
+ from(applicationPath)
+
+ if (binary.targetPlatform.operatingSystem.isWindows()) {
+ def exePath = binary.executable.file.absolutePath
+ exePath = exePath.substring(0, exePath.length() - 4)
+ def pdbPath = new File(exePath + '.pdb')
+ from(pdbPath)
+ }
+
+ into(nativeUtils.getPlatformPath(binary))
+ }
+
+ if (binary.targetPlatform.operatingSystem.isMacOsX()) {
+ bundleTask.dependsOn binary.tasks.link
+ task.dependsOn(bundleTask)
+ }
+
+ task.dependsOn binary.tasks.link
+ roboRIOTeamNumberSetterTaskList.add(task)
+ project.build.dependsOn task
+ project.artifacts { task }
+ addTaskToCopyAllOutputs(task)
+ }
+ }
+ }
+ }
+
+ publications {
+ roborioteamnumbersetter(MavenPublication) {
+ roboRIOTeamNumberSetterTaskList.each { artifact it }
+
+ artifactId = baseArtifactId
+ groupId = artifactGroupId
+ version wpilibVersioning.version.get()
+ }
+ }
+ }
+}
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/generate/WPILibVersion.cpp.in b/third_party/allwpilib/roborioteamnumbersetter/src/main/generate/WPILibVersion.cpp.in
new file mode 100644
index 0000000..b0a4490
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/generate/WPILibVersion.cpp.in
@@ -0,0 +1,7 @@
+/*
+ * Autogenerated file! Do not manually edit this file. This version is regenerated
+ * any time the publish task is run, or when this file is deleted.
+ */
+const char* GetWPILibVersion() {
+ return "${wpilib_version}";
+}
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/App.cpp b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/App.cpp
new file mode 100644
index 0000000..f803e22
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/App.cpp
@@ -0,0 +1,284 @@
+// 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 <memory>
+#include <string_view>
+
+#ifndef _WIN32
+#include <arpa/inet.h>
+#endif
+
+#include <fmt/format.h>
+#include <glass/MainMenuBar.h>
+#include <glass/Context.h>
+#include <glass/Storage.h>
+#include <glass/Window.h>
+#include <glass/WindowManager.h>
+#include <glass/other/Log.h>
+#include <imgui.h>
+#include <libssh/libssh.h>
+#include <wpi/Logger.h>
+#include <wpi/fs.h>
+#include <wpigui.h>
+#include <unordered_map>
+#include <mutex>
+#include "wpi/SmallString.h"
+#include "DeploySession.h"
+#include "wpi/MulticastServiceResolver.h"
+
+namespace gui = wpi::gui;
+
+const char* GetWPILibVersion();
+
+namespace rtns {
+std::string_view GetResource_rtns_16_png();
+std::string_view GetResource_rtns_32_png();
+std::string_view GetResource_rtns_48_png();
+std::string_view GetResource_rtns_64_png();
+std::string_view GetResource_rtns_128_png();
+std::string_view GetResource_rtns_256_png();
+std::string_view GetResource_rtns_512_png();
+} // namespace rtns
+
+#define GLFWAPI extern "C"
+GLFWAPI void glfwGetWindowSize(GLFWwindow* window, int* width, int* height);
+#define GLFW_DONT_CARE -1
+GLFWAPI void glfwSetWindowSizeLimits(GLFWwindow* window, int minwidth,
+ int minheight, int maxwidth,
+ int maxheight);
+GLFWAPI void glfwSetWindowSize(GLFWwindow* window, int width, int height);
+
+struct TeamNumberRefHolder {
+ explicit TeamNumberRefHolder(glass::Storage& storage)
+ : teamNumber{storage.GetInt("TeamNumber", 0)} {}
+ int& teamNumber;
+};
+
+static std::unique_ptr<TeamNumberRefHolder> teamNumberRef;
+static std::unordered_map<std::string, std::pair<unsigned int, std::string>>
+ foundDevices;
+static wpi::Logger logger;
+static sysid::DeploySession deploySession{logger};
+static std::unique_ptr<wpi::MulticastServiceResolver> multicastResolver;
+static glass::MainMenuBar gMainMenu;
+
+static void FindDevices() {
+ WPI_EventHandle resolveEvent = multicastResolver->GetEventHandle();
+
+ bool timedOut = 0;
+ if (wpi::WaitForObject(resolveEvent, 0, &timedOut)) {
+ auto allData = multicastResolver->GetData();
+
+ for (auto&& data : allData) {
+ // search for MAC
+ auto macKey =
+ std::find_if(data.txt.begin(), data.txt.end(),
+ [](const auto& a) { return a.first == "MAC"; });
+ if (macKey != data.txt.end()) {
+ auto& mac = macKey->second;
+ foundDevices[mac] = std::make_pair(data.ipv4Address, data.hostName);
+ }
+ }
+ }
+}
+
+static int minWidth = 400;
+
+static void DisplayGui() {
+ int& teamNumber = teamNumberRef->teamNumber;
+ FindDevices();
+
+ ImGui::GetStyle().WindowRounding = 0;
+
+ // fill entire OS window with this window
+ ImGui::SetNextWindowPos(ImVec2(0, 0));
+ int width, height;
+ glfwGetWindowSize(gui::GetSystemWindow(), &width, &height);
+
+ ImGui::SetNextWindowSize(ImVec2(width, height));
+
+ ImGui::Begin("Entries", nullptr,
+ ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_MenuBar |
+ ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove |
+ ImGuiWindowFlags_NoCollapse);
+
+ ImGui::BeginMenuBar();
+ gMainMenu.WorkspaceMenu();
+ gui::EmitViewMenu();
+
+ bool about = false;
+ if (ImGui::BeginMenu("Info")) {
+ if (ImGui::MenuItem("About")) {
+ about = true;
+ }
+ ImGui::EndMenu();
+ }
+ ImGui::EndMenuBar();
+
+ if (about) {
+ ImGui::OpenPopup("About");
+ }
+ if (ImGui::BeginPopupModal("About")) {
+ ImGui::Text("roboRIO Team Number Setter");
+ ImGui::Separator();
+ ImGui::Text("v%s", GetWPILibVersion());
+ ImGui::Separator();
+ ImGui::Text("Has mDNS Implementation: %d",
+ static_cast<int>(multicastResolver->HasImplementation()));
+ ImGui::Separator();
+ ImGui::Text("Save location: %s", glass::GetStorageDir().c_str());
+ if (ImGui::Button("Close")) {
+ ImGui::CloseCurrentPopup();
+ }
+ ImGui::EndPopup();
+ }
+
+ if (multicastResolver->HasImplementation()) {
+ ImGui::InputInt("Team Number", &teamNumber);
+
+ if (teamNumber < 0) {
+ teamNumber = 0;
+ }
+
+ int nameWidth = ImGui::CalcTextSize("roboRIO2-0000-FRC.local. ").x;
+ int macWidth = ImGui::CalcTextSize("88:88:88:88:88:88").x;
+ int ipAddressWidth = ImGui::CalcTextSize("255.255.255.255").x;
+ int setWidth = ImGui::CalcTextSize(" Set Team To 99999 ").x;
+ int blinkWidth = ImGui::CalcTextSize(" Blink ").x;
+ int rebootWidth = ImGui::CalcTextSize(" Reboot ").x;
+
+ minWidth = nameWidth + macWidth + ipAddressWidth + setWidth + blinkWidth +
+ rebootWidth + 100;
+
+ std::string setString = fmt::format("Set team to {}", teamNumber);
+
+ if (ImGui::BeginTable("Table", 6)) {
+ ImGui::TableSetupColumn(
+ "Name",
+ ImGuiTableColumnFlags_NoResize | ImGuiTableColumnFlags_WidthFixed,
+ nameWidth);
+ ImGui::TableSetupColumn(
+ "MAC Address",
+ ImGuiTableColumnFlags_NoResize | ImGuiTableColumnFlags_WidthFixed,
+ macWidth);
+ ImGui::TableSetupColumn(
+ "IP Address",
+ ImGuiTableColumnFlags_NoResize | ImGuiTableColumnFlags_WidthFixed,
+ ipAddressWidth);
+ ImGui::TableSetupColumn(
+ "Set",
+ ImGuiTableColumnFlags_NoResize | ImGuiTableColumnFlags_WidthFixed,
+ setWidth);
+ ImGui::TableSetupColumn(
+ "Blink",
+ ImGuiTableColumnFlags_NoResize | ImGuiTableColumnFlags_WidthFixed,
+ blinkWidth);
+ ImGui::TableSetupColumn(
+ "Reboot",
+ ImGuiTableColumnFlags_NoResize | ImGuiTableColumnFlags_WidthFixed,
+ rebootWidth);
+ ImGui::TableHeadersRow();
+
+ for (auto&& i : foundDevices) {
+ ImGui::TableNextRow();
+ ImGui::TableNextColumn();
+ ImGui::Text("%s", i.second.second.c_str());
+ ImGui::TableNextColumn();
+ ImGui::Text("%s", i.first.c_str());
+ ImGui::TableNextColumn();
+ struct in_addr in;
+ in.s_addr = i.second.first;
+ ImGui::Text("%s", inet_ntoa(in));
+ ImGui::TableNextColumn();
+ std::future<int>* future = deploySession.GetFuture(i.first);
+ ImGui::PushID(i.first.c_str());
+ if (future) {
+ ImGui::Button("Deploying");
+ ImGui::TableNextColumn();
+ ImGui::TableNextColumn();
+ const auto fs = future->wait_for(std::chrono::seconds(0));
+ if (fs == std::future_status::ready) {
+ deploySession.DestroyFuture(i.first);
+ }
+ } else {
+ if (ImGui::Button(setString.c_str())) {
+ deploySession.ChangeTeamNumber(i.first, teamNumber, i.second.first);
+ }
+ ImGui::TableNextColumn();
+ if (ImGui::Button("Blink")) {
+ deploySession.Blink(i.first, i.second.first);
+ }
+ ImGui::TableNextColumn();
+ if (ImGui::Button("Reboot")) {
+ deploySession.Reboot(i.first, i.second.first);
+ }
+ }
+ ImGui::PopID();
+ }
+
+ ImGui::EndTable();
+ }
+
+ ImGui::Columns(6, "Devices");
+
+ // TODO make columns better
+ } else {
+ // Missing MDNS Implementation
+ ImGui::Text("mDNS Implementation is missing.");
+#ifdef _WIN32
+ ImGui::Text("Windows 10 1809 or newer is required for this tool");
+#else
+ ImGui::Text("avahi-client 3 and avahi-core 3 are required for this tool");
+ ImGui::Text(
+ "Install libavahi-client3 and libavahi-core3 from your package "
+ "manager");
+#endif
+ }
+ ImGui::Columns();
+ ImGui::End();
+
+ glfwSetWindowSizeLimits(gui::GetSystemWindow(), minWidth, 200, GLFW_DONT_CARE,
+ GLFW_DONT_CARE);
+ if (width < minWidth) {
+ width = minWidth;
+ glfwSetWindowSize(gui::GetSystemWindow(), width, height);
+ }
+}
+
+void Application(std::string_view saveDir) {
+ gui::CreateContext();
+ glass::CreateContext();
+
+ // Add icons
+ gui::AddIcon(rtns::GetResource_rtns_16_png());
+ gui::AddIcon(rtns::GetResource_rtns_32_png());
+ gui::AddIcon(rtns::GetResource_rtns_48_png());
+ gui::AddIcon(rtns::GetResource_rtns_64_png());
+ gui::AddIcon(rtns::GetResource_rtns_128_png());
+ gui::AddIcon(rtns::GetResource_rtns_256_png());
+ gui::AddIcon(rtns::GetResource_rtns_512_png());
+
+ glass::SetStorageName("roborioteamnumbersetter");
+ glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
+ : saveDir);
+
+ ssh_init();
+
+ teamNumberRef =
+ std::make_unique<TeamNumberRefHolder>(glass::GetStorageRoot());
+
+ multicastResolver =
+ std::make_unique<wpi::MulticastServiceResolver>("_ni._tcp");
+ multicastResolver->Start();
+
+ gui::AddLateExecute(DisplayGui);
+ gui::Initialize("roboRIO Team Number Setter", 600, 400);
+
+ gui::Main();
+ multicastResolver->Stop();
+ multicastResolver = nullptr;
+
+ glass::DestroyContext();
+ gui::DestroyContext();
+}
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/DeploySession.cpp b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/DeploySession.cpp
new file mode 100644
index 0000000..81c69c4
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/DeploySession.cpp
@@ -0,0 +1,186 @@
+// 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 "DeploySession.h"
+
+#include <memory>
+#include <mutex>
+#include <string_view>
+#include <unordered_map>
+
+#include <fmt/core.h>
+#include <wpi/SmallString.h>
+#include <wpi/StringExtras.h>
+#include <wpi/uv/Error.h>
+#include <wpi/uv/GetAddrInfo.h>
+#include <wpi/uv/Work.h>
+#include <wpi/uv/util.h>
+
+#include "SshSession.h"
+
+using namespace sysid;
+
+#ifdef ERROR
+#undef ERROR
+#endif
+
+// Macros to make logging easier.
+#define INFO(fmt, ...) WPI_INFO(m_logger, fmt, __VA_ARGS__)
+#define DEBUG(fmt, ...) WPI_DEBUG(m_logger, fmt, __VA_ARGS__)
+#define ERROR(fmt, ...) WPI_DEBUG(m_logger, fmt, __VA_ARGS__)
+#define SUCCESS(fmt, ...) WPI_LOG(m_logger, kLogSuccess, fmt, __VA_ARGS__)
+
+// roboRIO SSH constants.
+static constexpr int kPort = 22;
+static constexpr std::string_view kUsername = "admin";
+static constexpr std::string_view kPassword = "";
+
+std::unordered_map<std::string, std::future<int>> s_outstanding;
+
+DeploySession::DeploySession(wpi::Logger& logger) : m_logger{logger} {}
+
+template <typename T>
+struct SafeDeleter {
+ explicit SafeDeleter(T d) : deleter(d) {}
+ ~SafeDeleter() noexcept { deleter(); }
+ T deleter;
+};
+
+std::future<int>* DeploySession::GetFuture(const std::string& macAddress) {
+ auto itr = s_outstanding.find(macAddress);
+ if (itr == s_outstanding.end()) {
+ return nullptr;
+ }
+ return &itr->second;
+}
+
+void DeploySession::DestroyFuture(const std::string& macAddress) {
+ s_outstanding.erase(macAddress);
+}
+
+bool DeploySession::ChangeTeamNumber(const std::string& macAddress,
+ int teamNumber, unsigned int ipAddress) {
+ auto itr = s_outstanding.find(macAddress);
+ if (itr != s_outstanding.end()) {
+ return false;
+ }
+
+ std::future<int> future = std::async(
+ std::launch::async, [this, ipAddress, teamNumber, mac = macAddress]() {
+ // Convert to IP address.
+ wpi::SmallString<16> ip;
+ in_addr addr;
+ addr.s_addr = ipAddress;
+ wpi::uv::AddrToName(addr, &ip);
+ DEBUG("Trying to establish SSH connection to {}.", ip);
+ try {
+ SshSession session{ip.str(), kPort, kUsername, kPassword, m_logger};
+ session.Open();
+ DEBUG("SSH connection to {} was successful.", ip);
+
+ SUCCESS("{}", "roboRIO Connected!");
+
+ try {
+ session.Execute(fmt::format(
+ "/usr/local/natinst/bin/nirtcfg "
+ "--file=/etc/natinst/share/ni-rt.ini --set "
+ "section=systemsettings,token=host_name,value=roborio-{"
+ "}-FRC ; sync",
+ teamNumber));
+ } catch (const SshSession::SshException& e) {
+ ERROR("An exception occurred: {}", e.what());
+ throw e;
+ }
+ } catch (const SshSession::SshException& e) {
+ DEBUG("SSH connection to {} failed with {}.", ip, e.what());
+ throw e;
+ }
+ return 0;
+ });
+
+ s_outstanding[macAddress] = std::move(future);
+ return true;
+}
+
+bool DeploySession::Reboot(const std::string& macAddress,
+ unsigned int ipAddress) {
+ auto itr = s_outstanding.find(macAddress);
+ if (itr != s_outstanding.end()) {
+ return false;
+ }
+
+ std::future<int> future =
+ std::async(std::launch::async, [this, ipAddress, mac = macAddress]() {
+ // Convert to IP address.
+ wpi::SmallString<16> ip;
+ in_addr addr;
+ addr.s_addr = ipAddress;
+ wpi::uv::AddrToName(addr, &ip);
+ DEBUG("Trying to establish SSH connection to {}.", ip);
+ try {
+ SshSession session{ip.str(), kPort, kUsername, kPassword, m_logger};
+ session.Open();
+ DEBUG("SSH connection to {} was successful.", ip);
+
+ SUCCESS("{}", "roboRIO Connected!");
+
+ try {
+ session.Execute(fmt::format("sync ; shutdown -r now"));
+ } catch (const SshSession::SshException& e) {
+ ERROR("An exception occurred: {}", e.what());
+ throw e;
+ }
+ } catch (const SshSession::SshException& e) {
+ DEBUG("SSH connection to {} failed with {}.", ip, e.what());
+ throw e;
+ }
+ return 0;
+ });
+
+ s_outstanding[macAddress] = std::move(future);
+ return true;
+}
+
+bool DeploySession::Blink(const std::string& macAddress,
+ unsigned int ipAddress) {
+ auto itr = s_outstanding.find(macAddress);
+ if (itr != s_outstanding.end()) {
+ return false;
+ }
+
+ std::future<int> future =
+ std::async(std::launch::async, [this, ipAddress, mac = macAddress]() {
+ // Convert to IP address.
+ wpi::SmallString<16> ip;
+ in_addr addr;
+ addr.s_addr = ipAddress;
+ wpi::uv::AddrToName(addr, &ip);
+ DEBUG("Trying to establish SSH connection to {}.", ip);
+ try {
+ SshSession session{ip.str(), kPort, kUsername, kPassword, m_logger};
+ session.Open();
+ DEBUG("SSH connection to {} was successful.", ip);
+
+ SUCCESS("{}", "roboRIO Connected!");
+
+ try {
+ session.Execute(fmt::format(
+ "for i in 1 2 3 4 5 ; do ` echo 255 > "
+ "/sys/class/leds/nilrt:wifi:primary/brightness; sleep 0.5; "
+ "echo 0 > /sys/class/leds/nilrt:wifi:primary/brightness; sleep "
+ "0.5 ` ; done"));
+ } catch (const SshSession::SshException& e) {
+ ERROR("An exception occurred: {}", e.what());
+ throw e;
+ }
+ } catch (const SshSession::SshException& e) {
+ DEBUG("SSH connection to {} failed with {}.", ip, e.what());
+ throw e;
+ }
+ return 0;
+ });
+
+ s_outstanding[macAddress] = std::move(future);
+ return true;
+}
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/DeploySession.h b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/DeploySession.h
new file mode 100644
index 0000000..7cc5bc7
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/DeploySession.h
@@ -0,0 +1,70 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <atomic>
+#include <future>
+#include <memory>
+#include <optional>
+#include <string>
+#include <vector>
+
+#include <wpi/Logger.h>
+
+namespace sysid {
+// Define an integer for a successful message in the log (shown in green on the
+// GUI).
+static constexpr unsigned int kLogSuccess = 31;
+
+/**
+ * Represents a single deploy session.
+ *
+ * An instance of this class must be kept alive in memory until GetStatus()
+ * returns kDiscoveryFailure or kDone. Otherwise, the deploy will fail!
+ */
+class DeploySession {
+ public:
+ /** Represents the status of the deploy session. */
+ enum class Status { kInProgress, kDiscoveryFailure, kDone };
+
+ /**
+ * Constructs an instance of the deploy session.
+ *
+ * @param team The team number (or an IP address/hostname).
+ * @param drive Whether the drive program should be deployed to the roboRIO.
+ * If this is set to false, the mechanism project will be
+ * deployed.
+ * @param config The generation configuration file to be sent to the roboRIO.
+ * @param logger A reference to a logger where log messages should be sent.
+ */
+ explicit DeploySession(wpi::Logger& logger);
+
+ /**
+ * Executes the deploy. This can be called from any thread.
+ */
+ bool ChangeTeamNumber(const std::string& macAddress, int team,
+ unsigned int ipAddress);
+
+ bool Blink(const std::string& macAddress, unsigned int ipAddress);
+
+ bool Reboot(const std::string& macAddress, unsigned int ipAddress);
+
+ std::future<int>* GetFuture(const std::string& macAddress);
+ void DestroyFuture(const std::string& macAddress);
+
+ /**
+ * Returns the state of the deploy session.
+ */
+ Status GetStatus() const;
+
+ private:
+ // Logger reference where log messages will be sent.
+ wpi::Logger& m_logger;
+
+ // The number of hostnames that have completed their resolution/connection
+ // attempts.
+ std::atomic_int m_visited = 0;
+};
+} // namespace sysid
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/SshSession.cpp b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/SshSession.cpp
new file mode 100644
index 0000000..2c7661d
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/SshSession.cpp
@@ -0,0 +1,142 @@
+// 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 "SshSession.h"
+
+#include <fcntl.h>
+#include <libssh/libssh.h>
+#include <libssh/sftp.h>
+#include <stdint.h>
+#include <sys/stat.h>
+
+#include <algorithm>
+#include <stdexcept>
+
+#include <fmt/format.h>
+#include <wpi/Logger.h>
+
+using namespace sysid;
+
+#define INFO(fmt, ...) WPI_INFO(m_logger, fmt, __VA_ARGS__)
+
+SshSession::SshSession(std::string_view host, int port, std::string_view user,
+ std::string_view pass, wpi::Logger& logger)
+ : m_host{host},
+ m_port{port},
+ m_username{user},
+ m_password{pass},
+ m_logger{logger} {
+ // Create a new SSH session.
+ m_session = ssh_new();
+ if (!m_session) {
+ throw SshException("The SSH session could not be allocated.");
+ }
+
+ // Set the host, user, and port.
+ ssh_options_set(m_session, SSH_OPTIONS_HOST, m_host.c_str());
+ ssh_options_set(m_session, SSH_OPTIONS_USER, m_username.c_str());
+ ssh_options_set(m_session, SSH_OPTIONS_PORT, &m_port);
+
+ // Set timeout to 3 seconds.
+ int64_t timeout = 3L;
+ ssh_options_set(m_session, SSH_OPTIONS_TIMEOUT, &timeout);
+
+ // Set other miscellaneous options.
+ ssh_options_set(m_session, SSH_OPTIONS_STRICTHOSTKEYCHECK, "no");
+}
+
+SshSession::~SshSession() {
+ ssh_disconnect(m_session);
+ ssh_free(m_session);
+}
+
+void SshSession::Open() {
+ // Connect to the server.
+ int rc = ssh_connect(m_session);
+ if (rc != SSH_OK) {
+ throw SshException(ssh_get_error(m_session));
+ }
+
+ // Authenticate with password.
+ rc = ssh_userauth_password(m_session, nullptr, m_password.c_str());
+ if (rc != SSH_AUTH_SUCCESS) {
+ throw SshException(ssh_get_error(m_session));
+ }
+}
+
+void SshSession::Execute(std::string_view cmd) {
+ // Allocate a new channel.
+ ssh_channel channel = ssh_channel_new(m_session);
+ if (!channel) {
+ throw SshException(ssh_get_error(m_session));
+ }
+
+ // Open the channel.
+ int rc = ssh_channel_open_session(channel);
+ if (rc != SSH_OK) {
+ throw SshException(ssh_get_error(m_session));
+ }
+
+ // Execute the command.
+ std::string command{cmd};
+ rc = ssh_channel_request_exec(channel, command.c_str());
+ if (rc != SSH_OK) {
+ ssh_channel_close(channel);
+ ssh_channel_free(channel);
+ throw SshException(ssh_get_error(m_session));
+ }
+ INFO("{}", cmd);
+
+ // Log output.
+ char buf[512];
+ int read = ssh_channel_read(channel, buf, sizeof(buf), 0);
+ if (read != 0) {
+ INFO("{}", cmd);
+ }
+
+ // Close and free channel.
+ ssh_channel_close(channel);
+ ssh_channel_free(channel);
+}
+
+void SshSession::Put(std::string_view path, std::string_view contents) {
+ // Allocate the SFTP session.
+ sftp_session sftp = sftp_new(m_session);
+ if (!sftp) {
+ throw SshException(ssh_get_error(m_session));
+ }
+
+ // Initialize.
+ int rc = sftp_init(sftp);
+ if (rc != SSH_OK) {
+ sftp_free(sftp);
+ throw SshException(ssh_get_error(m_session));
+ }
+
+ // Copy.
+ sftp_file file =
+ sftp_open(sftp, path.data(), O_WRONLY | O_CREAT | O_TRUNC, S_IFMT);
+ if (!file) {
+ sftp_free(sftp);
+ throw SshException(ssh_get_error(m_session));
+ }
+
+ // Send 150K at a time.
+ static constexpr size_t kChunkSize = 150000;
+ for (size_t i = 0; i < contents.size(); i += kChunkSize) {
+ size_t len = (std::min)(kChunkSize, contents.size() - i);
+ size_t written = sftp_write(file, contents.data() + i, len);
+ if (written != len) {
+ sftp_close(file);
+ sftp_free(sftp);
+ throw SshException(ssh_get_error(m_session));
+ }
+ }
+
+ INFO("[SFTP] Deployed {}!", path);
+
+ // Close file, free memory.
+ sftp_close(file);
+ sftp_free(sftp);
+}
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/SshSession.h b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/SshSession.h
new file mode 100644
index 0000000..2e97120
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/SshSession.h
@@ -0,0 +1,81 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <libssh/libssh.h>
+
+#include <stdexcept>
+#include <string>
+#include <string_view>
+
+#include <wpi/Logger.h>
+
+namespace sysid {
+/**
+ * This class is a C++ implementation of the SshSessionController in
+ * wpilibsuite/deploy-utils. It handles connecting to an SSH server, running
+ * commands, and transferring files.
+ */
+class SshSession {
+ public:
+ /**
+ * This is the exception that will be thrown by any of the methods in this
+ * class if something goes wrong.
+ */
+ class SshException : public std::runtime_error {
+ public:
+ explicit SshException(const char* msg) : runtime_error(msg) {}
+ };
+
+ /**
+ * Constructs a new session controller.
+ *
+ * @param host The hostname of the server to connect to.
+ * @param port The port that the sshd server is operating on.
+ * @param user The username to login as.
+ * @param pass The password for the given username.
+ * @param logger A reference to a logger to log messages to.
+ */
+ SshSession(std::string_view host, int port, std::string_view user,
+ std::string_view pass, wpi::Logger& logger);
+
+ /**
+ * Destroys the controller object. This also disconnects the session from the
+ * server.
+ */
+ ~SshSession();
+
+ /**
+ * Opens the SSH connection to the given host.
+ */
+ void Open();
+
+ /**
+ * Executes a command and logs the output (if there is any).
+ *
+ * @param cmd The command to execute on the server.
+ */
+ void Execute(std::string_view cmd);
+
+ /**
+ * Puts a file on the server using SFTP.
+ *
+ * @param path The path to the file to put (on the server).
+ * @param contents The contents of the file.
+ */
+ void Put(std::string_view path, std::string_view contents);
+
+ private:
+ ssh_session m_session;
+ std::string m_host;
+
+ int m_port;
+
+ std::string m_username;
+ std::string m_password;
+
+ wpi::Logger& m_logger;
+};
+} // namespace sysid
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/main.cpp b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/main.cpp
new file mode 100644
index 0000000..5f1261b
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/cpp/main.cpp
@@ -0,0 +1,25 @@
+// 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 <string_view>
+
+void Application(std::string_view saveDir);
+
+#ifdef _WIN32
+int __stdcall WinMain(void* hInstance, void* hPrevInstance, char* pCmdLine,
+ int nCmdShow) {
+ int argc = __argc;
+ char** argv = __argv;
+#else
+int main(int argc, char** argv) {
+#endif
+ std::string_view saveDir;
+ if (argc == 2) {
+ saveDir = argv[1];
+ }
+
+ Application(saveDir);
+
+ return 0;
+}
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/mac/rtns.icns b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/mac/rtns.icns
new file mode 100644
index 0000000..4a1d013
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/mac/rtns.icns
Binary files differ
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-128.png b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-128.png
new file mode 100644
index 0000000..5c6ebdd
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-128.png
Binary files differ
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-16.png b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-16.png
new file mode 100644
index 0000000..b95cd6a
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-16.png
Binary files differ
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-256.png b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-256.png
new file mode 100644
index 0000000..7d07f39
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-256.png
Binary files differ
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-32.png b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-32.png
new file mode 100644
index 0000000..10add53
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-32.png
Binary files differ
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-48.png b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-48.png
new file mode 100644
index 0000000..bf31571
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-48.png
Binary files differ
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-512.png b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-512.png
new file mode 100644
index 0000000..7a86e77
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-512.png
Binary files differ
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-64.png b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-64.png
new file mode 100644
index 0000000..30819a5
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/resources/rtns-64.png
Binary files differ
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/win/roborioteamnumbersetter.ico b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/win/roborioteamnumbersetter.ico
new file mode 100644
index 0000000..c488e68
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/win/roborioteamnumbersetter.ico
Binary files differ
diff --git a/third_party/allwpilib/roborioteamnumbersetter/src/main/native/win/roborioteamnumbersetter.rc b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/win/roborioteamnumbersetter.rc
new file mode 100644
index 0000000..5d5d358
--- /dev/null
+++ b/third_party/allwpilib/roborioteamnumbersetter/src/main/native/win/roborioteamnumbersetter.rc
@@ -0,0 +1 @@
+IDI_ICON1 ICON "roborioteamnumbersetter.ico"
diff --git a/third_party/allwpilib/settings.gradle b/third_party/allwpilib/settings.gradle
index ac22bc4..2d62f10 100644
--- a/third_party/allwpilib/settings.gradle
+++ b/third_party/allwpilib/settings.gradle
@@ -29,8 +29,10 @@
include 'wpilibjIntegrationTests'
include 'wpilibj'
include 'crossConnIntegrationTests'
+include 'fieldImages'
include 'glass'
include 'outlineviewer'
+include 'roborioteamnumbersetter'
include 'simulation:gz_msgs'
include 'simulation:frc_gazebo_plugins'
include 'simulation:halsim_gazebo'
diff --git a/third_party/allwpilib/shared/config.gradle b/third_party/allwpilib/shared/config.gradle
index 9f9a221..220ec06 100644
--- a/third_party/allwpilib/shared/config.gradle
+++ b/third_party/allwpilib/shared/config.gradle
@@ -10,10 +10,10 @@
wpi {
configureDependencies {
wpiVersion = "-1"
- niLibVersion = "2022.2.2"
+ niLibVersion = "2022.4.0"
opencvVersion = "4.5.2-1"
googleTestVersion = "1.9.0-5-437e100-1"
- imguiVersion = "1.82-1"
+ imguiVersion = "1.86-1"
wpimathVersion = "-1"
}
}
@@ -21,7 +21,10 @@
nativeUtils.wpi.addWarnings()
nativeUtils.wpi.addWarningsAsErrors()
-nativeUtils.wpi.addReleaseSymbolGeneration()
+
+if (project.name != 'wpilibcExamples') {
+ nativeUtils.wpi.addReleaseSymbolGeneration()
+}
nativeUtils.setSinglePrintPerPlatform()
nativeUtils.enableSourceLink()
diff --git a/third_party/allwpilib/shared/java/javacommon.gradle b/third_party/allwpilib/shared/java/javacommon.gradle
index 2eb1438..a40938c 100644
--- a/third_party/allwpilib/shared/java/javacommon.gradle
+++ b/third_party/allwpilib/shared/java/javacommon.gradle
@@ -104,9 +104,9 @@
}
dependencies {
- testImplementation 'org.junit.jupiter:junit-jupiter-api:5.4.2'
- testImplementation 'org.junit.jupiter:junit-jupiter-params:5.4.2'
- testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.2'
+ testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
+ testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
+ testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
devImplementation sourceSets.main.output
}
@@ -120,7 +120,7 @@
build.dependsOn devClasses
jacoco {
- toolVersion = "0.8.4"
+ toolVersion = "0.8.7"
}
jacocoTestReport {
diff --git a/third_party/allwpilib/shared/java/javastyle.gradle b/third_party/allwpilib/shared/java/javastyle.gradle
index 281eed3..ffe344c 100644
--- a/third_party/allwpilib/shared/java/javastyle.gradle
+++ b/third_party/allwpilib/shared/java/javastyle.gradle
@@ -2,7 +2,7 @@
apply plugin: 'checkstyle'
checkstyle {
- toolVersion = "8.38"
+ toolVersion = "9.2"
configDirectory = file("${project.rootDir}/styleguide")
config = resources.text.fromFile(new File(configDirectory.get().getAsFile(), "checkstyle.xml"))
}
@@ -10,7 +10,7 @@
apply plugin: 'pmd'
pmd {
- toolVersion = '6.7.0'
+ toolVersion = '6.41.0'
consoleOutput = true
reportsDir = file("$project.buildDir/reports/pmd")
ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
diff --git a/third_party/allwpilib/shared/resources.gradle b/third_party/allwpilib/shared/resources.gradle
index f5aa19f..4fecb17 100644
--- a/third_party/allwpilib/shared/resources.gradle
+++ b/third_party/allwpilib/shared/resources.gradle
@@ -1,3 +1,5 @@
+import groovy.io.FileType
+
ext.createGenerateResourcesTask = { name, prefix, namespace, project ->
def generatedOutputDir = file("$buildDir/generated/$name/cpp")
@@ -11,7 +13,7 @@
doLast {
generatedOutputDir.mkdirs()
- inputDir.eachFile { inputFile ->
+ inputDir.eachFileRecurse (FileType.FILES) { inputFile ->
if (inputFile.name.startsWith('.')) return
def fileBytes = inputFile.bytes
def outputFile = file("$generatedOutputDir/${inputFile.name}.cpp")
diff --git a/third_party/allwpilib/simulation/gz_msgs/build.gradle b/third_party/allwpilib/simulation/gz_msgs/build.gradle
index ccc933e..31f3df4 100644
--- a/third_party/allwpilib/simulation/gz_msgs/build.gradle
+++ b/third_party/allwpilib/simulation/gz_msgs/build.gradle
@@ -24,6 +24,8 @@
} catch(Exception ex) {
}
+ext.skip_gz_msgs = false
+
if (project.hasProperty("forceGazebo")) {
if (!protobuf_version?.trim()) {
println "Protobuf is not available. (pkg-config --modversion protobuf failed)"
@@ -38,9 +40,11 @@
task.onlyIf { !project.hasProperty('skip_gz_msgs') }
}
-dependencies {
- implementation "com.google.protobuf:protobuf-java:${protobuf_version}"
- implementation "com.google.protobuf:protoc:${protobuf_version}"
+if (!ext.skip_gz_msgs) {
+ dependencies {
+ implementation "com.google.protobuf:protobuf-java:${protobuf_version}"
+ implementation "com.google.protobuf:protoc:${protobuf_version}"
+ }
}
/* There is a nice gradle plugin for protobuf, and the protoc tool
diff --git a/third_party/allwpilib/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp b/third_party/allwpilib/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
index 1aff988..653565c 100644
--- a/third_party/allwpilib/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
+++ b/third_party/allwpilib/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
@@ -310,6 +310,10 @@
void DSCommPacket::SendUDPToHALSim(void) {
SendJoysticks();
+ if (!m_control_word.enabled) {
+ m_match_time = -1;
+ }
+
HALSIM_SetDriverStationMatchTime(m_match_time);
HALSIM_SetDriverStationEnabled(m_control_word.enabled);
HALSIM_SetDriverStationAutonomous(m_control_word.autonomous);
diff --git a/third_party/allwpilib/simulation/halsim_ds_socket/src/main/native/include/DSCommPacket.h b/third_party/allwpilib/simulation/halsim_ds_socket/src/main/native/include/DSCommPacket.h
index 1285711..5b8b45d 100644
--- a/third_party/allwpilib/simulation/halsim_ds_socket/src/main/native/include/DSCommPacket.h
+++ b/third_party/allwpilib/simulation/halsim_ds_socket/src/main/native/include/DSCommPacket.h
@@ -66,7 +66,7 @@
HAL_AllianceStationID m_alliance_station;
HAL_MatchInfo matchInfo;
std::array<DSCommJoystickPacket, HAL_kMaxJoysticks> m_joystick_packets;
- double m_match_time;
+ double m_match_time = -1;
};
} // namespace halsim
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
index 23a5238..d6409cd 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
@@ -100,7 +100,7 @@
}
void AddressableLEDGui::Initialize() {
- HALSimGui::halProvider.Register(
+ HALSimGui::halProvider->Register(
"Addressable LEDs", [] { return AddressableLEDsExists(); },
[] { return std::make_unique<AddressableLEDsModel>(); },
[](glass::Window* win, glass::Model* model) {
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
index 5a3b2d8..e100d5d 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
@@ -109,7 +109,7 @@
}
void AnalogInputSimGui::Initialize() {
- HALSimGui::halProvider.Register(
+ HALSimGui::halProvider->Register(
"Analog Inputs", AnalogInputsAnyInitialized,
[] { return std::make_unique<AnalogInputsSimModel>(); },
[](glass::Window* win, glass::Model* model) {
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
index 22c06dd..150e4bf 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
@@ -232,14 +232,14 @@
}
void DIOSimGui::Initialize() {
- HALSimGui::halProvider.Register(
+ HALSimGui::halProvider->Register(
"DIO", DIOAnyInitialized, [] { return std::make_unique<DIOsSimModel>(); },
[](glass::Window* win, glass::Model* model) {
win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
win->SetDefaultPos(470, 20);
return glass::MakeFunctionView([=] {
glass::DisplayDIOs(static_cast<DIOsSimModel*>(model),
- HALSimGui::halProvider.AreOutputsEnabled());
+ HALSimGui::halProvider->AreOutputsEnabled());
});
});
}
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
index 42ec8a3..866b14a 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
@@ -4,9 +4,11 @@
#include "DriverStationGui.h"
+#include <glass/Context.h>
+#include <glass/Storage.h>
#include <glass/other/FMS.h>
#include <glass/support/ExtraGuiWidgets.h>
-#include <glass/support/IniSaverInfo.h>
+#include <glass/support/NameSetting.h>
#include <algorithm>
#include <atomic>
@@ -93,7 +95,7 @@
class KeyboardJoystick : public SystemJoystick {
public:
- explicit KeyboardJoystick(int index);
+ KeyboardJoystick(glass::Storage& storage, int index);
void SettingsDisplay() override;
void Update() override;
@@ -107,9 +109,6 @@
void ClearKey(int key);
virtual const char* GetKeyName(int key) const = 0;
- void ReadIni(std::string_view name, std::string_view value);
- void WriteIni(ImGuiTextBuffer* out_buf) const;
-
protected:
void EditKey(const char* label, int* key);
@@ -121,44 +120,57 @@
HALJoystickData m_data;
+ int& m_axisCount;
+ int& m_buttonCount;
+ int& m_povCount;
+
struct AxisConfig {
- int incKey = -1;
- int decKey = -1;
- float keyRate = 0.05f;
- float decayRate = 0.05f;
- float maxAbsValue = 1.0f;
+ explicit AxisConfig(glass::Storage& storage);
+
+ int& incKey;
+ int& decKey;
+ float& keyRate;
+ float& decayRate;
+ float& maxAbsValue;
};
- AxisConfig m_axisConfig[HAL_kMaxJoystickAxes];
+
+ std::vector<std::unique_ptr<glass::Storage>>& m_axisStorage;
+ std::vector<AxisConfig> m_axisConfig;
static constexpr int kMaxButtonCount = 32;
- int m_buttonKey[kMaxButtonCount];
+ std::vector<int>& m_buttonKey;
struct PovConfig {
- int key0 = -1;
- int key45 = -1;
- int key90 = -1;
- int key135 = -1;
- int key180 = -1;
- int key225 = -1;
- int key270 = -1;
- int key315 = -1;
+ explicit PovConfig(glass::Storage& storage);
+
+ int& key0;
+ int& key45;
+ int& key90;
+ int& key135;
+ int& key180;
+ int& key225;
+ int& key270;
+ int& key315;
};
- PovConfig m_povConfig[HAL_kMaxJoystickPOVs];
+ std::vector<std::unique_ptr<glass::Storage>>& m_povStorage;
+ std::vector<PovConfig> m_povConfig;
};
class GlfwKeyboardJoystick : public KeyboardJoystick {
public:
- explicit GlfwKeyboardJoystick(int index, bool noDefaults = false);
+ GlfwKeyboardJoystick(glass::Storage& storage, int index);
const char* GetKeyName(int key) const override;
};
struct RobotJoystick {
- glass::NameInfo name;
- std::string guid;
+ explicit RobotJoystick(glass::Storage& storage);
+
+ glass::NameSetting name;
+ std::string& guid;
const SystemJoystick* sys = nullptr;
- bool useGamepad = false;
+ bool& useGamepad; // = false;
HALJoystickData data;
@@ -235,8 +247,6 @@
}
void SetMatchTime(double val) override {
HALSIM_SetDriverStationMatchTime(val);
- int32_t status = 0;
- m_startMatchTime = HAL_GetFPGATime(&status) * 1.0e-6 - val;
}
void SetEStop(bool val) override { HALSIM_SetDriverStationEStop(val); }
void SetEnabled(bool val) override { HALSIM_SetDriverStationEnabled(val); }
@@ -254,8 +264,6 @@
bool IsReadOnly() override;
- bool m_matchTimeEnabled = true;
-
private:
glass::DataSource m_fmsAttached{"FMS:FMSAttached"};
glass::DataSource m_dsAttached{"FMS:DSAttached"};
@@ -265,8 +273,7 @@
glass::DataSource m_enabled{"FMS:RobotEnabled"};
glass::DataSource m_test{"FMS:TestMode"};
glass::DataSource m_autonomous{"FMS:AutonomousMode"};
- double m_startMatchTime = 0.0;
- double m_prevTime = 0.0;
+ double m_startMatchTime = -1.0;
};
} // namespace
@@ -277,23 +284,24 @@
static std::vector<std::unique_ptr<GlfwKeyboardJoystick>> gKeyboardJoysticks;
// robot joysticks
-static RobotJoystick gRobotJoysticks[HAL_kMaxJoysticks];
+static std::vector<RobotJoystick> gRobotJoysticks;
static std::unique_ptr<JoystickModel> gJoystickSources[HAL_kMaxJoysticks];
// FMS
static std::unique_ptr<FMSSimModel> gFMSModel;
// Window management
-DSManager DriverStationGui::dsManager{"DSManager"};
+std::unique_ptr<DSManager> DriverStationGui::dsManager;
-static bool gDisableDS = false;
-static bool gZeroDisconnectedJoysticks = true;
-static bool gUseEnableDisableHotkeys = false;
-static bool gUseEstopHotkey = false;
-static std::atomic<bool>* gDSSocketConnected = nullptr;
+static bool* gpDisableDS = nullptr;
+static bool* gpZeroDisconnectedJoysticks = nullptr;
+static bool* gpUseEnableDisableHotkeys = nullptr;
+static bool* gpUseEstopHotkey = nullptr;
+static std::atomic<bool>* gpDSSocketConnected = nullptr;
static inline bool IsDSDisabled() {
- return gDisableDS || (gDSSocketConnected && *gDSSocketConnected);
+ return (gpDisableDS != nullptr && *gpDisableDS) ||
+ (gpDSSocketConnected && *gpDSSocketConnected);
}
JoystickModel::JoystickModel(int index) : m_index{index} {
@@ -357,133 +365,6 @@
}
}
-// read/write joystick mapping to ini file
-static void* JoystickReadOpen(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
- const char* name) {
- int num = wpi::parse_integer<int>(name, 10).value_or(-1);
- if (num < 0 || num >= HAL_kMaxJoysticks) {
- return nullptr;
- }
- return &gRobotJoysticks[num];
-}
-
-static void JoystickReadLine(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
- void* entry, const char* line) {
- RobotJoystick* joy = static_cast<RobotJoystick*>(entry);
- // format: guid=guid or useGamepad=0/1
- auto [name, value] = wpi::split(line, '=');
- name = wpi::trim(name);
- value = wpi::trim(value);
- if (name == "guid") {
- joy->guid = value;
- } else if (name == "useGamepad") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- joy->useGamepad = num.value();
- }
- } else {
- joy->name.ReadIni(name, value);
- }
-}
-
-static void JoystickWriteAll(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
- ImGuiTextBuffer* out_buf) {
- for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
- auto& joy = gRobotJoysticks[i];
- if (!joy.name.HasName() && !joy.sys) {
- continue;
- }
- out_buf->appendf("[Joystick][%d]\nuseGamepad=%d\n", i,
- joy.useGamepad ? 1 : 0);
- if (joy.name.HasName()) {
- joy.name.WriteIni(out_buf);
- }
- if (joy.sys) {
- const char* guid = joy.sys->GetGUID();
- if (guid) {
- out_buf->appendf("guid=%s\n", guid);
- }
- }
- out_buf->append("\n");
- }
-}
-
-// read/write keyboard joystick mapping to ini file
-static void* KeyboardJoystickReadOpen(ImGuiContext* ctx,
- ImGuiSettingsHandler* handler,
- const char* name) {
- int num = wpi::parse_integer<int>(name, 10).value_or(-1);
- if (num < 0 || num >= static_cast<int>(gKeyboardJoysticks.size())) {
- return nullptr;
- }
- auto joy = gKeyboardJoysticks[num].get();
- *joy = GlfwKeyboardJoystick(num, true);
- return joy;
-}
-
-static void KeyboardJoystickReadLine(ImGuiContext* ctx,
- ImGuiSettingsHandler* handler, void* entry,
- const char* line) {
- auto joy = static_cast<KeyboardJoystick*>(entry);
- // format: guid=guid or useGamepad=0/1
- auto [name, value] = wpi::split(line, '=');
- joy->ReadIni(wpi::trim(name), wpi::trim(value));
-}
-
-static void KeyboardJoystickWriteAll(ImGuiContext* ctx,
- ImGuiSettingsHandler* handler,
- ImGuiTextBuffer* out_buf) {
- for (unsigned int i = 0; i < gKeyboardJoysticks.size(); ++i) {
- out_buf->appendf("[KeyboardJoystick][%u]\n", i);
- gKeyboardJoysticks[i]->WriteIni(out_buf);
- out_buf->append("\n");
- }
-}
-
-// read/write DS settings to ini file
-static void* DriverStationReadOpen(ImGuiContext* ctx,
- ImGuiSettingsHandler* handler,
- const char* name) {
- if (name == std::string_view{"Main"}) {
- return &gDisableDS;
- }
- return nullptr;
-}
-
-static void DriverStationReadLine(ImGuiContext* ctx,
- ImGuiSettingsHandler* handler, void* entry,
- const char* line) {
- auto [name, value] = wpi::split(line, '=');
- name = wpi::trim(name);
- value = wpi::trim(value);
- if (name == "disable") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- gDisableDS = num.value();
- }
- } else if (name == "zeroDisconnectedJoysticks") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- gZeroDisconnectedJoysticks = num.value();
- }
- } else if (name == "enableDisableKeys") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- gUseEnableDisableHotkeys = num.value();
- }
- } else if (name == "estopKey") {
- if (auto num = wpi::parse_integer<int>(value, 10)) {
- gUseEstopHotkey = num.value();
- }
- }
-}
-
-static void DriverStationWriteAll(ImGuiContext* ctx,
- ImGuiSettingsHandler* handler,
- ImGuiTextBuffer* out_buf) {
- out_buf->appendf(
- "[DriverStation][Main]\ndisable=%d\nzeroDisconnectedJoysticks=%d\n"
- "enableDisableKeys=%d\nestopKey=%d\n\n",
- gDisableDS ? 1 : 0, gZeroDisconnectedJoysticks ? 1 : 0,
- gUseEnableDisableHotkeys ? 1 : 0, gUseEstopHotkey ? 1 : 0);
-}
-
void GlfwSystemJoystick::Update() {
bool wasPresent = m_present;
m_present = glfwJoystickPresent(m_index);
@@ -520,7 +401,6 @@
for (auto&& joy : gRobotJoysticks) {
if (guid == joy.guid) {
joy.sys = this;
- joy.guid.clear();
break;
}
}
@@ -616,21 +496,84 @@
}
}
-KeyboardJoystick::KeyboardJoystick(int index) : m_index{index} {
+KeyboardJoystick::AxisConfig::AxisConfig(glass::Storage& storage)
+ : incKey{storage.GetInt("incKey", -1)},
+ decKey{storage.GetInt("decKey", -1)},
+ keyRate{storage.GetFloat("keyRate", 0.05f)},
+ decayRate{storage.GetFloat("decayRate", 0.05f)},
+ maxAbsValue{storage.GetFloat("maxAbsValue", 1.0f)} {
+ // sanity check the key ranges
+ if (incKey < -1 || incKey >= IM_ARRAYSIZE(ImGuiIO::KeysDown)) {
+ incKey = -1;
+ }
+ if (decKey < -1 || decKey >= IM_ARRAYSIZE(ImGuiIO::KeysDown)) {
+ decKey = -1;
+ }
+}
+
+KeyboardJoystick::PovConfig::PovConfig(glass::Storage& storage)
+ : key0{storage.GetInt("key0", -1)},
+ key45{storage.GetInt("key45", -1)},
+ key90{storage.GetInt("key90", -1)},
+ key135{storage.GetInt("key135", -1)},
+ key180{storage.GetInt("key180", -1)},
+ key225{storage.GetInt("key225", -1)},
+ key270{storage.GetInt("key270", -1)},
+ key315{storage.GetInt("key315", -1)} {
+ // sanity check the key ranges
+ if (key0 < -1 || key0 >= IM_ARRAYSIZE(ImGuiIO::KeysDown)) {
+ key0 = -1;
+ }
+ if (key45 < -1 || key45 >= IM_ARRAYSIZE(ImGuiIO::KeysDown)) {
+ key45 = -1;
+ }
+ if (key90 < -1 || key90 >= IM_ARRAYSIZE(ImGuiIO::KeysDown)) {
+ key90 = -1;
+ }
+ if (key135 < -1 || key135 >= IM_ARRAYSIZE(ImGuiIO::KeysDown)) {
+ key135 = -1;
+ }
+ if (key180 < -1 || key180 >= IM_ARRAYSIZE(ImGuiIO::KeysDown)) {
+ key180 = -1;
+ }
+ if (key225 < -1 || key225 >= IM_ARRAYSIZE(ImGuiIO::KeysDown)) {
+ key225 = -1;
+ }
+ if (key270 < -1 || key270 >= IM_ARRAYSIZE(ImGuiIO::KeysDown)) {
+ key270 = -1;
+ }
+ if (key315 < -1 || key315 >= IM_ARRAYSIZE(ImGuiIO::KeysDown)) {
+ key315 = -1;
+ }
+}
+
+KeyboardJoystick::KeyboardJoystick(glass::Storage& storage, int index)
+ : m_index{index},
+ m_axisCount{storage.GetInt("axisCount", -1)},
+ m_buttonCount{storage.GetInt("buttonCount", -1)},
+ m_povCount{storage.GetInt("povCount", -1)},
+ m_axisStorage{storage.GetChildArray("axisConfig")},
+ m_buttonKey{storage.GetIntArray("buttonKeys")},
+ m_povStorage{storage.GetChildArray("povConfig")} {
std::snprintf(m_name, sizeof(m_name), "Keyboard %d", index);
std::snprintf(m_guid, sizeof(m_guid), "Keyboard%d", index);
// init axes
- m_data.axes.count = 0;
+ for (auto&& axisConfig : m_axisStorage) {
+ m_axisConfig.emplace_back(*axisConfig);
+ }
- // init buttons
- m_data.buttons.count = 0;
- for (int i = 0; i < kMaxButtonCount; ++i) {
- m_buttonKey[i] = -1;
+ // sanity check the button key ranges
+ for (auto&& key : m_buttonKey) {
+ if (key < -1 || key >= IM_ARRAYSIZE(ImGuiIO::KeysDown)) {
+ key = -1;
+ }
}
// init POVs
- m_data.povs.count = 0;
+ for (auto&& povConfig : m_povStorage) {
+ m_povConfig.emplace_back(*povConfig);
+ }
// init desc structure
m_data.desc.isXbox = 0;
@@ -678,17 +621,18 @@
// axes
if (ImGui::CollapsingHeader("Axes", ImGuiTreeNodeFlags_DefaultOpen)) {
ImGui::PushID("Axes");
- int axisCount = m_data.axes.count;
- if (ImGui::InputInt("Count", &axisCount)) {
- if (axisCount < 0) {
- axisCount = 0;
+ if (ImGui::InputInt("Count", &m_axisCount)) {
+ if (m_axisCount < 0) {
+ m_axisCount = 0;
+ } else if (m_axisCount > HAL_kMaxJoystickAxes) {
+ m_axisCount = HAL_kMaxJoystickAxes;
}
- if (axisCount > HAL_kMaxJoystickAxes) {
- axisCount = HAL_kMaxJoystickAxes;
- }
- m_data.axes.count = axisCount;
}
- for (int i = 0; i < axisCount; ++i) {
+ while (m_axisCount > static_cast<int>(m_axisConfig.size())) {
+ m_axisStorage.emplace_back(std::make_unique<glass::Storage>());
+ m_axisConfig.emplace_back(*m_axisStorage.back());
+ }
+ for (int i = 0; i < m_axisCount; ++i) {
std::snprintf(label, sizeof(label), "Axis %d", i);
if (ImGui::TreeNodeEx(label, ImGuiTreeNodeFlags_DefaultOpen)) {
EditKey("Increase", &m_axisConfig[i].incKey);
@@ -710,17 +654,18 @@
// buttons
if (ImGui::CollapsingHeader("Buttons", ImGuiTreeNodeFlags_DefaultOpen)) {
ImGui::PushID("Buttons");
- int buttonCount = m_data.buttons.count;
- if (ImGui::InputInt("Count", &buttonCount)) {
- if (buttonCount < 0) {
- buttonCount = 0;
+ if (ImGui::InputInt("Count", &m_buttonCount)) {
+ if (m_buttonCount < 0) {
+ m_buttonCount = 0;
}
- if (buttonCount > kMaxButtonCount) {
- buttonCount = kMaxButtonCount;
+ if (m_buttonCount > kMaxButtonCount) {
+ m_buttonCount = kMaxButtonCount;
}
- m_data.buttons.count = buttonCount;
}
- for (int i = 0; i < buttonCount; ++i) {
+ while (m_buttonCount > static_cast<int>(m_buttonKey.size())) {
+ m_buttonKey.emplace_back(-1);
+ }
+ for (int i = 0; i < m_buttonCount; ++i) {
std::snprintf(label, sizeof(label), "Button %d", i + 1);
EditKey(label, &m_buttonKey[i]);
}
@@ -730,17 +675,19 @@
// povs
if (ImGui::CollapsingHeader("POVs", ImGuiTreeNodeFlags_DefaultOpen)) {
ImGui::PushID("POVs");
- int povCount = m_data.povs.count;
- if (ImGui::InputInt("Count", &povCount)) {
- if (povCount < 0) {
- povCount = 0;
+ if (ImGui::InputInt("Count", &m_povCount)) {
+ if (m_povCount < 0) {
+ m_povCount = 0;
}
- if (povCount > HAL_kMaxJoystickPOVs) {
- povCount = HAL_kMaxJoystickPOVs;
+ if (m_povCount > HAL_kMaxJoystickPOVs) {
+ m_povCount = HAL_kMaxJoystickPOVs;
}
- m_data.povs.count = povCount;
}
- for (int i = 0; i < povCount; ++i) {
+ while (m_povCount > static_cast<int>(m_povConfig.size())) {
+ m_povStorage.emplace_back(std::make_unique<glass::Storage>());
+ m_povConfig.emplace_back(*m_povStorage.back());
+ }
+ for (int i = 0; i < m_povCount; ++i) {
std::snprintf(label, sizeof(label), "POV %d", i);
if (ImGui::TreeNodeEx(label, ImGuiTreeNodeFlags_DefaultOpen)) {
EditKey(" 0 deg", &m_povConfig[i].key0);
@@ -767,6 +714,23 @@
void KeyboardJoystick::Update() {
ImGuiIO& io = ImGui::GetIO();
+ if (m_axisCount < 0) {
+ m_axisCount = 0;
+ }
+ if (m_buttonCount < 0) {
+ m_buttonCount = 0;
+ }
+ if (m_povCount < 0) {
+ m_povCount = 0;
+ }
+
+ m_data.axes.count =
+ (std::min)(m_axisCount, static_cast<int>(m_axisConfig.size()));
+ m_data.buttons.count =
+ (std::min)(m_buttonCount, static_cast<int>(m_buttonKey.size()));
+ m_data.povs.count =
+ (std::min)(m_povCount, static_cast<int>(m_povConfig.size()));
+
if (m_data.axes.count > 0 || m_data.buttons.count > 0 ||
m_data.povs.count > 0) {
m_present = true;
@@ -842,7 +806,6 @@
for (auto&& joy : gRobotJoysticks) {
if (m_guid == joy.guid) {
joy.sys = this;
- joy.guid.clear();
break;
}
}
@@ -895,177 +858,88 @@
}
}
-void KeyboardJoystick::ReadIni(std::string_view name, std::string_view value) {
- if (wpi::starts_with(name, "axis")) {
- name.remove_prefix(4);
- if (name == "Count") {
- if (auto v = wpi::parse_integer<int>(value, 10)) {
- m_data.axes.count = (std::min)(v.value(), HAL_kMaxJoystickAxes);
- }
- return;
- }
-
- auto index = wpi::consume_integer<unsigned int>(&name, 10).value_or(
- HAL_kMaxJoystickAxes);
- if (index >= HAL_kMaxJoystickAxes) {
- return;
- }
- if (name == "incKey") {
- if (auto v = wpi::parse_integer<int>(value, 10)) {
- m_axisConfig[index].incKey = v.value();
- }
- } else if (name == "decKey") {
- if (auto v = wpi::parse_integer<int>(value, 10)) {
- m_axisConfig[index].decKey = v.value();
- }
- } else if (name == "keyRate") {
- if (auto v = wpi::parse_float<float>(value)) {
- m_axisConfig[index].keyRate = v.value();
- }
- } else if (name == "decayRate") {
- if (auto v = wpi::parse_float<float>(value)) {
- m_axisConfig[index].decayRate = v.value();
- }
- } else if (name == "maxAbsValue") {
- if (auto v = wpi::parse_float<float>(value)) {
- m_axisConfig[index].maxAbsValue = v.value();
- }
- }
- } else if (wpi::starts_with(name, "button")) {
- name.remove_prefix(6);
- if (name == "Count") {
- if (auto v = wpi::parse_integer<int>(value, 10)) {
- m_data.buttons.count = (std::min)(v.value(), kMaxButtonCount);
- }
- return;
- }
-
- auto index =
- wpi::parse_integer<unsigned int>(name, 10).value_or(kMaxButtonCount);
- if (index >= kMaxButtonCount) {
- return;
- }
- int v = wpi::parse_integer<int>(value, 10).value_or(-1);
- if (v < 0 || v >= IM_ARRAYSIZE(ImGuiIO::KeysDown)) {
- return;
- }
- m_buttonKey[index] = v;
- } else if (wpi::starts_with(name, "pov")) {
- name.remove_prefix(3);
- if (name == "Count") {
- if (auto v = wpi::parse_integer<int>(value, 10)) {
- m_data.povs.count = (std::min)(v.value(), HAL_kMaxJoystickPOVs);
- }
- return;
- }
-
- auto index = wpi::consume_integer<unsigned int>(&name, 10).value_or(
- HAL_kMaxJoystickPOVs);
- if (index >= HAL_kMaxJoystickPOVs) {
- return;
- }
- int v = wpi::parse_integer<int>(value, 10).value_or(-1);
- if (v < 0 || v >= IM_ARRAYSIZE(ImGuiIO::KeysDown)) {
- return;
- }
- if (name == "key0") {
- m_povConfig[index].key0 = v;
- } else if (name == "key45") {
- m_povConfig[index].key45 = v;
- } else if (name == "key90") {
- m_povConfig[index].key90 = v;
- } else if (name == "key135") {
- m_povConfig[index].key135 = v;
- } else if (name == "key180") {
- m_povConfig[index].key180 = v;
- } else if (name == "key225") {
- m_povConfig[index].key225 = v;
- } else if (name == "key270") {
- m_povConfig[index].key270 = v;
- } else if (name == "key315") {
- m_povConfig[index].key315 = v;
- }
- }
-}
-
-void KeyboardJoystick::WriteIni(ImGuiTextBuffer* out_buf) const {
- out_buf->appendf("axisCount=%d\nbuttonCount=%d\npovCount=%d\n",
- m_data.axes.count, m_data.buttons.count, m_data.povs.count);
- for (int i = 0; i < m_data.axes.count; ++i) {
- auto& c = m_axisConfig[i];
- out_buf->appendf(
- "axis%dincKey=%d\naxis%ddecKey=%d\naxis%dkeyRate=%f\n"
- "axis%ddecayRate=%f\naxis%dmaxAbsValue=%f\n",
- i, c.incKey, i, c.decKey, i, c.keyRate, i, c.decayRate, i,
- c.maxAbsValue);
- }
- for (int i = 0; i < m_data.buttons.count; ++i) {
- out_buf->appendf("button%d=%d\n", i, m_buttonKey[i]);
- }
- for (int i = 0; i < m_data.povs.count; ++i) {
- auto& c = m_povConfig[i];
- out_buf->appendf(
- "pov%dkey0=%d\npov%dkey45=%d\npov%dkey90=%d\npov%dkey135=%d\n"
- "pov%dkey180=%d\npov%dkey225=%d\npov%dkey270=%d\npov%dkey315=%d\n",
- i, c.key0, i, c.key45, i, c.key90, i, c.key135, i, c.key180, i,
- c.key225, i, c.key270, i, c.key315);
- }
-}
-
-GlfwKeyboardJoystick::GlfwKeyboardJoystick(int index, bool noDefaults)
- : KeyboardJoystick{index} {
- if (noDefaults) {
- return;
- }
+GlfwKeyboardJoystick::GlfwKeyboardJoystick(glass::Storage& storage, int index)
+ : KeyboardJoystick{storage, index} {
// set up a default keyboard config for 0, 1, and 2
if (index == 0) {
- m_data.axes.count = 3;
- m_axisConfig[0].incKey = GLFW_KEY_D;
- m_axisConfig[0].decKey = GLFW_KEY_A;
- m_axisConfig[1].incKey = GLFW_KEY_S;
- m_axisConfig[1].decKey = GLFW_KEY_W;
- m_axisConfig[2].incKey = GLFW_KEY_R;
- m_axisConfig[2].decKey = GLFW_KEY_E;
- m_axisConfig[2].keyRate = 0.01f;
- m_axisConfig[2].decayRate = 0; // works like a throttle
- m_data.buttons.count = 4;
- m_buttonKey[0] = GLFW_KEY_Z;
- m_buttonKey[1] = GLFW_KEY_X;
- m_buttonKey[2] = GLFW_KEY_C;
- m_buttonKey[3] = GLFW_KEY_V;
- m_data.povs.count = 1;
- m_povConfig[0].key0 = GLFW_KEY_KP_8;
- m_povConfig[0].key45 = GLFW_KEY_KP_9;
- m_povConfig[0].key90 = GLFW_KEY_KP_6;
- m_povConfig[0].key135 = GLFW_KEY_KP_3;
- m_povConfig[0].key180 = GLFW_KEY_KP_2;
- m_povConfig[0].key225 = GLFW_KEY_KP_1;
- m_povConfig[0].key270 = GLFW_KEY_KP_4;
- m_povConfig[0].key315 = GLFW_KEY_KP_7;
+ if (m_axisCount == -1 && m_axisStorage.empty()) {
+ m_axisCount = 3;
+ for (int i = 0; i < 3; ++i) {
+ m_axisStorage.emplace_back(std::make_unique<glass::Storage>());
+ m_axisConfig.emplace_back(*m_axisStorage.back());
+ }
+ m_axisConfig[0].incKey = GLFW_KEY_D;
+ m_axisConfig[0].decKey = GLFW_KEY_A;
+ m_axisConfig[1].incKey = GLFW_KEY_S;
+ m_axisConfig[1].decKey = GLFW_KEY_W;
+ m_axisConfig[2].incKey = GLFW_KEY_R;
+ m_axisConfig[2].decKey = GLFW_KEY_E;
+ m_axisConfig[2].keyRate = 0.01f;
+ m_axisConfig[2].decayRate = 0; // works like a throttle
+ }
+ if (m_buttonCount == -1 && m_buttonKey.empty()) {
+ m_buttonCount = 4;
+ m_buttonKey.resize(4);
+ m_buttonKey[0] = GLFW_KEY_Z;
+ m_buttonKey[1] = GLFW_KEY_X;
+ m_buttonKey[2] = GLFW_KEY_C;
+ m_buttonKey[3] = GLFW_KEY_V;
+ }
+ if (m_povCount == -1 && m_povStorage.empty()) {
+ m_povCount = 1;
+ m_povStorage.emplace_back(std::make_unique<glass::Storage>());
+ m_povConfig.emplace_back(*m_povStorage.back());
+ m_povConfig[0].key0 = GLFW_KEY_KP_8;
+ m_povConfig[0].key45 = GLFW_KEY_KP_9;
+ m_povConfig[0].key90 = GLFW_KEY_KP_6;
+ m_povConfig[0].key135 = GLFW_KEY_KP_3;
+ m_povConfig[0].key180 = GLFW_KEY_KP_2;
+ m_povConfig[0].key225 = GLFW_KEY_KP_1;
+ m_povConfig[0].key270 = GLFW_KEY_KP_4;
+ m_povConfig[0].key315 = GLFW_KEY_KP_7;
+ }
} else if (index == 1) {
- m_data.axes.count = 2;
- m_axisConfig[0].incKey = GLFW_KEY_L;
- m_axisConfig[0].decKey = GLFW_KEY_J;
- m_axisConfig[1].incKey = GLFW_KEY_K;
- m_axisConfig[1].decKey = GLFW_KEY_I;
- m_data.buttons.count = 4;
- m_buttonKey[0] = GLFW_KEY_M;
- m_buttonKey[1] = GLFW_KEY_COMMA;
- m_buttonKey[2] = GLFW_KEY_PERIOD;
- m_buttonKey[3] = GLFW_KEY_SLASH;
+ if (m_axisCount == -1 && m_axisStorage.empty()) {
+ m_axisCount = 2;
+ for (int i = 0; i < 2; ++i) {
+ m_axisStorage.emplace_back(std::make_unique<glass::Storage>());
+ m_axisConfig.emplace_back(*m_axisStorage.back());
+ }
+ m_axisConfig[0].incKey = GLFW_KEY_L;
+ m_axisConfig[0].decKey = GLFW_KEY_J;
+ m_axisConfig[1].incKey = GLFW_KEY_K;
+ m_axisConfig[1].decKey = GLFW_KEY_I;
+ }
+ if (m_buttonCount == -1 && m_buttonKey.empty()) {
+ m_buttonCount = 4;
+ m_buttonKey.resize(4);
+ m_buttonKey[0] = GLFW_KEY_M;
+ m_buttonKey[1] = GLFW_KEY_COMMA;
+ m_buttonKey[2] = GLFW_KEY_PERIOD;
+ m_buttonKey[3] = GLFW_KEY_SLASH;
+ }
} else if (index == 2) {
- m_data.axes.count = 2;
- m_axisConfig[0].incKey = GLFW_KEY_RIGHT;
- m_axisConfig[0].decKey = GLFW_KEY_LEFT;
- m_axisConfig[1].incKey = GLFW_KEY_DOWN;
- m_axisConfig[1].decKey = GLFW_KEY_UP;
- m_data.buttons.count = 6;
- m_buttonKey[0] = GLFW_KEY_INSERT;
- m_buttonKey[1] = GLFW_KEY_HOME;
- m_buttonKey[2] = GLFW_KEY_PAGE_UP;
- m_buttonKey[3] = GLFW_KEY_DELETE;
- m_buttonKey[4] = GLFW_KEY_END;
- m_buttonKey[5] = GLFW_KEY_PAGE_DOWN;
+ if (m_axisCount == -1 && m_axisStorage.empty()) {
+ m_axisCount = 2;
+ for (int i = 0; i < 2; ++i) {
+ m_axisStorage.emplace_back(std::make_unique<glass::Storage>());
+ m_axisConfig.emplace_back(*m_axisStorage.back());
+ }
+ m_axisConfig[0].incKey = GLFW_KEY_RIGHT;
+ m_axisConfig[0].decKey = GLFW_KEY_LEFT;
+ m_axisConfig[1].incKey = GLFW_KEY_DOWN;
+ m_axisConfig[1].decKey = GLFW_KEY_UP;
+ }
+ if (m_buttonCount == -1 && m_buttonKey.empty()) {
+ m_buttonCount = 6;
+ m_buttonKey.resize(6);
+ m_buttonKey[0] = GLFW_KEY_INSERT;
+ m_buttonKey[1] = GLFW_KEY_HOME;
+ m_buttonKey[2] = GLFW_KEY_PAGE_UP;
+ m_buttonKey[3] = GLFW_KEY_DELETE;
+ m_buttonKey[4] = GLFW_KEY_END;
+ m_buttonKey[5] = GLFW_KEY_PAGE_DOWN;
+ }
}
}
@@ -1103,6 +977,11 @@
return "(Unknown)";
}
+RobotJoystick::RobotJoystick(glass::Storage& storage)
+ : name{storage.GetString("name")},
+ guid{storage.GetString("guid")},
+ useGamepad{storage.GetBool("useGamepad")} {}
+
void RobotJoystick::Update() {
Clear();
if (sys) {
@@ -1111,7 +990,9 @@
}
void RobotJoystick::SetHAL(int i) {
- if (!gZeroDisconnectedJoysticks && (!sys || !sys->IsPresent())) {
+ if ((gpZeroDisconnectedJoysticks != nullptr &&
+ !gpZeroDisconnectedJoysticks) &&
+ (!sys || !sys->IsPresent())) {
return;
}
// set at HAL level
@@ -1149,11 +1030,11 @@
bool disableDS = IsDSDisabled();
if (disableDS && !prevDisableDS) {
- if (auto win = HALSimGui::manager.GetWindow("System Joysticks")) {
+ if (auto win = HALSimGui::manager->GetWindow("System Joysticks")) {
win->SetVisibility(glass::Window::kDisabled);
}
} else if (!disableDS && prevDisableDS) {
- if (auto win = HALSimGui::manager.GetWindow("System Joysticks")) {
+ if (auto win = HALSimGui::manager->GetWindow("System Joysticks")) {
win->SetVisibility(glass::Window::kShow);
}
}
@@ -1190,7 +1071,7 @@
// DS hotkeys
bool enableHotkey = false;
bool disableHotkey = false;
- if (gUseEnableDisableHotkeys) {
+ if (gpUseEnableDisableHotkeys != nullptr && *gpUseEnableDisableHotkeys) {
ImGuiIO& io = ImGui::GetIO();
if (io.KeysDown[GLFW_KEY_ENTER] || io.KeysDown[GLFW_KEY_KP_ENTER]) {
disableHotkey = true;
@@ -1200,7 +1081,7 @@
enableHotkey = true;
}
}
- if (gUseEstopHotkey) {
+ if (gpUseEstopHotkey != nullptr && *gpUseEstopHotkey) {
ImGuiIO& io = ImGui::GetIO();
if (io.KeysDown[GLFW_KEY_SPACE]) {
HALSIM_SetDriverStationEnabled(false);
@@ -1232,7 +1113,8 @@
}
// Update HAL
- for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
+ for (int i = 0, end = gRobotJoysticks.size();
+ i < end && i < HAL_kMaxJoysticks; ++i) {
gRobotJoysticks[i].SetHAL(i);
}
@@ -1251,6 +1133,7 @@
m_enabled.SetDigital(true);
m_test.SetDigital(true);
m_autonomous.SetDigital(true);
+ m_matchTime.SetValue(-1.0);
}
void FMSSimModel::Update() {
@@ -1264,25 +1147,23 @@
m_autonomous.SetValue(HALSIM_GetDriverStationAutonomous());
double matchTime = HALSIM_GetDriverStationMatchTime();
- if (m_matchTimeEnabled && !IsDSDisabled()) {
+ if (!IsDSDisabled() && enabled) {
int32_t status = 0;
double curTime = HAL_GetFPGATime(&status) * 1.0e-6;
- if (m_startMatchTime == 0.0) {
- m_startMatchTime = curTime;
+ if (m_startMatchTime == -1.0) {
+ m_startMatchTime = matchTime + curTime;
}
- if (enabled) {
- matchTime = curTime - m_startMatchTime;
- HALSIM_SetDriverStationMatchTime(matchTime);
- } else {
- if (m_prevTime == 0.0) {
- m_prevTime = curTime;
- }
- m_startMatchTime += (curTime - m_prevTime);
+ matchTime = m_startMatchTime - curTime;
+ if (matchTime < 0) {
+ matchTime = -1.0;
}
- m_prevTime = curTime;
+ HALSIM_SetDriverStationMatchTime(matchTime);
} else {
- m_startMatchTime = 0.0;
- m_prevTime = 0.0;
+ if (m_startMatchTime != -1.0) {
+ matchTime = -1.0;
+ HALSIM_SetDriverStationMatchTime(matchTime);
+ }
+ m_startMatchTime = -1.0;
}
m_matchTime.SetValue(matchTime);
}
@@ -1329,7 +1210,7 @@
char buf[64];
std::snprintf(buf, sizeof(buf), "%s Settings", joy->GetName());
if (ImGui::MenuItem(buf)) {
- if (auto win = DriverStationGui::dsManager.GetWindow(buf)) {
+ if (auto win = DriverStationGui::dsManager->GetWindow(buf)) {
win->SetVisible(true);
}
ImGui::CloseCurrentPopup();
@@ -1370,10 +1251,11 @@
for (auto&& joy2 : gRobotJoysticks) {
if (joy2.sys == payload_sys) {
joy2.sys = nullptr;
+ joy2.guid.clear();
}
}
joy.sys = payload_sys;
- joy.guid.clear();
+ joy.guid = payload_sys->GetGUID();
std::string_view name{payload_sys->GetName()};
joy.useGamepad =
wpi::starts_with(name, "Xbox") || wpi::contains(name, "pad");
@@ -1453,15 +1335,23 @@
}
void DSManager::DisplayMenu() {
- if (gDSSocketConnected && *gDSSocketConnected) {
+ if (gpDSSocketConnected && *gpDSSocketConnected) {
ImGui::MenuItem("Turn off DS (real DS connected)", nullptr, true, false);
} else {
- ImGui::MenuItem("Turn off DS", nullptr, &gDisableDS);
- ImGui::MenuItem("Zero disconnected joysticks", nullptr,
- &gZeroDisconnectedJoysticks);
- ImGui::MenuItem("Enable on []\\ combo, Disable on Enter", nullptr,
- &gUseEnableDisableHotkeys);
- ImGui::MenuItem("Disable on Spacebar", nullptr, &gUseEstopHotkey);
+ if (gpDisableDS != nullptr) {
+ ImGui::MenuItem("Turn off DS", nullptr, gpDisableDS);
+ }
+ if (gpZeroDisconnectedJoysticks != nullptr) {
+ ImGui::MenuItem("Zero disconnected joysticks", nullptr,
+ gpZeroDisconnectedJoysticks);
+ }
+ if (gpUseEnableDisableHotkeys != nullptr) {
+ ImGui::MenuItem("Enable on []\\ combo, Disable on Enter", nullptr,
+ gpUseEnableDisableHotkeys);
+ }
+ if (gpUseEstopHotkey != nullptr) {
+ ImGui::MenuItem("Disable on Spacebar", nullptr, gpUseEstopHotkey);
+ }
}
ImGui::Separator();
@@ -1470,85 +1360,93 @@
}
}
-static void DriverStationInitialize() {
- // hook ini handler to save joystick settings
- ImGuiSettingsHandler iniHandler;
- iniHandler.TypeName = "Joystick";
- iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
- iniHandler.ReadOpenFn = JoystickReadOpen;
- iniHandler.ReadLineFn = JoystickReadLine;
- iniHandler.WriteAllFn = JoystickWriteAll;
- ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
-
- // hook ini handler to save keyboard settings
- iniHandler.TypeName = "KeyboardJoystick";
- iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
- iniHandler.ReadOpenFn = KeyboardJoystickReadOpen;
- iniHandler.ReadLineFn = KeyboardJoystickReadLine;
- iniHandler.WriteAllFn = KeyboardJoystickWriteAll;
- ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
-
- // hook ini handler to save DS settings
- iniHandler.TypeName = "DriverStation";
- iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
- iniHandler.ReadOpenFn = DriverStationReadOpen;
- iniHandler.ReadLineFn = DriverStationReadLine;
- iniHandler.WriteAllFn = DriverStationWriteAll;
- ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
-}
-
void DriverStationGui::GlobalInit() {
+ auto& storageRoot = glass::GetStorageRoot("ds");
+ dsManager = std::make_unique<DSManager>(storageRoot);
+
// set up system joysticks (both GLFW and keyboard)
for (int i = 0; i <= GLFW_JOYSTICK_LAST; ++i) {
gGlfwJoysticks.emplace_back(std::make_unique<GlfwSystemJoystick>(i));
}
- for (int i = 0; i < 4; ++i) {
- gKeyboardJoysticks.emplace_back(std::make_unique<GlfwKeyboardJoystick>(i));
- }
- dsManager.GlobalInit();
-
- wpi::gui::AddInit(DriverStationInitialize);
+ dsManager->GlobalInit();
gFMSModel = std::make_unique<FMSSimModel>();
wpi::gui::AddEarlyExecute(DriverStationExecute);
wpi::gui::AddEarlyExecute([] { gFMSModel->Update(); });
- if (auto win = dsManager.AddWindow("FMS", [] {
- DisplayFMS(gFMSModel.get(), &gFMSModel->m_matchTimeEnabled);
- })) {
- win->DisableRenamePopup();
- win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
- win->SetDefaultPos(5, 540);
- }
- if (auto win =
- dsManager.AddWindow("System Joysticks", DisplaySystemJoysticks)) {
- win->DisableRenamePopup();
- win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
- win->SetDefaultPos(5, 350);
- }
- if (auto win = dsManager.AddWindow("Joysticks", DisplayJoysticks)) {
- win->DisableRenamePopup();
- win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
- win->SetDefaultPos(250, 465);
- }
- int i = 0;
- for (auto&& joy : gKeyboardJoysticks) {
- char label[64];
- std::snprintf(label, sizeof(label), "%s Settings", joy->GetName());
- if (auto win = dsManager.AddWindow(
- label, [j = joy.get()] { j->SettingsDisplay(); })) {
- win->SetVisible(false);
- win->DisableRenamePopup();
- win->SetDefaultPos(10 + 310 * i++, 50);
- if (i > 3) {
- i = 0;
+
+ storageRoot.SetCustomApply([&storageRoot] {
+ gpDisableDS = &storageRoot.GetBool("disable", false);
+ gpZeroDisconnectedJoysticks =
+ &storageRoot.GetBool("zeroDisconnectedJoysticks", true);
+ gpUseEnableDisableHotkeys =
+ &storageRoot.GetBool("useEnableDisableHotkeys", false);
+ gpUseEstopHotkey = &storageRoot.GetBool("useEstopHotkey", false);
+
+ auto& keyboardStorage = storageRoot.GetChildArray("keyboardJoysticks");
+ keyboardStorage.resize(4);
+ for (int i = 0; i < 4; ++i) {
+ if (!keyboardStorage[i]) {
+ keyboardStorage[i] = std::make_unique<glass::Storage>();
}
- win->SetDefaultSize(300, 560);
+ gKeyboardJoysticks.emplace_back(
+ std::make_unique<GlfwKeyboardJoystick>(*keyboardStorage[i], i));
}
- }
+
+ auto& robotJoystickStorage = storageRoot.GetChildArray("robotJoysticks");
+ robotJoystickStorage.resize(HAL_kMaxJoysticks);
+ for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
+ if (!robotJoystickStorage[i]) {
+ robotJoystickStorage[i] = std::make_unique<glass::Storage>();
+ }
+ gRobotJoysticks.emplace_back(*robotJoystickStorage[i]);
+ }
+
+ int i = 0;
+ for (auto&& joy : gKeyboardJoysticks) {
+ char label[64];
+ std::snprintf(label, sizeof(label), "%s Settings", joy->GetName());
+ if (auto win = dsManager->AddWindow(
+ label, [j = joy.get()] { j->SettingsDisplay(); },
+ glass::Window::kHide)) {
+ win->DisableRenamePopup();
+ win->SetDefaultPos(10 + 310 * i++, 50);
+ if (i > 3) {
+ i = 0;
+ }
+ win->SetDefaultSize(300, 560);
+ }
+ }
+ if (auto win =
+ dsManager->AddWindow("FMS", [] { DisplayFMS(gFMSModel.get()); })) {
+ win->DisableRenamePopup();
+ win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
+ win->SetDefaultPos(5, 540);
+ }
+ if (auto win =
+ dsManager->AddWindow("System Joysticks", DisplaySystemJoysticks)) {
+ win->DisableRenamePopup();
+ win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
+ win->SetDefaultPos(5, 350);
+ }
+ if (auto win = dsManager->AddWindow("Joysticks", DisplayJoysticks)) {
+ win->DisableRenamePopup();
+ win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
+ win->SetDefaultPos(250, 465);
+ }
+ });
+
+ storageRoot.SetCustomClear([&storageRoot] {
+ dsManager->EraseWindows();
+ gKeyboardJoysticks.clear();
+ gRobotJoysticks.clear();
+ storageRoot.GetChildArray("keyboardJoysticks").clear();
+ storageRoot.GetChildArray("robotJoysticks").clear();
+ storageRoot.ClearValues();
+ });
}
void DriverStationGui::SetDSSocketExtension(void* data) {
- gDSSocketConnected = static_cast<std::atomic<bool>*>(data);
+ gpDSSocketConnected = static_cast<std::atomic<bool>*>(data);
}
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.h b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.h
index 51f7554..cb086c8 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.h
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.h
@@ -6,13 +6,14 @@
#include <glass/WindowManager.h>
+#include <memory>
#include <string_view>
namespace halsimgui {
class DSManager : public glass::WindowManager {
public:
- explicit DSManager(std::string_view iniName) : WindowManager{iniName} {}
+ explicit DSManager(glass::Storage& storage) : WindowManager{storage} {}
void DisplayMenu() override;
};
@@ -22,7 +23,7 @@
static void GlobalInit();
static void SetDSSocketExtension(void* data);
- static DSManager dsManager;
+ static std::unique_ptr<DSManager> dsManager;
};
} // namespace halsimgui
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
index 56e8ea2..6a1be27 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
@@ -246,7 +246,7 @@
}
void EncoderSimGui::Initialize() {
- HALSimGui::halProvider.Register(
+ HALSimGui::halProvider->Register(
"Encoders", EncodersAnyInitialized,
[] { return std::make_unique<EncodersSimModel>(); },
[](glass::Window* win, glass::Model* model) {
@@ -258,7 +258,7 @@
}
glass::EncodersModel& EncoderSimGui::GetEncodersModel() {
- static auto model = HALSimGui::halProvider.GetModel("Encoders");
+ static auto model = HALSimGui::halProvider->GetModel("Encoders");
assert(model);
return *static_cast<glass::EncodersModel*>(model);
}
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
index 72b9c29..dffcd00 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
@@ -5,6 +5,7 @@
#include "HALProvider.h"
#include <glass/Model.h>
+#include <glass/Storage.h>
#include <algorithm>
#include <string>
@@ -15,6 +16,29 @@
static bool gDisableOutputsOnDSDisable = true;
+HALProvider::HALProvider(glass::Storage& storage) : Provider{storage} {
+ storage.SetCustomApply([this] {
+ for (auto&& childIt : m_storage.GetChildren()) {
+ auto it = FindViewEntry(childIt.key());
+ if (it != m_viewEntries.end() && (*it)->name == childIt.key()) {
+ Show(it->get(), nullptr);
+ }
+ }
+ for (auto&& entry : m_viewEntries) {
+ if (entry->showDefault) {
+ Show(entry.get(), entry->window);
+ }
+ }
+ });
+ storage.SetCustomClear([this, &storage] {
+ for (auto&& entry : m_viewEntries) {
+ entry->window = nullptr;
+ }
+ m_windows.clear();
+ storage.ClearValues();
+ });
+}
+
bool HALProvider::AreOutputsDisabled() {
return gDisableOutputsOnDSDisable && !HALSIM_GetDriverStationEnabled();
}
@@ -28,34 +52,20 @@
bool visible = viewEntry->window && viewEntry->window->IsVisible();
bool wasVisible = visible;
bool exists = viewEntry->modelEntry->exists();
- ImGui::MenuItem(viewEntry->name.c_str(), nullptr, &visible,
- visible || exists);
- if (!wasVisible && visible) {
- Show(viewEntry.get(), viewEntry->window);
- } else if (wasVisible && !visible && viewEntry->window) {
- viewEntry->window->SetVisible(false);
+ if (ImGui::MenuItem(viewEntry->name.c_str(), nullptr, &visible,
+ visible || exists)) {
+ if (!wasVisible && visible) {
+ Show(viewEntry.get(), viewEntry->window);
+ if (viewEntry->window) {
+ viewEntry->window->SetVisible(true);
+ }
+ } else if (wasVisible && !visible && viewEntry->window) {
+ viewEntry->window->SetVisible(false);
+ }
}
}
}
-void HALProvider::Update() {
- Provider::Update();
-
- // check for visible windows that need displays (typically this is due to
- // file loading)
- for (auto&& window : m_windows) {
- if (!window->IsVisible() || window->HasView()) {
- continue;
- }
- auto id = window->GetId();
- auto it = FindViewEntry(id);
- if (it == m_viewEntries.end() || (*it)->name != id) {
- continue;
- }
- Show(it->get(), window.get());
- }
-}
-
glass::Model* HALProvider::GetModel(std::string_view name) {
auto it = FindModelEntry(name);
if (it == m_modelEntries.end() || (*it)->name != name) {
@@ -71,9 +81,8 @@
}
void HALProvider::Show(ViewEntry* entry, glass::Window* window) {
- // if there's already a window, just show it
+ // if there's already a window, we're done
if (entry->window) {
- entry->window->SetVisible(true);
return;
}
@@ -87,7 +96,9 @@
// the window might exist and we're just not associated to it yet
if (!window) {
- window = GetOrAddWindow(entry->name, true);
+ window = GetOrAddWindow(
+ entry->name, true,
+ entry->showDefault ? glass::Window::kShow : glass::Window::kHide);
}
if (!window) {
return;
@@ -100,6 +111,4 @@
return;
}
window->SetView(std::move(view));
-
- entry->window->SetVisible(true);
}
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
index 8d66ac7..4d005ad 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
@@ -4,22 +4,51 @@
#include "HALSimGui.h"
+#include <glass/Context.h>
+#include <glass/Storage.h>
+
#include <imgui.h>
#include <wpigui.h>
using namespace halsimgui;
glass::MainMenuBar HALSimGui::mainMenu;
-glass::WindowManager HALSimGui::manager{"SimWindow"};
-HALProvider HALSimGui::halProvider{"HALProvider"};
-glass::NetworkTablesProvider HALSimGui::ntProvider{"NTProvider"};
+std::unique_ptr<glass::WindowManager> HALSimGui::manager;
+std::unique_ptr<HALProvider> HALSimGui::halProvider;
+std::unique_ptr<glass::NetworkTablesProvider> HALSimGui::ntProvider;
void HALSimGui::GlobalInit() {
- manager.GlobalInit();
- halProvider.GlobalInit();
- ntProvider.GlobalInit();
+ manager = std::make_unique<glass::WindowManager>(
+ glass::GetStorageRoot().GetChild("SimWindow"));
+ manager->GlobalInit();
+ halProvider = std::make_unique<HALProvider>(
+ glass::GetStorageRoot().GetChild("HALProvider"));
+ halProvider->GlobalInit();
+ ntProvider = std::make_unique<glass::NetworkTablesProvider>(
+ glass::GetStorageRoot().GetChild("NTProvider"));
+ ntProvider->GlobalInit();
wpi::gui::AddLateExecute([] { mainMenu.Display(); });
- glass::AddStandardNetworkTablesViews(ntProvider);
+ glass::AddStandardNetworkTablesViews(*ntProvider);
}
+
+namespace halsimgui {
+
+void AddGuiInit(std::function<void()> initialize) {
+ wpi::gui::AddInit(std::move(initialize));
+}
+
+void AddGuiEarlyExecute(std::function<void()> execute) {
+ wpi::gui::AddEarlyExecute(std::move(execute));
+}
+
+void AddGuiLateExecute(std::function<void()> execute) {
+ wpi::gui::AddLateExecute(std::move(execute));
+}
+
+void GuiExit() {
+ wpi::gui::Exit();
+}
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
index c17a4f8..325673a 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
@@ -4,6 +4,8 @@
#include "NetworkTablesSimGui.h"
+#include <glass/Context.h>
+#include <glass/Storage.h>
#include <glass/networktables/NetworkTables.h>
#include <wpigui.h>
@@ -13,21 +15,24 @@
using namespace halsimgui;
static std::unique_ptr<glass::NetworkTablesModel> gNetworkTablesModel;
-static std::unique_ptr<glass::NetworkTablesView> gNetworkTablesView;
-static glass::Window* gNetworkTablesWindow;
+static std::unique_ptr<glass::Window> gNetworkTablesWindow;
void NetworkTablesSimGui::Initialize() {
gNetworkTablesModel = std::make_unique<glass::NetworkTablesModel>();
- gNetworkTablesView =
- std::make_unique<glass::NetworkTablesView>(gNetworkTablesModel.get());
wpi::gui::AddEarlyExecute([] { gNetworkTablesModel->Update(); });
- gNetworkTablesWindow = HALSimGui::ntProvider.AddWindow(
- "NetworkTables", [] { gNetworkTablesView->Display(); });
- if (gNetworkTablesWindow) {
- gNetworkTablesWindow->SetDefaultPos(250, 277);
- gNetworkTablesWindow->SetDefaultSize(750, 185);
- gNetworkTablesWindow->DisableRenamePopup();
- }
+ gNetworkTablesWindow = std::make_unique<glass::Window>(
+ glass::GetStorageRoot().GetChild("NetworkTables View"), "NetworkTables");
+ gNetworkTablesWindow->SetView(
+ std::make_unique<glass::NetworkTablesView>(gNetworkTablesModel.get()));
+ gNetworkTablesWindow->SetDefaultPos(250, 277);
+ gNetworkTablesWindow->SetDefaultSize(750, 185);
+ gNetworkTablesWindow->DisableRenamePopup();
+ wpi::gui::AddLateExecute([] { gNetworkTablesWindow->Display(); });
+
+ wpi::gui::AddWindowScaler([](float scale) {
+ // scale default window positions
+ gNetworkTablesWindow->ScaleDefault(scale);
+ });
}
void NetworkTablesSimGui::DisplayMenu() {
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
index bcc510a..869c5b1 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
@@ -197,10 +197,10 @@
}
void PCMSimGui::Initialize() {
- HALSimGui::halProvider.RegisterModel("CTREPCMs", PCMsAnyInitialized, [] {
+ HALSimGui::halProvider->RegisterModel("CTREPCMs", PCMsAnyInitialized, [] {
return std::make_unique<PCMsSimModel>();
});
- HALSimGui::halProvider.RegisterView(
+ HALSimGui::halProvider->RegisterView(
"Solenoids", "CTREPCMs",
[](glass::Model* model) {
bool any = false;
@@ -218,14 +218,14 @@
return glass::MakeFunctionView([=] {
glass::DisplayPCMsSolenoids(
static_cast<PCMsSimModel*>(model),
- HALSimGui::halProvider.AreOutputsEnabled());
+ HALSimGui::halProvider->AreOutputsEnabled());
});
});
SimDeviceGui::GetDeviceTree().Add(
- HALSimGui::halProvider.GetModel("CTREPCMs"), [](glass::Model* model) {
+ HALSimGui::halProvider->GetModel("CTREPCMs"), [](glass::Model* model) {
glass::DisplayCompressorsDevice(
static_cast<PCMsSimModel*>(model),
- HALSimGui::halProvider.AreOutputsEnabled());
+ HALSimGui::halProvider->AreOutputsEnabled());
});
}
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
index 3cb5e1a..9eceabd 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
@@ -105,7 +105,7 @@
}
void PWMSimGui::Initialize() {
- HALSimGui::halProvider.Register(
+ HALSimGui::halProvider->Register(
"PWM Outputs", PWMsAnyInitialized,
[] { return std::make_unique<PWMsSimModel>(); },
[](glass::Window* win, glass::Model* model) {
@@ -113,7 +113,7 @@
win->SetDefaultPos(910, 20);
return glass::MakeFunctionView([=] {
glass::DisplayPWMs(static_cast<PWMsSimModel*>(model),
- HALSimGui::halProvider.AreOutputsEnabled());
+ HALSimGui::halProvider->AreOutputsEnabled());
});
});
}
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
index c511345..c136c7e 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
@@ -124,7 +124,7 @@
}
void PowerDistributionSimGui::Initialize() {
- HALSimGui::halProvider.Register(
+ HALSimGui::halProvider->Register(
"PowerDistributions", PowerDistributionsAnyInitialized,
[] { return std::make_unique<PowerDistributionsSimModel>(); },
[](glass::Window* win, glass::Model* model) {
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/RelaySimGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/RelaySimGui.cpp
index 3815617..badb4f9 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/RelaySimGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/RelaySimGui.cpp
@@ -104,7 +104,7 @@
}
void RelaySimGui::Initialize() {
- HALSimGui::halProvider.Register(
+ HALSimGui::halProvider->Register(
"Relays", RelayAnyInitialized,
[] { return std::make_unique<RelaysSimModel>(); },
[](glass::Window* win, glass::Model* model) {
@@ -112,7 +112,7 @@
win->SetDefaultPos(180, 20);
return glass::MakeFunctionView([=] {
glass::DisplayRelays(static_cast<RelaysSimModel*>(model),
- HALSimGui::halProvider.AreOutputsEnabled());
+ HALSimGui::halProvider->AreOutputsEnabled());
});
});
}
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
index ba13a2a..b693569 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
@@ -132,7 +132,7 @@
} // namespace
void RoboRioSimGui::Initialize() {
- HALSimGui::halProvider.Register(
+ HALSimGui::halProvider->Register(
"RoboRIO", [] { return true; },
[] { return std::make_unique<RoboRioSimModel>(); },
[](glass::Window* win, glass::Model* model) {
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
index 62e2896..55b83ce 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
@@ -155,7 +155,7 @@
}
void SimDeviceGui::Initialize() {
- HALSimGui::halProvider.Register(
+ HALSimGui::halProvider->Register(
"Other Devices", [] { return true; },
[] { return std::make_unique<glass::DeviceTreeModel>(); },
[](glass::Window* win, glass::Model* model) {
@@ -170,7 +170,7 @@
static_cast<glass::DeviceTreeModel*>(model)->Display();
});
});
- HALSimGui::halProvider.ShowDefault("Other Devices");
+ HALSimGui::halProvider->ShowDefault("Other Devices");
auto model = std::make_unique<SimDevicesModel>();
gSimDevicesModel = model.get();
@@ -185,7 +185,7 @@
}
glass::DeviceTreeModel& SimDeviceGui::GetDeviceTree() {
- static auto model = HALSimGui::halProvider.GetModel("Other Devices");
+ static auto model = HALSimGui::halProvider->GetModel("Other Devices");
assert(model);
return *static_cast<glass::DeviceTreeModel*>(model);
}
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
index 1928063..3ccf630 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
@@ -71,7 +71,7 @@
}
void TimingGui::Initialize() {
- HALSimGui::halProvider.Register(
+ HALSimGui::halProvider->Register(
"Timing", [] { return true; },
[] { return std::make_unique<TimingModel>(); },
[](glass::Window* win, glass::Model* model) {
@@ -80,5 +80,5 @@
win->SetDefaultPos(5, 150);
return glass::MakeFunctionView(DisplayTiming);
});
- HALSimGui::halProvider.ShowDefault("Timing");
+ HALSimGui::halProvider->ShowDefault("Timing");
}
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/main.cpp b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/main.cpp
index 6df6f35..d0db8d4 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/main.cpp
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/cpp/main.cpp
@@ -3,6 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
#include <glass/Context.h>
+#include <glass/Storage.h>
#include <glass/other/Plot.h>
#include <cstdio>
@@ -22,6 +23,7 @@
#include "DriverStationGui.h"
#include "EncoderSimGui.h"
#include "HALSimGui.h"
+#include "HALSimGuiExt.h"
#include "NetworkTablesSimGui.h"
#include "PCMSimGui.h"
#include "PWMSimGui.h"
@@ -35,7 +37,7 @@
namespace gui = wpi::gui;
-static glass::PlotProvider gPlotProvider{"Plot"};
+static std::unique_ptr<glass::PlotProvider> gPlotProvider;
extern "C" {
#if defined(WIN32) || defined(_WIN32)
@@ -46,54 +48,70 @@
gui::CreateContext();
glass::CreateContext();
+
+ glass::SetStorageName("simgui");
+
+ HAL_RegisterExtension(HALSIMGUI_EXT_ADDGUIINIT,
+ reinterpret_cast<void*>((AddGuiInitFn)&AddGuiInit));
+ HAL_RegisterExtension(
+ HALSIMGUI_EXT_ADDGUILATEEXECUTE,
+ reinterpret_cast<void*>((AddGuiLateExecuteFn)&AddGuiLateExecute));
+ HAL_RegisterExtension(
+ HALSIMGUI_EXT_ADDGUIEARLYEXECUTE,
+ reinterpret_cast<void*>((AddGuiEarlyExecuteFn)&AddGuiEarlyExecute));
+ HAL_RegisterExtension(HALSIMGUI_EXT_GUIEXIT,
+ reinterpret_cast<void*>((GuiExitFn)&GuiExit));
+
HALSimGui::GlobalInit();
DriverStationGui::GlobalInit();
- gPlotProvider.GlobalInit();
+ gPlotProvider = std::make_unique<glass::PlotProvider>(
+ glass::GetStorageRoot().GetChild("Plot"));
+ gPlotProvider->GlobalInit();
// These need to initialize first
- gui::AddInit(EncoderSimGui::Initialize);
- gui::AddInit(SimDeviceGui::Initialize);
+ EncoderSimGui::Initialize();
+ SimDeviceGui::Initialize();
- gui::AddInit(AccelerometerSimGui::Initialize);
- gui::AddInit(AddressableLEDGui::Initialize);
- gui::AddInit(AnalogGyroSimGui::Initialize);
- gui::AddInit(AnalogInputSimGui::Initialize);
- gui::AddInit(AnalogOutputSimGui::Initialize);
- gui::AddInit(DIOSimGui::Initialize);
- gui::AddInit(NetworkTablesSimGui::Initialize);
- gui::AddInit(PCMSimGui::Initialize);
- gui::AddInit(PowerDistributionSimGui::Initialize);
- gui::AddInit(PWMSimGui::Initialize);
- gui::AddInit(RelaySimGui::Initialize);
- gui::AddInit(RoboRioSimGui::Initialize);
- gui::AddInit(TimingGui::Initialize);
+ AccelerometerSimGui::Initialize();
+ AddressableLEDGui::Initialize();
+ AnalogGyroSimGui::Initialize();
+ AnalogInputSimGui::Initialize();
+ AnalogOutputSimGui::Initialize();
+ DIOSimGui::Initialize();
+ NetworkTablesSimGui::Initialize();
+ PCMSimGui::Initialize();
+ PowerDistributionSimGui::Initialize();
+ PWMSimGui::Initialize();
+ RelaySimGui::Initialize();
+ RoboRioSimGui::Initialize();
+ TimingGui::Initialize();
HALSimGui::mainMenu.AddMainMenu([] {
if (ImGui::BeginMenu("Hardware")) {
- HALSimGui::halProvider.DisplayMenu();
+ HALSimGui::halProvider->DisplayMenu();
ImGui::EndMenu();
}
if (ImGui::BeginMenu("NetworkTables")) {
NetworkTablesSimGui::DisplayMenu();
ImGui::Separator();
- HALSimGui::ntProvider.DisplayMenu();
+ HALSimGui::ntProvider->DisplayMenu();
ImGui::EndMenu();
}
if (ImGui::BeginMenu("DS")) {
- DriverStationGui::dsManager.DisplayMenu();
+ DriverStationGui::dsManager->DisplayMenu();
ImGui::EndMenu();
}
if (ImGui::BeginMenu("Plot")) {
- bool paused = gPlotProvider.IsPaused();
+ bool paused = gPlotProvider->IsPaused();
if (ImGui::MenuItem("Pause All Plots", nullptr, &paused)) {
- gPlotProvider.SetPaused(paused);
+ gPlotProvider->SetPaused(paused);
}
ImGui::Separator();
- gPlotProvider.DisplayMenu();
+ gPlotProvider->DisplayMenu();
ImGui::EndMenu();
}
if (ImGui::BeginMenu("Window")) {
- HALSimGui::manager.DisplayMenu();
+ HALSimGui::manager->DisplayMenu();
ImGui::EndMenu();
}
});
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/include/HALProvider.h b/third_party/allwpilib/simulation/halsim_gui/src/main/native/include/HALProvider.h
index e3098db..0a26a09 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/include/HALProvider.h
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/include/HALProvider.h
@@ -15,9 +15,15 @@
namespace halsimgui {
-class HALProvider : public glass::Provider<> {
+class HALProvider : private glass::Provider<> {
public:
- explicit HALProvider(std::string_view iniName) : Provider{iniName} {}
+ explicit HALProvider(glass::Storage& storage);
+
+ using Provider::GlobalInit;
+ using Provider::Register;
+ using Provider::RegisterModel;
+ using Provider::RegisterView;
+ using Provider::ShowDefault;
void DisplayMenu() override;
@@ -38,8 +44,6 @@
static bool AreOutputsEnabled() { return !AreOutputsDisabled(); }
private:
- void Update() override;
-
void Show(ViewEntry* entry, glass::Window* window) override;
};
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/include/HALSimGui.h b/third_party/allwpilib/simulation/halsim_gui/src/main/native/include/HALSimGui.h
index 33ff242..68597e5 100644
--- a/third_party/allwpilib/simulation/halsim_gui/src/main/native/include/HALSimGui.h
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/include/HALSimGui.h
@@ -8,6 +8,9 @@
#include <glass/WindowManager.h>
#include <glass/networktables/NetworkTablesProvider.h>
+#include <functional>
+#include <memory>
+
#include "HALProvider.h"
namespace halsimgui {
@@ -17,10 +20,15 @@
static void GlobalInit();
static glass::MainMenuBar mainMenu;
- static glass::WindowManager manager;
+ static std::unique_ptr<glass::WindowManager> manager;
- static HALProvider halProvider;
- static glass::NetworkTablesProvider ntProvider;
+ static std::unique_ptr<HALProvider> halProvider;
+ static std::unique_ptr<glass::NetworkTablesProvider> ntProvider;
};
+void AddGuiInit(std::function<void()> initialize);
+void AddGuiLateExecute(std::function<void()> execute);
+void AddGuiEarlyExecute(std::function<void()> execute);
+void GuiExit();
+
} // namespace halsimgui
diff --git a/third_party/allwpilib/simulation/halsim_gui/src/main/native/include/HALSimGuiExt.h b/third_party/allwpilib/simulation/halsim_gui/src/main/native/include/HALSimGuiExt.h
new file mode 100644
index 0000000..e60976e
--- /dev/null
+++ b/third_party/allwpilib/simulation/halsim_gui/src/main/native/include/HALSimGuiExt.h
@@ -0,0 +1,26 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <functional>
+
+namespace halsimgui {
+
+// These functions can be used to hook into the GUI, and can be accessed
+// via HAL_RegisterExtensionListener
+
+#define HALSIMGUI_EXT_ADDGUIINIT "halsimgui::AddGuiInit"
+using AddGuiInitFn = void (*)(std::function<void()> initialize);
+
+#define HALSIMGUI_EXT_ADDGUILATEEXECUTE "halsimgui::AddGuiLateExecute"
+using AddGuiLateExecuteFn = void (*)(std::function<void()> execute);
+
+#define HALSIMGUI_EXT_ADDGUIEARLYEXECUTE "halsimgui::AddGuiEarlyExecute"
+using AddGuiEarlyExecuteFn = void (*)(std::function<void()> execute);
+
+#define HALSIMGUI_EXT_GUIEXIT "halsimgui::GuiExit"
+using GuiExitFn = void (*)();
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp b/third_party/allwpilib/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp
index d215df6..ad76c6b 100644
--- a/third_party/allwpilib/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp
+++ b/third_party/allwpilib/simulation/halsim_ws_server/src/dev/native/cpp/main.cpp
@@ -3,7 +3,6 @@
// the WPILib BSD license file in the root directory of this project.
#include <cstdio>
-#include <iostream>
#include <thread>
#include <fmt/format.h>
diff --git a/third_party/allwpilib/styleguide/checkstyle.xml b/third_party/allwpilib/styleguide/checkstyle.xml
index 3796fe3..4b35df8 100644
--- a/third_party/allwpilib/styleguide/checkstyle.xml
+++ b/third_party/allwpilib/styleguide/checkstyle.xml
@@ -266,7 +266,7 @@
value="CLASS_DEF, INTERFACE_DEF, ENUM_DEF, METHOD_DEF, CTOR_DEF, VARIABLE_DEF" />
</module>
<module name="JavadocMethod">
- <property name="scope" value="public" />
+ <property name="accessModifiers" value="public" />
<property name="allowMissingParamTags" value="true" />
<property name="allowMissingReturnTag" value="true" />
<property name="allowedAnnotations" value="Override, Test" />
diff --git a/third_party/allwpilib/styleguide/pmd-ruleset.xml b/third_party/allwpilib/styleguide/pmd-ruleset.xml
index bdfb9a7..0f37af0 100644
--- a/third_party/allwpilib/styleguide/pmd-ruleset.xml
+++ b/third_party/allwpilib/styleguide/pmd-ruleset.xml
@@ -37,6 +37,7 @@
<rule ref="category/java/design.xml">
<exclude name="AvoidThrowingRawExceptionTypes" />
+ <exclude name="CognitiveComplexity" />
<exclude name="CyclomaticComplexity" />
<exclude name="DataClass" />
<exclude name="ExcessiveClassLength" />
@@ -60,9 +61,10 @@
<exclude name="AvoidDuplicateLiterals" />
<exclude name="AvoidLiteralsInIfCondition" />
<exclude name="BeanMembersShouldSerialize" />
+ <exclude name="CloseResource" />
<exclude name="ConstructorCallsOverridableMethod" />
<exclude name="DataflowAnomalyAnalysis" />
- <exclude name="DoNotCallSystemExit" />
+ <exclude name="DoNotTerminateVM" />
<exclude name="FinalizeDoesNotCallSuperFinalize" />
<exclude name="JUnitSpelling" />
<exclude name="MissingSerialVersionUID" />
@@ -83,8 +85,8 @@
<rule name="UnnecessaryCastRule" language="java"
message="Avoid unnecessary casts"
- class="net.sourceforge.pmd.lang.java.rule.migrating.UnnecessaryCastRule"
- externalInfoUrl="https://github.com/pmd/pmd/blob/master/pmd-java/src/main/java/net/sourceforge/pmd/lang/java/rule/migrating/UnnecessaryCastRule.java" />
+ class="net.sourceforge.pmd.lang.java.rule.codestyle.UnnecessaryCastRule"
+ externalInfoUrl="https://github.com/pmd/pmd/blob/master/pmd-java/src/main/java/net/sourceforge/pmd/lang/java/rule/codestyle/UnnecessaryCastRule.java" />
<!-- Custom Rules -->
<rule name="UseRequireNonNull"
diff --git a/third_party/allwpilib/styleguide/spotbugs-exclude.xml b/third_party/allwpilib/styleguide/spotbugs-exclude.xml
index feec066..2393c86 100644
--- a/third_party/allwpilib/styleguide/spotbugs-exclude.xml
+++ b/third_party/allwpilib/styleguide/spotbugs-exclude.xml
@@ -1,6 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<FindBugsFilter>
<Match>
+ <Bug pattern="DCN_NULLPOINTER_EXCEPTION" />
+ <Class name="edu.wpi.first.wpilibj.test.TestSuite" />
+ </Match>
+ <Match>
<Bug pattern="DM_DEFAULT_ENCODING" />
</Match>
<Match>
@@ -16,6 +20,10 @@
<Bug pattern="EI_EXPOSE_REP2" />
</Match>
<Match>
+ <Bug pattern="IS2_INCONSISTENT_SYNC" />
+ <Source name="MechanismLigament2d.java" />
+ </Match>
+ <Match>
<Bug pattern="MS_CANNOT_BE_FINAL" />
<Class name="edu.wpi.first.wpilibj.examples.pacgoat.Robot" />
</Match>
@@ -73,6 +81,14 @@
<Class name="edu.wpi.first.wpilibj.templates.timed.Robot" />
</Match>
<Match>
+ <Bug pattern="URF_UNREAD_FIELD" />
+ <Class name="edu.wpi.first.wpilibj.ADIS16448_IMU" />
+ </Match>
+ <Match>
+ <Bug pattern="URF_UNREAD_FIELD" />
+ <Class name="edu.wpi.first.wpilibj.ADIS16470_IMU" />
+ </Match>
+ <Match>
<Bug pattern="URF_UNREAD_PUBLIC_OR_PROTECTED_FIELD" />
</Match>
<Match>
diff --git a/third_party/allwpilib/upstream_utils/drake-dllexport-dare.patch b/third_party/allwpilib/upstream_utils/drake-dllexport-dare.patch
index 9e5fb00..a37dacd 100644
--- a/third_party/allwpilib/upstream_utils/drake-dllexport-dare.patch
+++ b/third_party/allwpilib/upstream_utils/drake-dllexport-dare.patch
@@ -1,5 +1,5 @@
diff --git b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
-index cb0a4ee13..5d7a316f3 100644
+index df7a58b2b..55b8442bf 100644
--- b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
+++ a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
@@ -4,6 +4,7 @@
@@ -10,18 +10,18 @@
namespace drake {
namespace math {
-@@ -20,6 +21,7 @@ namespace math {
- /// "On the Numerical Solution of the Discrete-Time Algebraic Riccati Equation"
- /// by Thrasyvoulos Pappas, Alan J. Laub, and Nils R. Sandell
- ///
+@@ -21,6 +22,7 @@ Based on the Schur Vector approach outlined in this paper:
+ "On the Numerical Solution of the Discrete-Time Algebraic Riccati Equation"
+ by Thrasyvoulos Pappas, Alan J. Laub, and Nils R. Sandell
+ */
+WPILIB_DLLEXPORT
Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
const Eigen::Ref<const Eigen::MatrixXd>& A,
const Eigen::Ref<const Eigen::MatrixXd>& B,
-@@ -69,6 +71,7 @@ Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
- /// @throws std::runtime_error if Q − NR⁻¹Nᵀ is not positive semi-definite.
- /// @throws std::runtime_error if R is not positive definite.
- ///
+@@ -71,6 +73,7 @@ J = Σ [uₖ] [0 R][uₖ] ΔT
+ @throws std::runtime_error if Q − NR⁻¹Nᵀ is not positive semi-definite.
+ @throws std::runtime_error if R is not positive definite.
+ */
+WPILIB_DLLEXPORT
Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
const Eigen::Ref<const Eigen::MatrixXd>& A,
diff --git a/third_party/allwpilib/upstream_utils/drake-fix-doxygen.patch b/third_party/allwpilib/upstream_utils/drake-fix-doxygen.patch
deleted file mode 100644
index 8a48333..0000000
--- a/third_party/allwpilib/upstream_utils/drake-fix-doxygen.patch
+++ /dev/null
@@ -1,130 +0,0 @@
-diff --git a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
-index 5d7a316f3..dc08be95e 100644
---- a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
-+++ b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
-@@ -9,18 +9,19 @@
- namespace drake {
- namespace math {
-
--/// Computes the unique stabilizing solution X to the discrete-time algebraic
--/// Riccati equation:
--///
--/// AᵀXA − X − AᵀXB(BᵀXB + R)⁻¹BᵀXA + Q = 0
--///
--/// @throws std::exception if Q is not positive semi-definite.
--/// @throws std::exception if R is not positive definite.
--///
--/// Based on the Schur Vector approach outlined in this paper:
--/// "On the Numerical Solution of the Discrete-Time Algebraic Riccati Equation"
--/// by Thrasyvoulos Pappas, Alan J. Laub, and Nils R. Sandell
--///
-+/**
-+Computes the unique stabilizing solution X to the discrete-time algebraic
-+Riccati equation:
-+
-+AᵀXA − X − AᵀXB(BᵀXB + R)⁻¹BᵀXA + Q = 0
-+
-+@throws std::exception if Q is not positive semi-definite.
-+@throws std::exception if R is not positive definite.
-+
-+Based on the Schur Vector approach outlined in this paper:
-+"On the Numerical Solution of the Discrete-Time Algebraic Riccati Equation"
-+by Thrasyvoulos Pappas, Alan J. Laub, and Nils R. Sandell
-+*/
- WPILIB_DLLEXPORT
- Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
- const Eigen::Ref<const Eigen::MatrixXd>& A,
-@@ -28,49 +29,50 @@ Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
- const Eigen::Ref<const Eigen::MatrixXd>& Q,
- const Eigen::Ref<const Eigen::MatrixXd>& R);
-
--/// Computes the unique stabilizing solution X to the discrete-time algebraic
--/// Riccati equation:
--///
--/// AᵀXA − X − (AᵀXB + N)(BᵀXB + R)⁻¹(BᵀXA + Nᵀ) + Q = 0
--///
--/// This is equivalent to solving the original DARE:
--///
--/// A₂ᵀXA₂ − X − A₂ᵀXB(BᵀXB + R)⁻¹BᵀXA₂ + Q₂ = 0
--///
--/// where A₂ and Q₂ are a change of variables:
--///
--/// A₂ = A − BR⁻¹Nᵀ and Q₂ = Q − NR⁻¹Nᵀ
--///
--/// This overload of the DARE is useful for finding the control law uₖ that
--/// minimizes the following cost function subject to xₖ₊₁ = Axₖ + Buₖ.
--///
--/// @verbatim
--/// ∞ [xₖ]ᵀ[Q N][xₖ]
--/// J = Σ [uₖ] [Nᵀ R][uₖ] ΔT
--/// k=0
--/// @endverbatim
--///
--/// This is a more general form of the following. The linear-quadratic regulator
--/// is the feedback control law uₖ that minimizes the following cost function
--/// subject to xₖ₊₁ = Axₖ + Buₖ:
--///
--/// @verbatim
--/// ∞
--/// J = Σ (xₖᵀQxₖ + uₖᵀRuₖ) ΔT
--/// k=0
--/// @endverbatim
--///
--/// This can be refactored as:
--///
--/// @verbatim
--/// ∞ [xₖ]ᵀ[Q 0][xₖ]
--/// J = Σ [uₖ] [0 R][uₖ] ΔT
--/// k=0
--/// @endverbatim
--///
--/// @throws std::runtime_error if Q − NR⁻¹Nᵀ is not positive semi-definite.
--/// @throws std::runtime_error if R is not positive definite.
--///
-+/**
-+Computes the unique stabilizing solution X to the discrete-time algebraic
-+Riccati equation:
-+
-+AᵀXA − X − (AᵀXB + N)(BᵀXB + R)⁻¹(BᵀXA + Nᵀ) + Q = 0
-+
-+This is equivalent to solving the original DARE:
-+
-+A₂ᵀXA₂ − X − A₂ᵀXB(BᵀXB + R)⁻¹BᵀXA₂ + Q₂ = 0
-+
-+where A₂ and Q₂ are a change of variables:
-+
-+A₂ = A − BR⁻¹Nᵀ and Q₂ = Q − NR⁻¹Nᵀ
-+
-+This overload of the DARE is useful for finding the control law uₖ that
-+minimizes the following cost function subject to xₖ₊₁ = Axₖ + Buₖ.
-+
-+@verbatim
-+ ∞ [xₖ]ᵀ[Q N][xₖ]
-+J = Σ [uₖ] [Nᵀ R][uₖ] ΔT
-+ k=0
-+@endverbatim
-+
-+This is a more general form of the following. The linear-quadratic regulator
-+is the feedback control law uₖ that minimizes the following cost function
-+subject to xₖ₊₁ = Axₖ + Buₖ:
-+
-+@verbatim
-+ ∞
-+J = Σ (xₖᵀQxₖ + uₖᵀRuₖ) ΔT
-+ k=0
-+@endverbatim
-+
-+This can be refactored as:
-+
-+@verbatim
-+ ∞ [xₖ]ᵀ[Q 0][xₖ]
-+J = Σ [uₖ] [0 R][uₖ] ΔT
-+ k=0
-+@endverbatim
-+
-+@throws std::runtime_error if Q − NR⁻¹Nᵀ is not positive semi-definite.
-+@throws std::runtime_error if R is not positive definite.
-+*/
- WPILIB_DLLEXPORT
- Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
- const Eigen::Ref<const Eigen::MatrixXd>& A,
diff --git a/third_party/allwpilib/upstream_utils/fmt-dont-throw-on-write-failure.patch b/third_party/allwpilib/upstream_utils/fmt-dont-throw-on-write-failure.patch
new file mode 100644
index 0000000..6be3639
--- /dev/null
+++ b/third_party/allwpilib/upstream_utils/fmt-dont-throw-on-write-failure.patch
@@ -0,0 +1,42 @@
+diff --git a/wpiutil/src/main/native/fmtlib/include/fmt/format-inl.h b/wpiutil/src/main/native/fmtlib/include/fmt/format-inl.h
+index 2c51c50ae..cc89abdd3 100644
+--- a/wpiutil/src/main/native/fmtlib/include/fmt/format-inl.h
++++ b/wpiutil/src/main/native/fmtlib/include/fmt/format-inl.h
+@@ -92,8 +92,7 @@ FMT_FUNC void report_error(format_func func, int error_code,
+ // A wrapper around fwrite that throws on error.
+ inline void fwrite_fully(const void* ptr, size_t size, size_t count,
+ FILE* stream) {
+- size_t written = std::fwrite(ptr, size, count, stream);
+- if (written < count) FMT_THROW(system_error(errno, "cannot write to file"));
++ std::fwrite(ptr, size, count, stream);
+ }
+
+ #ifndef FMT_STATIC_THOUSANDS_SEPARATOR
+diff --git a/wpiutil/src/main/native/fmtlib/include/fmt/xchar.h b/wpiutil/src/main/native/fmtlib/include/fmt/xchar.h
+index 55825077f..9acb893fa 100644
+--- a/wpiutil/src/main/native/fmtlib/include/fmt/xchar.h
++++ b/wpiutil/src/main/native/fmtlib/include/fmt/xchar.h
+@@ -207,8 +207,7 @@ inline void vprint(std::FILE* f, wstring_view fmt, wformat_args args) {
+ wmemory_buffer buffer;
+ detail::vformat_to(buffer, fmt, args);
+ buffer.push_back(L'\0');
+- if (std::fputws(buffer.data(), f) == -1)
+- FMT_THROW(system_error(errno, FMT_STRING("cannot write to file")));
++ std::fputws(buffer.data(), f);
+ }
+
+ inline void vprint(wstring_view fmt, wformat_args args) {
+diff --git a/wpiutil/src/main/native/fmtlib/src/os.cpp b/wpiutil/src/main/native/fmtlib/src/os.cpp
+index 04b4dc506..4eb3e1fdd 100644
+--- a/wpiutil/src/main/native/fmtlib/src/os.cpp
++++ b/wpiutil/src/main/native/fmtlib/src/os.cpp
+@@ -277,8 +277,7 @@ std::size_t file::read(void* buffer, std::size_t count) {
+ std::size_t file::write(const void* buffer, std::size_t count) {
+ rwresult result = 0;
+ FMT_RETRY(result, FMT_POSIX_CALL(write(fd_, buffer, convert_rwcount(count))));
+- if (result < 0) FMT_THROW(system_error(errno, "cannot write to file"));
+- return detail::to_unsigned(result);
++ return count;
+ }
+
+ file file::dup(int fd) {
diff --git a/third_party/allwpilib/upstream_utils/update_drake.py b/third_party/allwpilib/upstream_utils/update_drake.py
index a6b6499..069d3a8 100755
--- a/third_party/allwpilib/upstream_utils/update_drake.py
+++ b/third_party/allwpilib/upstream_utils/update_drake.py
@@ -8,7 +8,7 @@
def main():
root, repo = setup_upstream_repo("https://github.com/RobotLocomotion/drake",
- "v0.35.0")
+ "v0.37.0")
wpimath = os.path.join(root, "wpimath")
# Delete old install
@@ -63,8 +63,7 @@
apply_patches(root, [
"upstream_utils/drake-replace-dense-with-core.patch",
- "upstream_utils/drake-dllexport-dare.patch",
- "upstream_utils/drake-fix-doxygen.patch"
+ "upstream_utils/drake-dllexport-dare.patch"
])
diff --git a/third_party/allwpilib/upstream_utils/update_fmt.py b/third_party/allwpilib/upstream_utils/update_fmt.py
index faddbae..f752b3d 100755
--- a/third_party/allwpilib/upstream_utils/update_fmt.py
+++ b/third_party/allwpilib/upstream_utils/update_fmt.py
@@ -3,11 +3,11 @@
import os
import shutil
-from upstream_utils import setup_upstream_repo, comment_out_invalid_includes, walk_cwd_and_copy_if
+from upstream_utils import setup_upstream_repo, comment_out_invalid_includes, walk_cwd_and_copy_if, apply_patches
def main():
- root, repo = setup_upstream_repo("https://github.com/fmtlib/fmt", "8.0.1")
+ root, repo = setup_upstream_repo("https://github.com/fmtlib/fmt", "8.1.1")
wpiutil = os.path.join(root, "wpiutil")
# Delete old install
@@ -31,6 +31,9 @@
comment_out_invalid_includes(
f, [os.path.join(wpiutil, "src/main/native/fmtlib/include")])
+ apply_patches(root,
+ ["upstream_utils/fmt-dont-throw-on-write-failure.patch"])
+
if __name__ == "__main__":
main()
diff --git a/third_party/allwpilib/wpigui/.styleguide b/third_party/allwpilib/wpigui/.styleguide
index 225b12a..9a462a3 100644
--- a/third_party/allwpilib/wpigui/.styleguide
+++ b/third_party/allwpilib/wpigui/.styleguide
@@ -27,5 +27,4 @@
^imgui
^implot
^stb
- ^wpi/
}
diff --git a/third_party/allwpilib/wpigui/CMakeLists.txt b/third_party/allwpilib/wpigui/CMakeLists.txt
index ec46289..59c4d6f 100644
--- a/third_party/allwpilib/wpigui/CMakeLists.txt
+++ b/third_party/allwpilib/wpigui/CMakeLists.txt
@@ -15,7 +15,7 @@
set_property(TARGET wpigui PROPERTY FOLDER "libraries")
wpilib_target_warnings(wpigui)
-target_link_libraries(wpigui PUBLIC imgui wpiutil)
+target_link_libraries(wpigui PUBLIC imgui)
target_include_directories(wpigui PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
diff --git a/third_party/allwpilib/wpigui/build.gradle b/third_party/allwpilib/wpigui/build.gradle
index 5b8c4b2..5959b67 100644
--- a/third_party/allwpilib/wpigui/build.gradle
+++ b/third_party/allwpilib/wpigui/build.gradle
@@ -62,7 +62,6 @@
}
binaries.all {
nativeUtils.useRequiredLibrary(it, 'imgui_static')
- lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
it.buildable = false
return
@@ -120,7 +119,6 @@
binaries.all {
lib library: 'wpigui'
nativeUtils.useRequiredLibrary(it, 'imgui_static')
- lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
}
}
}
diff --git a/third_party/allwpilib/wpigui/src/main/native/cpp/portable-file-dialogs.cpp b/third_party/allwpilib/wpigui/src/main/native/cpp/portable-file-dialogs.cpp
index 1330fa7..0d94475 100644
--- a/third_party/allwpilib/wpigui/src/main/native/cpp/portable-file-dialogs.cpp
+++ b/third_party/allwpilib/wpigui/src/main/native/cpp/portable-file-dialogs.cpp
@@ -35,6 +35,11 @@
#ifndef _POSIX_C_SOURCE
# define _POSIX_C_SOURCE 2 // for popen()
#endif
+#ifdef __APPLE__
+# ifndef _DARWIN_C_SOURCE
+# define _DARWIN_C_SOURCE
+# endif
+#endif
#include <cstdio> // popen()
#include <cstdlib> // std::getenv()
#include <fcntl.h> // fcntl()
@@ -46,11 +51,21 @@
#ifdef _WIN32
#include <set>
#endif
-#include <iostream>
#include <regex>
#include <thread>
#include <chrono>
+// Versions of mingw64 g++ up to 9.3.0 do not have a complete IFileDialog
+#ifndef PFD_HAS_IFILEDIALOG
+# define PFD_HAS_IFILEDIALOG 1
+# if (defined __MINGW64__ || defined __MINGW32__) && defined __GXX_ABI_VERSION
+# if __GXX_ABI_VERSION <= 1013
+# undef PFD_HAS_IFILEDIALOG
+# define PFD_HAS_IFILEDIALOG 0
+# endif
+# endif
+#endif
+
//
// Below this are all the method implementations.
//
@@ -90,6 +105,18 @@
HMODULE handle;
};
+ // Helper class around CoInitialize() and CoUnInitialize()
+ class ole32_dll : public dll
+ {
+ public:
+ ole32_dll();
+ ~ole32_dll();
+ bool is_initialized();
+
+ private:
+ HRESULT m_state;
+ };
+
// Helper class around CreateActCtx() and ActivateActCtx()
class new_style_context
{
@@ -489,6 +516,30 @@
}
#endif // _WIN32
+// ole32_dll implementation
+
+#if _WIN32
+internal::platform::ole32_dll::ole32_dll()
+ : dll("ole32.dll")
+{
+ // Use COINIT_MULTITHREADED because COINIT_APARTMENTTHREADED causes crashes.
+ // See https://github.com/samhocevar/portable-file-dialogs/issues/51
+ auto coinit = proc<HRESULT WINAPI (LPVOID, DWORD)>(*this, "CoInitializeEx");
+ m_state = coinit(nullptr, COINIT_MULTITHREADED);
+}
+
+internal::platform::ole32_dll::~ole32_dll()
+{
+ if (is_initialized())
+ proc<void WINAPI ()>(*this, "CoUninitialize")();
+}
+
+bool internal::platform::ole32_dll::is_initialized()
+{
+ return m_state == S_OK || m_state == S_FALSE;
+}
+#endif
+
// new_style_context implementation
#if _WIN32
@@ -595,13 +646,17 @@
}
}
-// THis is only used for debugging purposes
-std::ostream& operator <<(std::ostream &s, std::vector<std::string> const &v)
+// This is only used for debugging purposes
+void print_command(std::vector<std::string> const &v)
{
- int not_first = 0;
- for (auto &e : v)
- s << (not_first++ ? " " : "") << e;
- return s;
+ fputs("pfd: ", stderr);
+ for (size_t i = 0; i < v.size(); ++i) {
+ if (i > 0) {
+ fputc(' ', stderr);
+ }
+ fputs(v[i].c_str(), stderr);
+ }
+ fputc('\n', stderr);
}
// Properly quote a string for Powershell: replace ' or " with '' or ""
@@ -634,7 +689,9 @@
public:
#if _WIN32
static int CALLBACK bffcallback(HWND hwnd, UINT uMsg, LPARAM, LPARAM pData);
+#if PFD_HAS_IFILEDIALOG
std::string select_folder_vista(IFileDialog *ifd, bool force_path);
+#endif
std::wstring m_wtitle;
std::wstring m_wdefault_path;
@@ -668,13 +725,16 @@
m_impl->m_wdefault_path = internal::str2wstr(default_path);
auto wfilter_list = internal::str2wstr(filter_list);
+ // Initialise COM. This is required for the new folder selection window,
+ // (see https://github.com/samhocevar/portable-file-dialogs/pull/21)
+ // and to avoid random crashes with GetOpenFileNameW() (see
+ // https://github.com/samhocevar/portable-file-dialogs/issues/51)
+ internal::platform::ole32_dll ole32;
+
// Folder selection uses a different method
if (in_type == type::folder)
{
- internal::platform::dll ole32("ole32.dll");
-
- auto status = internal::platform::dll::proc<HRESULT WINAPI (LPVOID, DWORD)>(ole32, "CoInitializeEx")
- (nullptr, COINIT_APARTMENTTHREADED);
+#if PFD_HAS_IFILEDIALOG
if (flags(flag::is_vista))
{
// On Vista and higher we should be able to use IFileDialog for folder selection
@@ -686,6 +746,7 @@
if (SUCCEEDED(hr))
return m_impl->select_folder_vista(ifd, options & opt::force_path);
}
+#endif
BROWSEINFOW bi;
memset(&bi, 0, sizeof(bi));
@@ -695,9 +756,7 @@
if (flags(flag::is_vista))
{
- // This hangs on Windows XP, as reported here:
- // https://github.com/samhocevar/portable-file-dialogs/pull/21
- if (status == S_OK)
+ if (ole32.is_initialized())
bi.ulFlags |= BIF_NEWDIALOGSTYLE;
bi.ulFlags |= BIF_EDITBOX;
bi.ulFlags |= BIF_STATUSTEXT;
@@ -713,8 +772,6 @@
ret = internal::wstr2str(buffer);
delete[] buffer;
}
- if (status == S_OK)
- internal::platform::dll::proc<void WINAPI ()>(ole32, "CoUninitialize")();
return ret;
}
@@ -750,37 +807,36 @@
internal::platform::dll comdlg32("comdlg32.dll");
+ // Apply new visual style (required for windows XP)
+ internal::platform::new_style_context ctx;
+
if (in_type == type::save)
{
if (!(options & opt::force_overwrite))
ofn.Flags |= OFN_OVERWRITEPROMPT;
- // using set context to apply new visual style (required for windows XP)
- internal::platform::new_style_context ctx;
-
internal::platform::dll::proc<BOOL WINAPI (LPOPENFILENAMEW)> get_save_file_name(comdlg32, "GetSaveFileNameW");
if (get_save_file_name(&ofn) == 0)
return "";
return internal::wstr2str(woutput.c_str());
}
+ else
+ {
+ if (options & opt::multiselect)
+ ofn.Flags |= OFN_ALLOWMULTISELECT;
+ ofn.Flags |= OFN_PATHMUSTEXIST;
- if (options & opt::multiselect)
- ofn.Flags |= OFN_ALLOWMULTISELECT;
- ofn.Flags |= OFN_PATHMUSTEXIST;
-
- // using set context to apply new visual style (required for windows XP)
- internal::platform::new_style_context ctx;
-
- internal::platform::dll::proc<BOOL WINAPI (LPOPENFILENAMEW)> get_open_file_name(comdlg32, "GetOpenFileNameW");
- if (get_open_file_name(&ofn) == 0)
- return "";
+ internal::platform::dll::proc<BOOL WINAPI (LPOPENFILENAMEW)> get_open_file_name(comdlg32, "GetOpenFileNameW");
+ if (get_open_file_name(&ofn) == 0)
+ return "";
+ }
std::string prefix;
for (wchar_t const *p = woutput.c_str(); *p; )
{
auto filename = internal::wstr2str(p);
- p += filename.size();
- // In multiselect mode, we advance p one step more and
+ p += wcslen(p);
+ // In multiselect mode, we advance p one wchar further and
// check for another filename. If there is one and the
// prefix is empty, it means we just read the prefix.
if ((options & opt::multiselect) && *++p && prefix.empty())
@@ -895,7 +951,10 @@
case type::folder: command.push_back("--getexistingdirectory"); break;
}
if (options & opt::multiselect)
- command.push_back(" --multiple");
+ {
+ command.push_back("--multiple");
+ command.push_back("--separate-output");
+ }
command.push_back(default_path);
@@ -909,7 +968,10 @@
}
if (flags(flag::is_verbose))
- std::cerr << "pfd: " << command << std::endl;
+ print_command(command);
+
+ if (!available())
+ fputs("pfd: Unable to find zenity/matedialog/qarma/kdialog to open file chooser\n", stderr);
m_async->start_process(command);
#endif
@@ -923,8 +985,8 @@
auto ret = m_async->result();
// Strip potential trailing newline (zenity). Also strip trailing slash
// added by osascript for consistency with other backends.
- while (ret.back() == '\n' || ret.back() == '/')
- ret = ret.substr(0, ret.size() - 1);
+ while (!ret.empty() && (ret.back() == '\n' || ret.back() == '/'))
+ ret.pop_back();
return ret;
#endif
}
@@ -965,6 +1027,7 @@
return 0;
}
+#if PFD_HAS_IFILEDIALOG
std::string internal::file_dialog::Impl::select_folder_vista(IFileDialog *ifd, bool force_path)
{
std::string result;
@@ -1016,8 +1079,7 @@
if (wselected)
{
result = internal::wstr2str(std::wstring(wselected));
- internal::platform::dll ole32("ole32.dll");
- internal::platform::dll::proc<void WINAPI (LPVOID)>(ole32, "CoTaskMemFree")(wselected);
+ internal::platform::dll::proc<void WINAPI (LPVOID)>(internal::platform::ole32_dll(), "CoTaskMemFree")(wselected);
}
}
}
@@ -1027,6 +1089,7 @@
return result;
}
#endif
+#endif
// notify implementation
@@ -1127,7 +1190,10 @@
}
if (flags(flag::is_verbose))
- std::cerr << "pfd: " << command << std::endl;
+ print_command(command);
+
+ if (!available())
+ fputs("pfd: Unable to find zenity/matedialog/qarma/kdialog to open file chooser\n", stderr);
m_async->start_process(command);
#endif
@@ -1141,7 +1207,9 @@
icon _icon /* = icon::info */)
{
#if _WIN32
- UINT style = MB_TOPMOST;
+ // Use MB_SYSTEMMODAL rather than MB_TOPMOST to ensure the message window is brought
+ // to front. See https://github.com/samhocevar/portable-file-dialogs/issues/52
+ UINT style = MB_SYSTEMMODAL;
switch (_icon)
{
case icon::warning: style |= MB_ICONWARNING; break;
@@ -1168,11 +1236,11 @@
m_mappings[IDRETRY] = button::retry;
m_mappings[IDIGNORE] = button::ignore;
- m_async->start_func([this, text, title, style](int* exit_code) -> std::string
+ m_async->start_func([text, title, style](int* exit_code) -> std::string
{
auto wtext = internal::str2wstr(text);
auto wtitle = internal::str2wstr(title);
- // using set context to apply new visual style (required for all windows versions)
+ // Apply new visual style (required for all Windows versions)
internal::platform::new_style_context ctx;
*exit_code = MessageBoxW(GetActiveWindow(), wtext.c_str(), wtitle.c_str(), style);
return "";
@@ -1328,7 +1396,10 @@
}
if (flags(flag::is_verbose))
- std::cerr << "pfd: " << command << std::endl;
+ print_command(command);
+
+ if (!available())
+ fputs("pfd: Unable to find zenity/matedialog/qarma/kdialog to open file chooser\n", stderr);
m_async->start_process(command);
#endif
diff --git a/third_party/allwpilib/wpigui/src/main/native/cpp/wpigui.cpp b/third_party/allwpilib/wpigui/src/main/native/cpp/wpigui.cpp
index 4b200b5..b1e1143 100644
--- a/third_party/allwpilib/wpigui/src/main/native/cpp/wpigui.cpp
+++ b/third_party/allwpilib/wpigui/src/main/native/cpp/wpigui.cpp
@@ -15,7 +15,6 @@
#include <imgui_internal.h>
#include <implot.h>
#include <stb_image.h>
-#include <wpi/fs.h>
#include "wpigui_internal.h"
@@ -34,7 +33,9 @@
gContext->width = width;
gContext->height = height;
}
- PlatformRenderFrame();
+ if (!gContext->isPlatformRendering) {
+ PlatformRenderFrame();
+ }
}
static void FramebufferSizeCallback(GLFWwindow* window, int width, int height) {
@@ -96,8 +97,8 @@
out_buf->appendf(
"[MainWindow][GLOBAL]\nwidth=%d\nheight=%d\nmaximized=%d\n"
"xpos=%d\nypos=%d\nuserScale=%d\nstyle=%d\n\n",
- gContext->width, gContext->height, gContext->maximized, gContext->xPos,
- gContext->yPos, gContext->userScale, gContext->style);
+ gContext->width, gContext->height, gContext->maximized ? 1 : 0,
+ gContext->xPos, gContext->yPos, gContext->userScale, gContext->style);
}
void gui::CreateContext() {
@@ -146,7 +147,12 @@
iniHandler.WriteAllFn = IniWriteAll;
ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
- io.IniFilename = gContext->iniPath.c_str();
+ if (gContext->loadSettings) {
+ gContext->loadSettings();
+ io.IniFilename = nullptr;
+ } else {
+ io.IniFilename = gContext->iniPath.c_str();
+ }
for (auto&& initialize : gContext->initializers) {
if (initialize) {
@@ -155,7 +161,11 @@
}
// Load INI file
- ImGui::LoadIniSettingsFromDisk(io.IniFilename);
+ if (gContext->loadIniSettings) {
+ gContext->loadIniSettings();
+ } else if (io.IniFilename) {
+ ImGui::LoadIniSettingsFromDisk(io.IniFilename);
+ }
// Set initial window settings
glfwWindowHint(GLFW_MAXIMIZED, gContext->maximized ? GLFW_TRUE : GLFW_FALSE);
@@ -282,7 +292,23 @@
while (!glfwWindowShouldClose(gContext->window) && !gContext->exit) {
// Poll and handle events (inputs, window resize, etc.)
glfwPollEvents();
+ gContext->isPlatformRendering = true;
PlatformRenderFrame();
+ gContext->isPlatformRendering = false;
+
+ // custom saving
+ if (gContext->saveSettings) {
+ auto& io = ImGui::GetIO();
+ if (io.WantSaveIniSettings) {
+ gContext->saveSettings(false);
+ io.WantSaveIniSettings = false; // reset flag
+ }
+ }
+ }
+
+ // Save (if custom save)
+ if (gContext->saveSettings) {
+ gContext->saveSettings(true);
}
// Cleanup
@@ -292,8 +318,8 @@
ImGui::DestroyContext();
// Delete the save file if requested.
- if (gContext->resetOnExit) {
- fs::remove(fs::path{gContext->iniPath});
+ if (!gContext->saveSettings && gContext->resetOnExit) {
+ std::remove(gContext->iniPath.c_str());
}
glfwDestroyWindow(gContext->window);
@@ -367,6 +393,14 @@
}
}
+void gui::ConfigureCustomSaveSettings(std::function<void()> load,
+ std::function<void()> loadIni,
+ std::function<void(bool)> save) {
+ gContext->loadSettings = load;
+ gContext->loadIniSettings = loadIni;
+ gContext->saveSettings = save;
+}
+
GLFWwindow* gui::GetSystemWindow() {
return gContext->window;
}
@@ -416,27 +450,31 @@
gContext->clearColor = color;
}
-void gui::ConfigurePlatformSaveFile(const std::string& name) {
- gContext->iniPath = name;
+std::string gui::GetPlatformSaveFileDir() {
#if defined(_MSC_VER)
const char* env = std::getenv("APPDATA");
if (env) {
- gContext->iniPath = env + std::string("/" + name);
+ return env + std::string("/");
}
#elif defined(__APPLE__)
const char* env = std::getenv("HOME");
if (env) {
- gContext->iniPath = env + std::string("/Library/Preferences/" + name);
+ return env + std::string("/Library/Preferences/");
}
#else
const char* xdg = std::getenv("XDG_CONFIG_HOME");
const char* env = std::getenv("HOME");
if (xdg) {
- gContext->iniPath = xdg + std::string("/" + name);
+ return xdg + std::string("/");
} else if (env) {
- gContext->iniPath = env + std::string("/.config/" + name);
+ return env + std::string("/.config/");
}
#endif
+ return "";
+}
+
+void gui::ConfigurePlatformSaveFile(const std::string& name) {
+ gContext->iniPath = GetPlatformSaveFileDir() + name;
}
void gui::EmitViewMenu() {
@@ -473,7 +511,9 @@
ImGui::EndMenu();
}
- ImGui::MenuItem("Reset UI on Exit?", nullptr, &gContext->resetOnExit);
+ if (!gContext->saveSettings) {
+ ImGui::MenuItem("Reset UI on Exit?", nullptr, &gContext->resetOnExit);
+ }
ImGui::EndMenu();
}
}
diff --git a/third_party/allwpilib/wpigui/src/main/native/include/portable-file-dialogs.h b/third_party/allwpilib/wpigui/src/main/native/include/portable-file-dialogs.h
index dffa71e..95d5f43 100644
--- a/third_party/allwpilib/wpigui/src/main/native/include/portable-file-dialogs.h
+++ b/third_party/allwpilib/wpigui/src/main/native/include/portable-file-dialogs.h
@@ -210,7 +210,7 @@
class open_file : public internal::file_dialog
{
public:
- open_file(std::string const &title,
+ explicit open_file(std::string const &title,
std::string const &default_path = "",
std::vector<std::string> const &filters = { "All Files", "*" },
opt options = opt::none)
@@ -223,7 +223,7 @@
class save_file : public internal::file_dialog
{
public:
- save_file(std::string const &title,
+ explicit save_file(std::string const &title,
std::string const &default_path = "",
std::vector<std::string> const &filters = { "All Files", "*" },
opt options = opt::none)
@@ -236,7 +236,7 @@
class select_folder : public internal::file_dialog
{
public:
- select_folder(std::string const &title,
+ explicit select_folder(std::string const &title,
std::string const &default_path = "",
opt options = opt::none)
: file_dialog(type::folder, title, default_path, {}, options)
@@ -246,4 +246,3 @@
};
} // namespace pfd
-
diff --git a/third_party/allwpilib/wpigui/src/main/native/include/wpigui.h b/third_party/allwpilib/wpigui/src/main/native/include/wpigui.h
index 7860f0d..d4602b5 100644
--- a/third_party/allwpilib/wpigui/src/main/native/include/wpigui.h
+++ b/third_party/allwpilib/wpigui/src/main/native/include/wpigui.h
@@ -80,6 +80,36 @@
void AddLateExecute(std::function<void()> execute);
/**
+ * Customizes save/load behavior.
+ *
+ * By default, the integrated ImGui functions are used for this;
+ * ImGui::LoadIniSettingsFromDisk(io.IniFilename) is called at startup, and
+ * ImGui default automatic save file handling is used via io.IniFilename.
+ *
+ * Calling this function results in the load function being called at startup,
+ * io.IniFilename set to null (which disables ImGui's integrated file saving),
+ * and the save function being called when io.WantSaveIniSettings is true.
+ * The loadIni function should call ImGui::LoadIniSettingsFromMemory() to load
+ * ImGui save data, and the save function should call
+ * ImGui::SaveIniSettingsToMemory() to get ImGui save data.
+ *
+ * The load function is called PRIOR to AddInit() functions, and the loadIni
+ * function is called AFTER to AddInit() functions. This allows initialize
+ * functions that use custom storage to handle the loaded values, and initialize
+ * functions that use INI storage to add hooks prior to the load INI occurring.
+ *
+ * This must be called prior to Initialize().
+ *
+ * @param load load function
+ * @param loadIni load INI function
+ * @param save save function; false is passed periodically, true is passed once
+ * when the main loop is exiting
+ */
+void ConfigureCustomSaveSettings(std::function<void()> load,
+ std::function<void()> loadIni,
+ std::function<void(bool exiting)> save);
+
+/**
* Gets GLFW window handle.
*/
GLFWwindow* GetSystemWindow();
@@ -138,6 +168,14 @@
void SetClearColor(ImVec4 color);
/**
+ * Gets the (platform-specific) absolute directory for save files.
+ *
+ * @return Absolute path, including trailing "/". Empty string if directory
+ * could not be determined.
+ */
+std::string GetPlatformSaveFileDir();
+
+/**
* Configures a save file (.ini) in a platform specific location. On Windows,
* the .ini is saved in %APPDATA%; on macOS the .ini is saved in
* ~/Library/Preferences; on Linux the .ini is stored in $XDG_CONFIG_HOME or
diff --git a/third_party/allwpilib/wpigui/src/main/native/include/wpigui_internal.h b/third_party/allwpilib/wpigui/src/main/native/include/wpigui_internal.h
index 13e504c..4c8a22c 100644
--- a/third_party/allwpilib/wpigui/src/main/native/include/wpigui_internal.h
+++ b/third_party/allwpilib/wpigui/src/main/native/include/wpigui_internal.h
@@ -19,7 +19,7 @@
bool loadedWidthHeight = false;
int width;
int height;
- int maximized = 0;
+ bool maximized = false;
int xPos = -1;
int yPos = -1;
int userScale = 2;
@@ -37,9 +37,13 @@
std::string title;
int defaultWidth;
int defaultHeight;
+ bool isPlatformRendering{false};
GLFWwindow* window = nullptr;
+ std::function<void()> loadSettings;
+ std::function<void()> loadIniSettings;
+ std::function<void(bool exiting)> saveSettings;
std::vector<std::function<void()>> initializers;
std::vector<std::function<void(float scale)>> windowScalers;
std::vector<std::pair<
diff --git a/third_party/allwpilib/wpilibNewCommands/WPILibNewCommands.json b/third_party/allwpilib/wpilibNewCommands/WPILibNewCommands.json
index 9a22dbd..fb66227 100644
--- a/third_party/allwpilib/wpilibNewCommands/WPILibNewCommands.json
+++ b/third_party/allwpilib/wpilibNewCommands/WPILibNewCommands.json
@@ -1,7 +1,7 @@
{
"fileName": "WPILibNewCommands.json",
"name": "WPILib-New-Commands",
- "version": "2020.0.0",
+ "version": "1.0.0",
"uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
"mavenUrls": [],
"jsonUrl": "",
diff --git a/third_party/allwpilib/wpilibNewCommands/build.gradle b/third_party/allwpilib/wpilibNewCommands/build.gradle
index ed81160..3c9f0c4 100644
--- a/third_party/allwpilib/wpilibNewCommands/build.gradle
+++ b/third_party/allwpilib/wpilibNewCommands/build.gradle
@@ -26,8 +26,7 @@
devImplementation project(':hal')
devImplementation project(':wpimath')
devImplementation project(':wpilibj')
- testImplementation 'com.google.guava:guava:19.0'
- testImplementation 'org.mockito:mockito-core:2.27.0'
+ testImplementation 'org.mockito:mockito-core:4.1.0'
}
nativeUtils.exportsConfigs {
@@ -76,6 +75,7 @@
if (it.component.name == "${nativeName}Dev") {
lib project: ':ntcore', library: 'ntcoreJNIShared', linkage: 'shared'
+ lib project: ':wpiutil', library: 'wpiutilJNIShared', linkage: 'shared'
project(':hal').addHalJniDependency(it)
}
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
index 8f9901b..82c6bc4 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
@@ -14,6 +14,8 @@
*
* <p>Commands are run synchronously from the main robot loop; no multithreading is used, unless
* specified explicitly from the command implementation.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public interface Command {
/** The initial subroutine of a command. Called once when the command is initially scheduled. */
@@ -89,11 +91,30 @@
* @param condition the interrupt condition
* @return the command with the interrupt condition added
*/
- default ParallelRaceGroup withInterrupt(BooleanSupplier condition) {
+ default ParallelRaceGroup until(BooleanSupplier condition) {
return raceWith(new WaitUntilCommand(condition));
}
/**
+ * Decorates this command with an interrupt condition. If the specified condition becomes true
+ * before the command finishes normally, the command will be interrupted and un-scheduled. Note
+ * that this only applies to the command returned by this method; the calling command is not
+ * itself changed.
+ *
+ * <p>Note: This decorator works by composing this command within a CommandGroup. The command
+ * cannot be used independently after being decorated, or be re-decorated with a different
+ * decorator, unless it is manually cleared from the list of grouped commands with {@link
+ * CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be further
+ * decorated without issue.
+ *
+ * @param condition the interrupt condition
+ * @return the command with the interrupt condition added
+ */
+ default ParallelRaceGroup withInterrupt(BooleanSupplier condition) {
+ return until(condition);
+ }
+
+ /**
* Decorates this command with a runnable to run before this command starts.
*
* <p>Note: This decorator works by composing this command within a CommandGroup. The command
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
index bb1df60..619f330 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
@@ -10,7 +10,11 @@
import java.util.HashSet;
import java.util.Set;
-/** A {@link Sendable} base class for {@link Command}s. */
+/**
+ * A {@link Sendable} base class for {@link Command}s.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
public abstract class CommandBase implements Sendable, Command {
protected Set<Subsystem> m_requirements = new HashSet<>();
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java
index d3a35d4..ad62554 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java
@@ -13,6 +13,8 @@
* A base for CommandGroups. Statically tracks commands that have been allocated to groups to ensure
* those commands are not also used independently, which can result in inconsistent command state
* and unpredictable execution.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public abstract class CommandGroupBase extends CommandBase {
private static final Set<Command> m_groupedCommands =
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
index 79be1bf..b5c2d3c 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
@@ -33,6 +33,8 @@
* synchronously from the main loop. Subsystems should be registered with the scheduler using {@link
* CommandScheduler#registerSubsystem(Subsystem...)} in order for their {@link Subsystem#periodic()}
* methods to be called and for their default commands to be scheduled.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public final class CommandScheduler implements NTSendable, AutoCloseable {
/** The Singleton Instance. */
@@ -170,7 +172,7 @@
// Do nothing if the scheduler is disabled, the robot is disabled and the command doesn't
// run when disabled, or the command is already scheduled.
if (m_disabled
- || (RobotState.isDisabled() && !command.runsWhenDisabled())
+ || RobotState.isDisabled() && !command.runsWhenDisabled()
|| m_scheduledCommands.containsKey(command)) {
return;
}
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java
index 2d60982..173bc54 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java
@@ -8,6 +8,8 @@
/**
* Class that holds scheduling state for a command. Used internally by the {@link CommandScheduler}.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
class CommandState {
// The time since this command was initialized.
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
index 74bf1ce..18d392a 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
@@ -21,6 +21,8 @@
* scheduled individually.
*
* <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class ConditionalCommand extends CommandBase {
private final Command m_onTrue;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java
index d9469c3..d235bfe 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java
@@ -14,6 +14,8 @@
* the constructor. Useful for inline definitions of complex commands - note, however, that if a
* command is beyond a certain complexity it is usually better practice to write a proper class for
* it than to inline it.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class FunctionalCommand extends CommandBase {
protected final Runnable m_onInit;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java
index 10816df..586a2d5 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java
@@ -10,6 +10,8 @@
* A Command that runs instantly; it will initialize, execute once, and end on the same iteration of
* the scheduler. Users can either pass in a Runnable and a set of requirements, or else subclass
* this command if desired.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class InstantCommand extends CommandBase {
private final Runnable m_toRun;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
index 28c75a9..18c2a37 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
@@ -35,6 +35,8 @@
*
* <p>The robot angle controller does not follow the angle given by the trajectory but rather goes
* to the angle given in the final state of the trajectory.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
@SuppressWarnings("MemberName")
public class MecanumControllerCommand extends CommandBase {
@@ -110,9 +112,9 @@
m_controller =
new HolonomicDriveController(
- requireNonNullParam(xController, "xController", "SwerveControllerCommand"),
- requireNonNullParam(yController, "xController", "SwerveControllerCommand"),
- requireNonNullParam(thetaController, "thetaController", "SwerveControllerCommand"));
+ requireNonNullParam(xController, "xController", "MecanumControllerCommand"),
+ requireNonNullParam(yController, "yController", "MecanumControllerCommand"),
+ requireNonNullParam(thetaController, "thetaController", "MecanumControllerCommand"));
m_desiredRotation =
requireNonNullParam(desiredRotation, "desiredRotation", "MecanumControllerCommand");
@@ -253,9 +255,9 @@
m_controller =
new HolonomicDriveController(
- requireNonNullParam(xController, "xController", "SwerveControllerCommand"),
- requireNonNullParam(yController, "xController", "SwerveControllerCommand"),
- requireNonNullParam(thetaController, "thetaController", "SwerveControllerCommand"));
+ requireNonNullParam(xController, "xController", "MecanumControllerCommand"),
+ requireNonNullParam(yController, "yController", "MecanumControllerCommand"),
+ requireNonNullParam(thetaController, "thetaController", "MecanumControllerCommand"));
m_desiredRotation =
requireNonNullParam(desiredRotation, "desiredRotation", "MecanumControllerCommand");
@@ -359,7 +361,7 @@
m_controller.calculate(m_pose.get(), desiredState, m_desiredRotation.get());
var targetWheelSpeeds = m_kinematics.toWheelSpeeds(targetChassisSpeeds);
- targetWheelSpeeds.normalize(m_maxWheelVelocityMetersPerSecond);
+ targetWheelSpeeds.desaturate(m_maxWheelVelocityMetersPerSecond);
var frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeftMetersPerSecond;
var rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeftMetersPerSecond;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java
index 487aa12..730ef1b 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java
@@ -9,11 +9,13 @@
/**
* A command that starts a notifier to run the given runnable periodically in a separate thread. Has
* no end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or {@link
- * Command#withInterrupt(java.util.function.BooleanSupplier)} to give it one.
+ * Command#until(java.util.function.BooleanSupplier)} to give it one.
*
* <p>WARNING: Do not use this class unless you are confident in your ability to make the executed
* code thread-safe. If you do not know what "thread-safe" means, that is a good sign that you
* should not use this class.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class NotifierCommand extends CommandBase {
protected final Notifier m_notifier;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
index dcf8dec..f4c10dc 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
@@ -15,6 +15,8 @@
* A command that controls an output with a {@link PIDController}. Runs forever by default - to add
* exit conditions and/or other behavior, subclass this class. The controller calculation and output
* are performed synchronously in the command's execute() method.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class PIDCommand extends CommandBase {
protected final PIDController m_controller;
@@ -37,10 +39,10 @@
DoubleSupplier setpointSource,
DoubleConsumer useOutput,
Subsystem... requirements) {
- requireNonNullParam(controller, "controller", "SynchronousPIDCommand");
- requireNonNullParam(measurementSource, "measurementSource", "SynchronousPIDCommand");
- requireNonNullParam(setpointSource, "setpointSource", "SynchronousPIDCommand");
- requireNonNullParam(useOutput, "useOutput", "SynchronousPIDCommand");
+ requireNonNullParam(controller, "controller", "PIDCommand");
+ requireNonNullParam(measurementSource, "measurementSource", "PIDCommand");
+ requireNonNullParam(setpointSource, "setpointSource", "PIDCommand");
+ requireNonNullParam(useOutput, "useOutput", "PIDCommand");
m_controller = controller;
m_useOutput = useOutput;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
index ad9bb77..c15360d 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
@@ -11,6 +11,8 @@
/**
* A subsystem that uses a {@link PIDController} to control an output. The controller is run
* synchronously from the subsystem's periodic() method.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public abstract class PIDSubsystem extends SubsystemBase {
protected final PIDController m_controller;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
index 7195606..688435c 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
@@ -12,6 +12,8 @@
* A CommandGroup that runs a set of commands in parallel, ending when the last command ends.
*
* <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class ParallelCommandGroup extends CommandGroupBase {
// maps commands in this group to whether they are still running
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
index d444991..5d54b2f 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
@@ -13,6 +13,8 @@
* "deadline") ends, interrupting all other commands that are still running at that point.
*
* <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class ParallelDeadlineGroup extends CommandGroupBase {
// maps commands in this group to whether they are still running
@@ -92,7 +94,7 @@
if (commandRunning.getKey().isFinished()) {
commandRunning.getKey().end(false);
commandRunning.setValue(false);
- if (commandRunning.getKey() == m_deadline) {
+ if (commandRunning.getKey().equals(m_deadline)) {
m_finished = true;
}
}
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
index 2d79885..be3f909 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
@@ -13,6 +13,8 @@
* and interrupting all the others.
*
* <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class ParallelRaceGroup extends CommandGroupBase {
private final Set<Command> m_commands = new HashSet<>();
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java
index af219dc..7113be6 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java
@@ -14,6 +14,8 @@
* cannot be added to any other groups, or scheduled individually.
*
* <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class PerpetualCommand extends CommandBase {
protected final Command m_command;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java
index 33415d0..3d7726e 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java
@@ -4,7 +4,11 @@
package edu.wpi.first.wpilibj2.command;
-/** A command that prints a string when initialized. */
+/**
+ * A command that prints a string when initialized.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
public class PrintCommand extends InstantCommand {
/**
* Creates a new a PrintCommand.
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
index df56561..d637b22 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
@@ -17,6 +17,8 @@
* A command that controls an output with a {@link ProfiledPIDController}. Runs forever by default -
* to add exit conditions and/or other behavior, subclass this class. The controller calculation and
* output are performed synchronously in the command's execute() method.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class ProfiledPIDCommand extends CommandBase {
protected final ProfiledPIDController m_controller;
@@ -40,10 +42,10 @@
Supplier<State> goalSource,
BiConsumer<Double, State> useOutput,
Subsystem... requirements) {
- requireNonNullParam(controller, "controller", "SynchronousPIDCommand");
- requireNonNullParam(measurementSource, "measurementSource", "SynchronousPIDCommand");
- requireNonNullParam(goalSource, "goalSource", "SynchronousPIDCommand");
- requireNonNullParam(useOutput, "useOutput", "SynchronousPIDCommand");
+ requireNonNullParam(controller, "controller", "ProfiledPIDCommand");
+ requireNonNullParam(measurementSource, "measurementSource", "ProfiledPIDCommand");
+ requireNonNullParam(goalSource, "goalSource", "ProfiledPIDCommand");
+ requireNonNullParam(useOutput, "useOutput", "ProfiledPIDCommand");
m_controller = controller;
m_useOutput = useOutput;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
index 85ece1f..0f28d85 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
@@ -13,6 +13,8 @@
/**
* A subsystem that uses a {@link ProfiledPIDController} to control an output. The controller is run
* synchronously from the subsystem's periodic() method.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public abstract class ProfiledPIDSubsystem extends SubsystemBase {
protected final ProfiledPIDController m_controller;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java
index ae403a4..858d9d0 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java
@@ -10,6 +10,8 @@
* Schedules the given commands when this command is initialized, and ends when all the commands are
* no longer scheduled. Useful for forking off from CommandGroups. If this command is interrupted,
* it will cancel all of the commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class ProxyScheduleCommand extends CommandBase {
private final Set<Command> m_toSchedule;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
index 8d8d4d3..f5a957d 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
@@ -29,6 +29,8 @@
* <p>Advanced teams seeking more flexibility (for example, those who wish to use the onboard PID
* functionality of a "smart" motor controller) may use the secondary constructor that omits the PID
* and feedforward functionality, returning only the raw wheel speeds from the RAMSETE controller.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class RamseteCommand extends CommandBase {
private final Timer m_timer = new Timer();
@@ -117,7 +119,8 @@
m_pose = requireNonNullParam(pose, "pose", "RamseteCommand");
m_follower = requireNonNullParam(follower, "follower", "RamseteCommand");
m_kinematics = requireNonNullParam(kinematics, "kinematics", "RamseteCommand");
- m_output = requireNonNullParam(outputMetersPerSecond, "output", "RamseteCommand");
+ m_output =
+ requireNonNullParam(outputMetersPerSecond, "outputMetersPerSecond", "RamseteCommand");
m_feedforward = null;
m_speeds = null;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java
index e1a7296..2ae1c92 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java
@@ -10,8 +10,10 @@
/**
* A command that runs a Runnable continuously. Has no end condition as-is; either subclass it or
- * use {@link Command#withTimeout(double)} or {@link Command#withInterrupt(BooleanSupplier)} to give
- * it one. If you only wish to execute a Runnable once, use {@link InstantCommand}.
+ * use {@link Command#withTimeout(double)} or {@link Command#until(BooleanSupplier)} to give it one.
+ * If you only wish to execute a Runnable once, use {@link InstantCommand}.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class RunCommand extends CommandBase {
protected final Runnable m_toRun;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
index 75b5774..98062f9 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
@@ -10,6 +10,8 @@
* Schedules the given commands when this command is initialized. Useful for forking off from
* CommandGroups. Note that if run from a CommandGroup, the group will not know about the status of
* the scheduled commands, and will treat this command as finishing instantly.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class ScheduleCommand extends CommandBase {
private final Set<Command> m_toSchedule;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
index a5c8859..e774816 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
@@ -23,6 +23,8 @@
* scheduled individually.
*
* <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class SelectCommand extends CommandBase {
private final Map<Object, Command> m_commands;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
index 38dff8d..43426b0 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
@@ -11,6 +11,8 @@
* A CommandGroups that runs a list of commands in sequence.
*
* <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class SequentialCommandGroup extends CommandGroupBase {
private final List<Command> m_commands = new ArrayList<>();
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java
index 05e46cb..8c0b99e 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java
@@ -10,7 +10,9 @@
* A command that runs a given runnable when it is initialized, and another runnable when it ends.
* Useful for running and then stopping a motor, or extending and then retracting a solenoid. Has no
* end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or {@link
- * Command#withInterrupt(java.util.function.BooleanSupplier)} to give it one.
+ * Command#until(java.util.function.BooleanSupplier)} to give it one.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class StartEndCommand extends CommandBase {
protected final Runnable m_onInit;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
index 4e28b16..a42df71 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
@@ -18,6 +18,8 @@
* Subsystem#periodic()} method to be called. It is recommended that this method be called from the
* constructor of users' Subsystem implementations. The {@link SubsystemBase} class offers a simple
* base for user implementations that handles this.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public interface Subsystem {
/**
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
index c685803..6cf926e 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
@@ -11,6 +11,8 @@
/**
* A base for subsystems that handles registration in the constructor, and provides a more intuitive
* method for setting the default command.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public abstract class SubsystemBase implements Subsystem, Sendable {
/** Constructor. */
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
index 95b42ee..58b786b 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
@@ -28,6 +28,8 @@
*
* <p>The robot angle controller does not follow the angle given by the trajectory but rather goes
* to the angle given in the final state of the trajectory.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
@SuppressWarnings("MemberName")
public class SwerveControllerCommand extends CommandBase {
@@ -77,11 +79,11 @@
m_controller =
new HolonomicDriveController(
requireNonNullParam(xController, "xController", "SwerveControllerCommand"),
- requireNonNullParam(yController, "xController", "SwerveControllerCommand"),
+ requireNonNullParam(yController, "yController", "SwerveControllerCommand"),
requireNonNullParam(thetaController, "thetaController", "SwerveControllerCommand"));
m_outputModuleStates =
- requireNonNullParam(outputModuleStates, "frontLeftOutput", "SwerveControllerCommand");
+ requireNonNullParam(outputModuleStates, "outputModuleStates", "SwerveControllerCommand");
m_desiredRotation =
requireNonNullParam(desiredRotation, "desiredRotation", "SwerveControllerCommand");
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
index 674328e..afc09d3 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
@@ -13,6 +13,8 @@
/**
* A command that runs a {@link TrapezoidProfile}. Useful for smoothly controlling mechanism motion.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class TrapezoidProfileCommand extends CommandBase {
private final TrapezoidProfile m_profile;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
index 0a6c658..547ddf6 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
@@ -11,6 +11,8 @@
/**
* A subsystem that generates and runs trapezoidal motion profiles automatically. The user specifies
* how to use the current state of the motion profile by overriding the `useState` method.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public abstract class TrapezoidProfileSubsystem extends SubsystemBase {
private final double m_period;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
index b285669..e51d23a 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
@@ -10,6 +10,8 @@
/**
* A command that does nothing but takes a specified amount of time to finish. Useful for
* CommandGroups. Can also be subclassed to make a command with an internal timer.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class WaitCommand extends CommandBase {
protected Timer m_timer = new Timer();
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
index 9228362..ace287a 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
@@ -12,6 +12,8 @@
/**
* A command that does nothing but ends after a specified match time or condition. Useful for
* CommandGroups.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class WaitUntilCommand extends CommandBase {
private final BooleanSupplier m_condition;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java
index 0f8594d..a50512f 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java
@@ -17,6 +17,8 @@
* <p>This class represents a subclass of Trigger that is specifically aimed at buttons on an
* operator interface as a common use case of the more generalized Trigger objects. This is a simple
* wrapper around Trigger with the method names renamed to fit the Button object use.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
*/
public class Button extends Trigger {
/**
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java
index e02f078..d856089 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java
@@ -7,6 +7,8 @@
/**
* This class is intended to be used within a program. The programmer can manually set its value.
* Also includes a setting for whether or not it should invert its value.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
public class InternalButton extends Button {
private boolean m_pressed;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java
index c42ab4f..ae4aa1c 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java
@@ -8,7 +8,11 @@
import edu.wpi.first.wpilibj.GenericHID;
-/** A {@link Button} that gets its state from a {@link GenericHID}. */
+/**
+ * A {@link Button} that gets its state from a {@link GenericHID}.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
public class JoystickButton extends Button {
private final GenericHID m_joystick;
private final int m_buttonNumber;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java
index ec4f819..5c66af6 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java
@@ -8,7 +8,11 @@
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
-/** A {@link Button} that uses a {@link NetworkTable} boolean field. */
+/**
+ * A {@link Button} that uses a {@link NetworkTable} boolean field.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
public class NetworkButton extends Button {
private final NetworkTableEntry m_entry;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java
index bd0c585..626ac9b 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java
@@ -8,7 +8,11 @@
import edu.wpi.first.wpilibj.GenericHID;
-/** A {@link Button} that gets its state from a POV on a {@link GenericHID}. */
+/**
+ * A {@link Button} that gets its state from a POV on a {@link GenericHID}.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
public class POVButton extends Button {
private final GenericHID m_joystick;
private final int m_angle;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
index 029d2fd..f36aeb2 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
@@ -6,7 +6,7 @@
import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-import edu.wpi.first.wpilibj.Debouncer;
+import edu.wpi.first.math.filter.Debouncer;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -23,8 +23,10 @@
* (for instance, if they want to react to the user holding a button while the robot is reading a
* certain sensor input). For this, they only have to write the {@link Trigger#get()} method to get
* the full functionality of the Trigger class.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
*/
-public class Trigger {
+public class Trigger implements BooleanSupplier {
private final BooleanSupplier m_isActive;
/**
@@ -49,9 +51,25 @@
*
* <p>This method will be called repeatedly a command is linked to the Trigger.
*
+ * <p>Functionally identical to {@link Trigger#getAsBoolean()}.
+ *
* @return whether or not the trigger condition is active.
*/
public boolean get() {
+ return this.getAsBoolean();
+ }
+
+ /**
+ * Returns whether or not the trigger is active.
+ *
+ * <p>This method will be called repeatedly a command is linked to the Trigger.
+ *
+ * <p>Functionally identical to {@link Trigger#get()}.
+ *
+ * @return whether or not the trigger condition is active.
+ */
+ @Override
+ public boolean getAsBoolean() {
return m_isActive.getAsBoolean();
}
@@ -365,13 +383,25 @@
* Creates a new debounced trigger from this trigger - it will become active when this trigger has
* been active for longer than the specified period.
*
- * @param seconds the debounce period
- * @return the debounced trigger
+ * @param seconds The debounce period.
+ * @return The debounced trigger (rising edges debounced only)
*/
public Trigger debounce(double seconds) {
+ return debounce(seconds, Debouncer.DebounceType.kRising);
+ }
+
+ /**
+ * Creates a new debounced trigger from this trigger - it will become active when this trigger has
+ * been active for longer than the specified period.
+ *
+ * @param seconds The debounce period.
+ * @param type The debounce type.
+ * @return The debounced trigger.
+ */
+ public Trigger debounce(double seconds, Debouncer.DebounceType type) {
return new Trigger(
new BooleanSupplier() {
- Debouncer m_debouncer = new Debouncer(seconds);
+ Debouncer m_debouncer = new Debouncer(seconds, type);
@Override
public boolean getAsBoolean() {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp b/third_party/allwpilib/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
index b434c1b..ea6276b 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
@@ -37,6 +37,13 @@
return ParallelRaceGroup(std::move(temp));
}
+ParallelRaceGroup Command::Until(std::function<bool()> condition) && {
+ std::vector<std::unique_ptr<Command>> temp;
+ temp.emplace_back(std::make_unique<WaitUntilCommand>(std::move(condition)));
+ temp.emplace_back(std::move(*this).TransferOwnership());
+ return ParallelRaceGroup(std::move(temp));
+}
+
ParallelRaceGroup Command::WithInterrupt(std::function<bool()> condition) && {
std::vector<std::unique_ptr<Command>> temp;
temp.emplace_back(std::make_unique<WaitUntilCommand>(std::move(condition)));
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp b/third_party/allwpilib/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
index c521f8b..14b5846 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
@@ -81,9 +81,6 @@
m_outputVolts(std::move(output)),
m_usePID(true) {
AddRequirements(requirements);
- m_desiredRotation = [&] {
- return m_trajectory.States().back().pose.Rotation();
- };
}
MecanumControllerCommand::MecanumControllerCommand(
@@ -158,9 +155,6 @@
m_outputVolts(std::move(output)),
m_usePID(true) {
AddRequirements(requirements);
- m_desiredRotation = [&] {
- return m_trajectory.States().back().pose.Rotation();
- };
}
MecanumControllerCommand::MecanumControllerCommand(
@@ -203,9 +197,6 @@
m_outputVel(std::move(output)),
m_usePID(false) {
AddRequirements(requirements);
- m_desiredRotation = [&] {
- return m_trajectory.States().back().pose.Rotation();
- };
}
MecanumControllerCommand::MecanumControllerCommand(
@@ -248,12 +239,14 @@
m_outputVel(std::move(output)),
m_usePID(false) {
AddRequirements(requirements);
- m_desiredRotation = [&] {
- return m_trajectory.States().back().pose.Rotation();
- };
}
void MecanumControllerCommand::Initialize() {
+ if (m_desiredRotation == nullptr) {
+ m_desiredRotation = [&] {
+ return m_trajectory.States().back().pose.Rotation();
+ };
+ }
m_prevTime = 0_s;
auto initialState = m_trajectory.Sample(0_s);
@@ -285,7 +278,7 @@
m_controller.Calculate(m_pose(), m_desiredState, m_desiredRotation());
auto targetWheelSpeeds = m_kinematics.ToWheelSpeeds(targetChassisSpeeds);
- targetWheelSpeeds.Normalize(m_maxWheelVelocity);
+ targetWheelSpeeds.Desaturate(m_maxWheelVelocity);
auto frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeft;
auto rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeft;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp b/third_party/allwpilib/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
index 0801549..e370097 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
@@ -4,7 +4,7 @@
#include "frc2/command/button/Trigger.h"
-#include <frc/Debouncer.h>
+#include <frc/filter/Debouncer.h>
#include "frc2/command/InstantCommand.h"
@@ -139,8 +139,10 @@
return *this;
}
-Trigger Trigger::Debounce(units::second_t debounceTime) {
- return Trigger([debouncer = frc::Debouncer(debounceTime), *this]() mutable {
- return debouncer.Calculate(m_isActive());
- });
+Trigger Trigger::Debounce(units::second_t debounceTime,
+ frc::Debouncer::DebounceType type) {
+ return Trigger(
+ [debouncer = frc::Debouncer(debounceTime, type), *this]() mutable {
+ return debouncer.Calculate(m_isActive());
+ });
}
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/Command.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
index 66f4f7e..f8da728 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
@@ -42,6 +42,8 @@
* <p>Note: ALWAYS create a subclass by extending CommandHelper<Base, Subclass>,
* or decorators will not function!
*
+ * This class is provided by the NewCommands VendorDep
+ *
* @see CommandScheduler
* @see CommandHelper
*/
@@ -118,6 +120,17 @@
* @param condition the interrupt condition
* @return the command with the interrupt condition added
*/
+ virtual ParallelRaceGroup Until(std::function<bool()> condition) &&;
+
+ /**
+ * Decorates this command with an interrupt condition. If the specified
+ * condition becomes true before the command finishes normally, the command
+ * will be interrupted and un-scheduled. Note that this only applies to the
+ * command returned by this method; the calling command is not itself changed.
+ *
+ * @param condition the interrupt condition
+ * @return the command with the interrupt condition added
+ */
virtual ParallelRaceGroup WithInterrupt(std::function<bool()> condition) &&;
/**
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandBase.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandBase.h
index 9a498bc..9050a12 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandBase.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandBase.h
@@ -18,6 +18,8 @@
namespace frc2 {
/**
* A Sendable base class for Commands.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class CommandBase : public Command,
public wpi::Sendable,
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h
index 6a84ee0..d7ae447 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h
@@ -18,6 +18,8 @@
* A base for CommandGroups. Statically tracks commands that have been
* allocated to groups to ensure those commands are not also used independently,
* which can result in inconsistent command state and unpredictable execution.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class CommandGroupBase : public CommandBase {
public:
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandHelper.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandHelper.h
index 5709f0c..3c5fd7b 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandHelper.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandHelper.h
@@ -17,6 +17,8 @@
*
* <p>Note: ALWAYS create a subclass by extending CommandHelper<Base, Subclass>,
* or decorators will not function!
+ *
+ * This class is provided by the NewCommands VendorDep
*/
template <typename Base, typename CRTP,
typename = std::enable_if_t<std::is_base_of_v<Command, Base>>>
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
index 8976e85..e0abd0f 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
@@ -26,6 +26,8 @@
* commands synchronously from the main loop. Subsystems should be registered
* with the scheduler using RegisterSubsystem() in order for their Periodic()
* methods to be called and for their default commands to be scheduled.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class CommandScheduler final : public nt::NTSendable,
public wpi::SendableHelper<CommandScheduler> {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandState.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandState.h
index 4c731b3..e040e4b 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandState.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/CommandState.h
@@ -10,6 +10,8 @@
/**
* Class that holds scheduling state for a command. Used internally by the
* CommandScheduler
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class CommandState final {
public:
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
index 2c37200..507ce9a 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
@@ -29,6 +29,8 @@
* <p>As a rule, CommandGroups require the union of the requirements of their
* component commands.
*
+ * This class is provided by the NewCommands VendorDep
+ *
* @see ScheduleCommand
*/
class ConditionalCommand
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/FunctionalCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/FunctionalCommand.h
index 31b2ada..a4891a4 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/FunctionalCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/FunctionalCommand.h
@@ -19,6 +19,8 @@
* complex commands - note, however, that if a command is beyond a certain
* complexity it is usually better practice to write a proper class for it than
* to inline it.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class FunctionalCommand : public CommandHelper<CommandBase, FunctionalCommand> {
public:
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/InstantCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/InstantCommand.h
index 3aba587..c2638da 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/InstantCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/InstantCommand.h
@@ -17,6 +17,8 @@
* A Command that runs instantly; it will initialize, execute once, and end on
* the same iteration of the scheduler. Users can either pass in a Runnable and
* a set of requirements, or else subclass this command if desired.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class InstantCommand : public CommandHelper<CommandBase, InstantCommand> {
public:
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h
index 29f0fd4..92c569d 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h
@@ -47,6 +47,8 @@
* <p>The robot angle controller does not follow the angle given by
* the trajectory but rather goes to the angle given in the final state of the
* trajectory.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class MecanumControllerCommand
: public CommandHelper<CommandBase, MecanumControllerCommand> {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/NotifierCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/NotifierCommand.h
index ec68fe7..d2be985 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/NotifierCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/NotifierCommand.h
@@ -18,12 +18,14 @@
/**
* A command that starts a notifier to run the given runnable periodically in a
* separate thread. Has no end condition as-is; either subclass it or use
- * Command::WithTimeout(double) or Command::WithInterrupt(BooleanSupplier) to
+ * Command::WithTimeout(double) or Command::Until(BooleanSupplier) to
* give it one.
*
* <p>WARNING: Do not use this class unless you are confident in your ability to
* make the executed code thread-safe. If you do not know what "thread-safe"
* means, that is a good sign that you should not use this class.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class NotifierCommand : public CommandHelper<CommandBase, NotifierCommand> {
public:
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
index 31baf9e..a63d55c 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h
@@ -20,6 +20,8 @@
* The controller calculation and output are performed synchronously in the
* command's execute() method.
*
+ * This class is provided by the NewCommands VendorDep
+ *
* @see PIDController
*/
class PIDCommand : public CommandHelper<CommandBase, PIDCommand> {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
index c8a53db..37571ad 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h
@@ -13,6 +13,8 @@
* A subsystem that uses a PIDController to control an output. The controller
* is run synchronously from the subsystem's periodic() method.
*
+ * This class is provided by the NewCommands VendorDep
+ *
* @see PIDController
*/
class PIDSubsystem : public SubsystemBase {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h
index 342265a..d1f5aa6 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h
@@ -23,6 +23,8 @@
*
* <p>As a rule, CommandGroups require the union of the requirements of their
* component commands.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class ParallelCommandGroup
: public CommandHelper<CommandGroupBase, ParallelCommandGroup> {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
index af78c3b..81d25cb 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
@@ -24,6 +24,8 @@
*
* <p>As a rule, CommandGroups require the union of the requirements of their
* component commands.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class ParallelDeadlineGroup
: public CommandHelper<CommandGroupBase, ParallelDeadlineGroup> {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ParallelRaceGroup.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ParallelRaceGroup.h
index 3ba3907..0092223 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ParallelRaceGroup.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ParallelRaceGroup.h
@@ -23,6 +23,8 @@
*
* <p>As a rule, CommandGroups require the union of the requirements of their
* component commands.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class ParallelRaceGroup
: public CommandHelper<CommandGroupBase, ParallelRaceGroup> {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h
index a288ae2..4818cda 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h
@@ -26,6 +26,8 @@
*
* <p>As a rule, CommandGroups require the union of the requirements of their
* component commands.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class PerpetualCommand : public CommandHelper<CommandBase, PerpetualCommand> {
public:
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PrintCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PrintCommand.h
index 536e77f..c69a702 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PrintCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/PrintCommand.h
@@ -12,6 +12,8 @@
namespace frc2 {
/**
* A command that prints a string when initialized.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class PrintCommand : public CommandHelper<InstantCommand, PrintCommand> {
public:
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
index b02c81d..d106ad3 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h
@@ -22,6 +22,8 @@
* class. The controller calculation and output are performed synchronously in
* the command's execute() method.
*
+ * This class is provided by the NewCommands VendorDep
+ *
* @see ProfiledPIDController<Distance>
*/
template <class Distance>
@@ -95,7 +97,7 @@
std::initializer_list<Subsystem*> requirements)
: ProfiledPIDCommand(
controller, measurementSource,
- [&goalSource]() {
+ [goalSource = std::move(goalSource)]() {
return State{goalSource(), Velocity_t{0}};
},
useOutput, requirements) {}
@@ -117,7 +119,7 @@
wpi::span<Subsystem* const> requirements = {})
: ProfiledPIDCommand(
controller, measurementSource,
- [&goalSource]() {
+ [goalSource = std::move(goalSource)]() {
return State{goalSource(), Velocity_t{0}};
},
useOutput, requirements) {}
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
index c8639b6..032ee4b 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
@@ -14,6 +14,8 @@
* A subsystem that uses a ProfiledPIDController to control an output. The
* controller is run synchronously from the subsystem's periodic() method.
*
+ * This class is provided by the NewCommands VendorDep
+ *
* @see ProfiledPIDController
*/
template <class Distance>
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ProxyScheduleCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ProxyScheduleCommand.h
index ad603f9..afc6f54 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ProxyScheduleCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ProxyScheduleCommand.h
@@ -17,6 +17,8 @@
* all the commands are no longer scheduled. Useful for forking off from
* CommandGroups. If this command is interrupted, it will cancel all of the
* commands.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class ProxyScheduleCommand
: public CommandHelper<CommandBase, ProxyScheduleCommand> {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
index 5f84997..73c5527 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h
@@ -37,6 +37,8 @@
* secondary constructor that omits the PID and feedforward functionality,
* returning only the raw wheel speeds from the RAMSETE controller.
*
+ * This class is provided by the NewCommands VendorDep
+ *
* @see RamseteController
* @see Trajectory
*/
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/RunCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/RunCommand.h
index 510840e..b9e1efd 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/RunCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/RunCommand.h
@@ -16,8 +16,10 @@
/**
* A command that runs a Runnable continuously. Has no end condition as-is;
* either subclass it or use Command.WithTimeout() or
- * Command.WithInterrupt() to give it one. If you only wish
+ * Command.Until() to give it one. If you only wish
* to execute a Runnable once, use InstantCommand.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class RunCommand : public CommandHelper<CommandBase, RunCommand> {
public:
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ScheduleCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ScheduleCommand.h
index ca476d0..b099fb3 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ScheduleCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/ScheduleCommand.h
@@ -17,6 +17,8 @@
* forking off from CommandGroups. Note that if run from a CommandGroup, the
* group will not know about the status of the scheduled commands, and will
* treat this command as finishing instantly.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class ScheduleCommand : public CommandHelper<CommandBase, ScheduleCommand> {
public:
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
index b4e7f89..6e1b2bd 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
@@ -35,6 +35,8 @@
*
* <p>As a rule, CommandGroups require the union of the requirements of their
* component commands.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
template <typename Key>
class SelectCommand : public CommandHelper<CommandBase, SelectCommand<Key>> {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
index d80c07b..928af8e 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
@@ -29,6 +29,8 @@
*
* <p>As a rule, CommandGroups require the union of the requirements of their
* component commands.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class SequentialCommandGroup
: public CommandHelper<CommandGroupBase, SequentialCommandGroup> {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/StartEndCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/StartEndCommand.h
index d364696..e5af2bb 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/StartEndCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/StartEndCommand.h
@@ -17,8 +17,10 @@
* A command that runs a given runnable when it is initialized, and another
* runnable when it ends. Useful for running and then stopping a motor, or
* extending and then retracting a solenoid. Has no end condition as-is; either
- * subclass it or use Command.WithTimeout() or Command.WithInterrupt() to give
+ * subclass it or use Command.WithTimeout() or Command.Until() to give
* it one.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class StartEndCommand : public CommandHelper<CommandBase, StartEndCommand> {
public:
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
index 4744463..7ee9950 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
@@ -29,6 +29,8 @@
* SubsystemBase class offers a simple base for user implementations
* that handles this.
*
+ * This class is provided by the NewCommands VendorDep
+ *
* @see Command
* @see CommandScheduler
* @see SubsystemBase
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h
index 748271a..86fb026 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h
@@ -16,6 +16,8 @@
/**
* A base for subsystems that handles registration in the constructor, and
* provides a more intuitive method for setting the default command.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class SubsystemBase : public Subsystem,
public wpi::Sendable,
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.h
index 9620fef..212beb5 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.h
@@ -46,6 +46,8 @@
* <p>The robot angle controller does not follow the angle given by
* the trajectory but rather goes to the angle given in the final state of the
* trajectory.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
template <size_t NumModules>
class SwerveControllerCommand
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
index 1f65b78..d1c6e78 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
@@ -43,9 +43,6 @@
m_controller(xController, yController, thetaController),
m_outputStates(output) {
this->AddRequirements(requirements);
- m_desiredRotation = [&] {
- return m_trajectory.States().back().pose.Rotation();
- };
}
template <size_t NumModules>
@@ -80,13 +77,15 @@
m_controller(xController, yController, thetaController),
m_outputStates(output) {
this->AddRequirements(requirements);
- m_desiredRotation = [&] {
- return m_trajectory.States().back().pose.Rotation();
- };
}
template <size_t NumModules>
void SwerveControllerCommand<NumModules>::Initialize() {
+ if (m_desiredRotation == nullptr) {
+ m_desiredRotation = [&] {
+ return m_trajectory.States().back().pose.Rotation();
+ };
+ }
m_timer.Reset();
m_timer.Start();
}
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
index 1d8d2c5..3a609be 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
@@ -19,6 +19,8 @@
* A command that runs a TrapezoidProfile. Useful for smoothly controlling
* mechanism motion.
*
+ * This class is provided by the NewCommands VendorDep
+ *
* @see TrapezoidProfile
*/
template <class Distance>
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
index fbebaf3..abce33c 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
@@ -14,6 +14,8 @@
* A subsystem that generates and runs trapezoidal motion profiles
* automatically. The user specifies how to use the current state of the motion
* profile by overriding the `UseState` method.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
template <class Distance>
class TrapezoidProfileSubsystem : public SubsystemBase {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h
index 82249c3..4670d53 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/WaitCommand.h
@@ -15,6 +15,8 @@
* A command that does nothing but takes a specified amount of time to finish.
* Useful for CommandGroups. Can also be subclassed to make a command with an
* internal timer.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class WaitCommand : public CommandHelper<CommandBase, WaitCommand> {
public:
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h
index ca74218..3b26999 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h
@@ -15,6 +15,8 @@
/**
* A command that does nothing but ends after a specified match time or
* condition. Useful for CommandGroups.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class WaitUntilCommand : public CommandHelper<CommandBase, WaitUntilCommand> {
public:
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h
index bab7a0f..12a5aa7 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h
@@ -18,6 +18,8 @@
* A class used to bind command scheduling to button presses. Can be composed
* with other buttons with the operators in Trigger.
*
+ * This class is provided by the NewCommands VendorDep
+ *
* @see Trigger
*/
class Button : public Trigger {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/JoystickButton.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/JoystickButton.h
index 4cd4689..7d74358 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/JoystickButton.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/JoystickButton.h
@@ -12,6 +12,8 @@
* A class used to bind command scheduling to joystick button presses. Can be
* composed with other buttons with the operators in Trigger.
*
+ * This class is provided by the NewCommands VendorDep
+ *
* @see Trigger
*/
class JoystickButton : public Button {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/NetworkButton.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/NetworkButton.h
index 191e55d..de5044b 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/NetworkButton.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/NetworkButton.h
@@ -15,6 +15,8 @@
namespace frc2 {
/**
* A Button that uses a NetworkTable boolean field.
+ *
+ * This class is provided by the NewCommands VendorDep
*/
class NetworkButton : public Button {
public:
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/POVButton.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/POVButton.h
index cd8b62c..c0f0e6b 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/POVButton.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/POVButton.h
@@ -12,6 +12,8 @@
* A class used to bind command scheduling to joystick POV presses. Can be
* composed with other buttons with the operators in Trigger.
*
+ * This class is provided by the NewCommands VendorDep
+ *
* @see Trigger
*/
class POVButton : public Button {
diff --git a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
index 3213d4b..d5fcb34 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
+++ b/third_party/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
@@ -9,6 +9,7 @@
#include <memory>
#include <utility>
+#include <frc/filter/Debouncer.h>
#include <units/time.h>
#include <wpi/span.h>
@@ -23,6 +24,8 @@
* methods are named fairly abstractly; for purpose-specific wrappers, see
* Button.
*
+ * This class is provided by the NewCommands VendorDep
+ *
* @see Button
*/
class Trigger {
@@ -350,10 +353,13 @@
* Creates a new debounced trigger from this trigger - it will become active
* when this trigger has been active for longer than the specified period.
*
- * @param debounceTime the debounce period
- * @return the debounced trigger
+ * @param debounceTime The debounce period.
+ * @param type The debounce type.
+ * @return The debounced trigger.
*/
- Trigger Debounce(units::second_t debounceTime);
+ Trigger Debounce(units::second_t debounceTime,
+ frc::Debouncer::DebounceType type =
+ frc::Debouncer::DebounceType::kRising);
private:
std::function<bool()> m_isActive;
diff --git a/third_party/allwpilib/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java b/third_party/allwpilib/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
index b2f482c..66593ca 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
@@ -39,11 +39,11 @@
}
@Test
- void withInterruptTest() {
+ void untilTest() {
try (CommandScheduler scheduler = new CommandScheduler()) {
ConditionHolder condition = new ConditionHolder();
- Command command = new WaitCommand(10).withInterrupt(condition::getCondition);
+ Command command = new WaitCommand(10).until(condition::getCondition);
scheduler.schedule(command);
scheduler.run();
diff --git a/third_party/allwpilib/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java b/third_party/allwpilib/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
index 8da92c7..4fb44a5 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
@@ -40,7 +40,7 @@
void redecoratedCommandErrorTest() {
Command command = new InstantCommand();
- assertDoesNotThrow(() -> command.withTimeout(10).withInterrupt(() -> false));
+ assertDoesNotThrow(() -> command.withTimeout(10).until(() -> false));
assertThrows(IllegalArgumentException.class, () -> command.withTimeout(10));
CommandGroupBase.clearGroupedCommand(command);
assertDoesNotThrow(() -> command.withTimeout(10));
diff --git a/third_party/allwpilib/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java b/third_party/allwpilib/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
index 88190ed..151399d 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
+++ b/third_party/allwpilib/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
@@ -13,7 +13,7 @@
import org.junit.jupiter.api.BeforeEach;
/** Basic setup for all {@link Command tests}." */
-public abstract class CommandTestBase {
+public class CommandTestBase {
protected CommandTestBase() {}
@BeforeEach
diff --git a/third_party/allwpilib/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp b/third_party/allwpilib/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
index 5ae17cc..4a7c137 100644
--- a/third_party/allwpilib/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
+++ b/third_party/allwpilib/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
@@ -34,13 +34,12 @@
frc::sim::ResumeTiming();
}
-TEST_F(CommandDecoratorTest, WithInterrupt) {
+TEST_F(CommandDecoratorTest, Until) {
CommandScheduler scheduler = GetScheduler();
bool finished = false;
- auto command =
- RunCommand([] {}, {}).WithInterrupt([&finished] { return finished; });
+ auto command = RunCommand([] {}, {}).Until([&finished] { return finished; });
scheduler.Schedule(&command);
diff --git a/third_party/allwpilib/wpilibOldCommands/WPILibOldCommands.json b/third_party/allwpilib/wpilibOldCommands/WPILibOldCommands.json
index f9fbc4d..d26cc4b 100644
--- a/third_party/allwpilib/wpilibOldCommands/WPILibOldCommands.json
+++ b/third_party/allwpilib/wpilibOldCommands/WPILibOldCommands.json
@@ -1,7 +1,7 @@
{
"fileName": "WPILibOldCommands.json",
"name": "WPILib-Old-Commands",
- "version": "2020.0.0",
+ "version": "1.0.0",
"uuid": "b066afc2-5c18-43c4-b758-43381fcb275e",
"mavenUrls": [],
"jsonUrl": "",
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDBase.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
index 505801a..03f9367 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
@@ -25,6 +25,8 @@
* and derivative calculations. Therefore, the sample rate affects the controller's behavior for a
* given set of PID constants.
*
+ * <p>This class is provided by the OldCommands VendorDep
+ *
* @deprecated All APIs which use this have been deprecated.
*/
@Deprecated(since = "2020", forRemoval = true)
@@ -151,7 +153,7 @@
*/
@SuppressWarnings("ParameterName")
public PIDBase(double Kp, double Ki, double Kd, double Kf, PIDSource source, PIDOutput output) {
- requireNonNullParam(source, "PIDSource", "PIDBase");
+ requireNonNullParam(source, "source", "PIDBase");
requireNonNullParam(output, "output", "PIDBase");
m_setpointTimer = new Timer();
@@ -639,8 +641,8 @@
* number of iterations to average with setToleranceBuffer() (defaults to 1). getAvgError() is
* used for the onTarget() function.
*
- * @deprecated Use getError(), which is now already filtered.
* @return the current average of the error
+ * @deprecated Use getError(), which is now already filtered.
*/
@Deprecated
public double getAvgError() {
@@ -676,9 +678,9 @@
* object. Use it by creating the type of tolerance that you want to use: setTolerance(new
* PIDController.AbsoluteTolerance(0.1))
*
- * @deprecated Use setPercentTolerance() instead.
* @param tolerance A tolerance object of the right type, e.g. PercentTolerance or
* AbsoluteTolerance
+ * @deprecated Use setPercentTolerance() instead.
*/
@Deprecated
public void setTolerance(Tolerance tolerance) {
@@ -721,8 +723,8 @@
* erroneous measurements when the mechanism is on target. However, the mechanism will not
* register as on target for at least the specified bufLength cycles.
*
- * @deprecated Use a LinearFilter as the input.
* @param bufLength Number of previous cycles to average.
+ * @deprecated Use a LinearFilter as the input.
*/
@Deprecated
public void setToleranceBuffer(int bufLength) {
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDController.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDController.java
index ea7e98d..98580ef 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDController.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDController.java
@@ -16,6 +16,8 @@
* and derivative calculations. Therefore, the sample rate affects the controller's behavior for a
* given set of PID constants.
*
+ * <p>This class is provided by the OldCommands VendorDep
+ *
* @deprecated Use {@link edu.wpi.first.math.controller.PIDController} instead.
*/
@Deprecated(since = "2020", forRemoval = true)
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDInterface.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDInterface.java
index 0e8b2f1..4e7fd90 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDInterface.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDInterface.java
@@ -4,6 +4,13 @@
package edu.wpi.first.wpilibj;
+/**
+ * Interface for PID Controller.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated All APIs which use this have been deprecated.
+ */
@Deprecated(since = "2020", forRemoval = true)
@SuppressWarnings("SummaryJavadoc")
public interface PIDInterface {
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDOutput.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDOutput.java
index 52f5a99..a330daf 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDOutput.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDOutput.java
@@ -7,6 +7,8 @@
/**
* This interface allows PIDController to write it's results to its output.
*
+ * <p>This class is provided by the OldCommands VendorDep
+ *
* @deprecated Use DoubleConsumer and new PIDController class.
*/
@FunctionalInterface
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDSource.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDSource.java
index c50a988..e582168 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDSource.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDSource.java
@@ -7,6 +7,8 @@
/**
* This interface allows for PIDController to automatically read from this object.
*
+ * <p>This class is provided by the OldCommands VendorDep
+ *
* @deprecated Use DoubleSupplier and new PIDController class.
*/
@Deprecated(since = "2020", forRemoval = true)
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDSourceType.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDSourceType.java
index 4018ba6..3f41eb1 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDSourceType.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDSourceType.java
@@ -4,7 +4,11 @@
package edu.wpi.first.wpilibj;
-/** A description for the type of output value to provide to a PIDController. */
+/**
+ * A description for the type of output value to provide to a PIDController.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ */
@Deprecated(since = "2020", forRemoval = true)
public enum PIDSourceType {
kDisplacement,
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Button.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Button.java
index f674be3..8347993 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Button.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Button.java
@@ -15,6 +15,8 @@
* <p>This class represents a subclass of Trigger that is specifically aimed at buttons on an
* operator interface as a common use case of the more generalized Trigger objects. This is a simple
* wrapper around Trigger with the method names renamed to fit the Button object use.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
*/
public abstract class Button extends Trigger {
/**
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/InternalButton.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/InternalButton.java
index c77e9aa..37cf28d 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/InternalButton.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/InternalButton.java
@@ -5,8 +5,10 @@
package edu.wpi.first.wpilibj.buttons;
/**
- * This class is intended to be used within a program. The programmer can manually set its value.
- * Also includes a setting for whether or not it should invert its value.
+ * This {@link Button} is intended to be used within a program. The programmer can manually set its
+ * value. * Also includes a setting for whether or not it should invert its value.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
*/
public class InternalButton extends Button {
private boolean m_pressed;
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/JoystickButton.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/JoystickButton.java
index f7f09e7..241683a 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/JoystickButton.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/JoystickButton.java
@@ -6,7 +6,11 @@
import edu.wpi.first.wpilibj.GenericHID;
-/** A {@link Button} that gets its state from a {@link GenericHID}. */
+/**
+ * A {@link Button} that gets its state from a {@link GenericHID}.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ */
public class JoystickButton extends Button {
private final GenericHID m_joystick;
private final int m_buttonNumber;
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/NetworkButton.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/NetworkButton.java
index 1351d16..dd538bf 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/NetworkButton.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/NetworkButton.java
@@ -8,7 +8,11 @@
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
-/** A {@link Button} that uses a {@link NetworkTable} boolean field. */
+/**
+ * A {@link Button} that uses a {@link NetworkTable} boolean field.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ */
public class NetworkButton extends Button {
private final NetworkTableEntry m_entry;
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/POVButton.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/POVButton.java
index 73db913..a58ba03 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/POVButton.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/POVButton.java
@@ -6,7 +6,11 @@
import edu.wpi.first.wpilibj.GenericHID;
-/** A {@link Button} that gets its state from a POV on a {@link GenericHID}. */
+/**
+ * A {@link Button} that gets its state from a POV on a {@link GenericHID}.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ */
public class POVButton extends Button {
private final GenericHID m_joystick;
private final int m_angle;
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
index 22db6f6..1024068 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
@@ -19,6 +19,8 @@
* (for instance, if they want to react to the user holding a button while the robot is reading a
* certain sensor input). For this, they only have to write the {@link Trigger#get()} method to get
* the full functionality of the Trigger class.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
*/
public abstract class Trigger implements Sendable {
private volatile boolean m_sendablePressed;
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Command.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Command.java
index 234fed4..8732186 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Command.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Command.java
@@ -32,6 +32,8 @@
* active command is not interruptible, the other one will not even be started, and the active one
* will continue functioning.
*
+ * <p>This class is provided by the OldCommands VendorDep
+ *
* @see Subsystem
* @see CommandGroup
* @see IllegalUseOfCommandException
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/CommandGroup.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/CommandGroup.java
index 18e0ca6..10f5066 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/CommandGroup.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/CommandGroup.java
@@ -24,6 +24,8 @@
* <p>CommandGroups can also execute commands in parallel, simply by adding them using {@link
* CommandGroup#addParallel(Command) addParallel(...)}.
*
+ * <p>This class is provided by the OldCommands VendorDep
+ *
* @see Command
* @see Subsystem
* @see IllegalUseOfCommandException
@@ -205,7 +207,7 @@
}
@Override
- @SuppressWarnings("MethodName")
+ @SuppressWarnings({"MethodName", "PMD.AvoidReassigningLoopVariables"})
void _execute() {
Entry entry = null;
Command cmd = null;
@@ -357,6 +359,7 @@
return true;
}
+ @SuppressWarnings("PMD.AvoidReassigningLoopVariables")
private void cancelConflicts(Command command) {
for (int i = 0; i < m_children.size(); i++) {
Command child = m_children.elementAt(i).m_command;
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java
index 80c2903..79c043d 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java
@@ -22,6 +22,8 @@
* <p>A ConditionalCommand will require the superset of subsystems of the onTrue and onFalse
* commands.
*
+ * <p>This class is provided by the OldCommands VendorDep
+ *
* @see Command
* @see Scheduler
*/
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/IllegalUseOfCommandException.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/IllegalUseOfCommandException.java
index 0579fc7..833b4fb 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/IllegalUseOfCommandException.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/IllegalUseOfCommandException.java
@@ -13,6 +13,8 @@
* <p>This exception should be thrown if (after a command has been locked) its requirements change,
* it is put into multiple command groups, it is started from outside its command group, or it adds
* a new child.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
*/
@SuppressWarnings("serial")
public class IllegalUseOfCommandException extends RuntimeException {
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/InstantCommand.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/InstantCommand.java
index d40f626..42278f6 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/InstantCommand.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/InstantCommand.java
@@ -9,6 +9,8 @@
*
* <p>Subclassing {@link InstantCommand} is shorthand for returning true from {@link Command
* isFinished}.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
*/
public class InstantCommand extends Command {
private Runnable m_func;
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/LinkedListElement.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/LinkedListElement.java
index 365667a..b657ba7 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/LinkedListElement.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/LinkedListElement.java
@@ -4,7 +4,11 @@
package edu.wpi.first.wpilibj.command;
-/** An element that is in a LinkedList. */
+/**
+ * An element that is in a LinkedList.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ */
class LinkedListElement {
private LinkedListElement m_next;
private LinkedListElement m_previous;
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java
index 0334316..1f63267 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java
@@ -16,6 +16,8 @@
* <p>It provides some convenience methods to run an internal {@link PIDController} . It will also
* start and stop said {@link PIDController} when the {@link PIDCommand} is first initialized and
* ended/interrupted.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
*/
public abstract class PIDCommand extends Command {
/** The internal {@link PIDController}. */
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java
index bf70f91..2fa18f1 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java
@@ -16,6 +16,8 @@
*
* <p>It provides some convenience methods to run an internal {@link PIDController} . It also allows
* access to the internal {@link PIDController} in order to give total control to the programmer.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
*/
public abstract class PIDSubsystem extends Subsystem {
/** The internal {@link PIDController}. */
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PrintCommand.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PrintCommand.java
index 5013b1b..d8cbd9d 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PrintCommand.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/PrintCommand.java
@@ -8,6 +8,8 @@
* A {@link PrintCommand} is a command which prints out a string when it is initialized, and then
* immediately finishes. It is useful if you want a {@link CommandGroup} to print out a string when
* it reaches a certain point.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
*/
public class PrintCommand extends InstantCommand {
/** The message to print out. */
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java
index ca1ed33..351ae99 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java
@@ -28,6 +28,8 @@
* Scheduler#run() run()} often to have {@link Command Commands} function correctly. However, this
* is already done for you if you use the CommandBased Robot template.
*
+ * <p>This class is provided by the OldCommands VendorDep
+ *
* @see Command
*/
public final class Scheduler implements NTSendable, AutoCloseable {
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Set.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Set.java
index d47f16f..91180eb 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Set.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Set.java
@@ -8,7 +8,11 @@
import java.util.Vector;
@SuppressWarnings("all")
-/** A set. */
+/**
+ * A set.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ */
class Set {
private Vector m_set = new Vector();
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/StartCommand.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/StartCommand.java
index 56b4150..ba6cec4 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/StartCommand.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/StartCommand.java
@@ -7,6 +7,8 @@
/**
* A {@link StartCommand} will call the {@link Command#start() start()} method of another command
* when it is initialized and will finish immediately.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
*/
public class StartCommand extends InstantCommand {
/** The command to fork. */
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java
index 2ba01af..df5984b 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java
@@ -12,15 +12,17 @@
/**
* This class defines a major component of the robot.
*
- * <p>A good example of a subsystem is the driveline, or a claw if the robot has one.
+ * <p>A good example of a subsystem is the drivetrain, or a claw if the robot has one.
*
* <p>All motors should be a part of a subsystem. For instance, all the wheel motors should be a
- * part of some kind of "Driveline" subsystem.
+ * part of some kind of "Drivetrain" subsystem.
*
* <p>Subsystems are used within the command system as requirements for {@link Command}. Only one
* command which requires a subsystem can run at a time. Also, subsystems can have default commands
* which are started if there is no command running which requires this subsystem.
*
+ * <p>This class is provided by the OldCommands VendorDep
+ *
* @see Command
*/
public abstract class Subsystem implements Sendable, AutoCloseable {
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/TimedCommand.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/TimedCommand.java
index 36e651b..70fb087 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/TimedCommand.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/TimedCommand.java
@@ -7,6 +7,8 @@
/**
* A {@link TimedCommand} will wait for a timeout before finishing. {@link TimedCommand} is used to
* execute a command for a given amount of time.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
*/
public class TimedCommand extends Command {
/**
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitCommand.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitCommand.java
index a541944..b19a959 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitCommand.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitCommand.java
@@ -8,6 +8,8 @@
* A {@link WaitCommand} will wait for a certain amount of time before finishing. It is useful if
* you want a {@link CommandGroup} to pause for a moment.
*
+ * <p>This class is provided by the OldCommands VendorDep
+ *
* @see CommandGroup
*/
public class WaitCommand extends TimedCommand {
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitForChildren.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitForChildren.java
index 23e21d3..5b24c5a 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitForChildren.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitForChildren.java
@@ -11,6 +11,8 @@
*
* <p>This class is useful for the situation where you want to allow anything running in parallel to
* finish, before continuing in the main {@link CommandGroup} sequence.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
*/
public class WaitForChildren extends Command {
@Override
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitUntilCommand.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitUntilCommand.java
index b7226bd..7f617eb 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitUntilCommand.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/WaitUntilCommand.java
@@ -9,6 +9,8 @@
/**
* WaitUntilCommand - waits until an absolute game time. This will wait until the game clock reaches
* some value, then continue to the next command.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
*/
public class WaitUntilCommand extends Command {
private final double m_time;
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogAccelerometer.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogAccelerometer.java
new file mode 100644
index 0000000..22a0611
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogAccelerometer.java
@@ -0,0 +1,51 @@
+// 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.
+
+package edu.wpi.first.wpilibj.pidwrappers;
+
+import edu.wpi.first.wpilibj.AnalogAccelerometer;
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+
+/**
+ * Wrapper so that PIDSource is implemented for AnalogAccelerometer for old PIDController.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ * wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
+public class PIDAnalogAccelerometer extends AnalogAccelerometer implements PIDSource {
+ protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+ public PIDAnalogAccelerometer(int channel) {
+ super(channel);
+ }
+
+ public PIDAnalogAccelerometer(AnalogInput channel) {
+ super(channel);
+ }
+
+ @Override
+ public void setPIDSourceType(PIDSourceType pidSource) {
+ m_pidSource = pidSource;
+ }
+
+ @Override
+ public PIDSourceType getPIDSourceType() {
+ return m_pidSource;
+ }
+
+ /**
+ * Get the Acceleration for the PID Source parent.
+ *
+ * @return The current acceleration in Gs.
+ */
+ @Override
+ public double pidGet() {
+ return getAcceleration();
+ }
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogGyro.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogGyro.java
new file mode 100644
index 0000000..9881657
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogGyro.java
@@ -0,0 +1,73 @@
+// 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.
+
+package edu.wpi.first.wpilibj.pidwrappers;
+
+import edu.wpi.first.wpilibj.AnalogGyro;
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+
+/**
+ * Wrapper so that PIDSource is implemented for AnalogGyro for old PIDController.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ * wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
+public class PIDAnalogGyro extends AnalogGyro implements PIDSource {
+ private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+ public PIDAnalogGyro(int channel) {
+ super(channel);
+ }
+
+ public PIDAnalogGyro(AnalogInput channel) {
+ super(channel);
+ }
+
+ public PIDAnalogGyro(int channel, int center, double offset) {
+ super(channel, center, offset);
+ }
+
+ public PIDAnalogGyro(AnalogInput channel, int center, double offset) {
+ super(channel, center, offset);
+ }
+
+ /**
+ * Set which parameter of the gyro you are using as a process control variable. The Gyro class
+ * supports the rate and displacement parameters
+ *
+ * @param pidSource An enum to select the parameter.
+ */
+ @Override
+ public void setPIDSourceType(PIDSourceType pidSource) {
+ m_pidSource = pidSource;
+ }
+
+ @Override
+ public PIDSourceType getPIDSourceType() {
+ return m_pidSource;
+ }
+
+ /**
+ * Get the output of the gyro for use with PIDControllers. May be the angle or rate depending on
+ * the set PIDSourceType
+ *
+ * @return the output according to the gyro
+ */
+ @Override
+ public double pidGet() {
+ switch (m_pidSource) {
+ case kRate:
+ return getRate();
+ case kDisplacement:
+ return getAngle();
+ default:
+ return 0.0;
+ }
+ }
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogInput.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogInput.java
new file mode 100644
index 0000000..797be71
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogInput.java
@@ -0,0 +1,46 @@
+// 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.
+
+package edu.wpi.first.wpilibj.pidwrappers;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+
+/**
+ * Wrapper so that PIDSource is implemented for AnalogInput for old PIDController.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ * wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
+public class PIDAnalogInput extends AnalogInput implements PIDSource {
+ protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+ public PIDAnalogInput(int channel) {
+ super(channel);
+ }
+
+ @Override
+ public void setPIDSourceType(PIDSourceType pidSource) {
+ m_pidSource = pidSource;
+ }
+
+ @Override
+ public PIDSourceType getPIDSourceType() {
+ return m_pidSource;
+ }
+
+ /**
+ * Get the average voltage for use with PIDController.
+ *
+ * @return the average voltage
+ */
+ @Override
+ public double pidGet() {
+ return getAverageVoltage();
+ }
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogPotentiometer.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogPotentiometer.java
new file mode 100644
index 0000000..f905e5a
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDAnalogPotentiometer.java
@@ -0,0 +1,70 @@
+// 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.
+
+package edu.wpi.first.wpilibj.pidwrappers;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+
+/**
+ * Wrapper so that PIDSource is implemented for AnalogPotentiometer for old PIDController.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ * wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
+public class PIDAnalogPotentiometer extends AnalogPotentiometer implements PIDSource {
+ protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+ public PIDAnalogPotentiometer(int channel, double fullRange, double offset) {
+ super(channel, fullRange, offset);
+ }
+
+ public PIDAnalogPotentiometer(AnalogInput input, double fullRange, double offset) {
+ super(input, fullRange, offset);
+ }
+
+ public PIDAnalogPotentiometer(int channel, double scale) {
+ super(channel, scale);
+ }
+
+ public PIDAnalogPotentiometer(AnalogInput input, double scale) {
+ super(input, scale);
+ }
+
+ public PIDAnalogPotentiometer(int channel) {
+ super(channel);
+ }
+
+ public PIDAnalogPotentiometer(AnalogInput input) {
+ super(input);
+ }
+
+ @Override
+ public void setPIDSourceType(PIDSourceType pidSource) {
+ if (!pidSource.equals(PIDSourceType.kDisplacement)) {
+ throw new IllegalArgumentException("Only displacement PID is allowed for potentiometers.");
+ }
+ m_pidSource = pidSource;
+ }
+
+ @Override
+ public PIDSourceType getPIDSourceType() {
+ return m_pidSource;
+ }
+
+ /**
+ * Implement the PIDSource interface.
+ *
+ * @return The current reading.
+ */
+ @Override
+ public double pidGet() {
+ return get();
+ }
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDEncoder.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDEncoder.java
new file mode 100644
index 0000000..67c3ed1
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDEncoder.java
@@ -0,0 +1,109 @@
+// 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.
+
+package edu.wpi.first.wpilibj.pidwrappers;
+
+import edu.wpi.first.wpilibj.DigitalSource;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+
+/**
+ * Wrapper so that PIDSource is implemented for Encoder for old PIDController.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ * wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
+public class PIDEncoder extends Encoder implements PIDSource {
+ private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+ public PIDEncoder(final int channelA, final int channelB, boolean reverseDirection) {
+ super(channelA, channelB, reverseDirection, EncodingType.k4X);
+ }
+
+ public PIDEncoder(final int channelA, final int channelB) {
+ super(channelA, channelB, false);
+ }
+
+ public PIDEncoder(
+ final int channelA,
+ final int channelB,
+ boolean reverseDirection,
+ final EncodingType encodingType) {
+ super(channelA, channelB, reverseDirection, encodingType);
+ }
+
+ public PIDEncoder(
+ final int channelA, final int channelB, final int indexChannel, boolean reverseDirection) {
+ super(channelA, channelB, indexChannel, reverseDirection);
+ }
+
+ public PIDEncoder(final int channelA, final int channelB, final int indexChannel) {
+ super(channelA, channelB, indexChannel, false);
+ }
+
+ public PIDEncoder(DigitalSource sourceA, DigitalSource sourceB, boolean reverseDirection) {
+ super(sourceA, sourceB, reverseDirection, EncodingType.k4X);
+ }
+
+ public PIDEncoder(DigitalSource sourceA, DigitalSource sourceB) {
+ super(sourceA, sourceB, false);
+ }
+
+ public PIDEncoder(
+ DigitalSource sourceA,
+ DigitalSource sourceB,
+ boolean reverseDirection,
+ final EncodingType encodingType) {
+ super(sourceA, sourceB, reverseDirection, encodingType);
+ }
+
+ public PIDEncoder(
+ DigitalSource sourceA,
+ DigitalSource sourceB,
+ DigitalSource indexSource,
+ boolean reverseDirection) {
+ super(sourceA, sourceB, indexSource, reverseDirection);
+ }
+
+ public PIDEncoder(DigitalSource sourceA, DigitalSource sourceB, DigitalSource indexSource) {
+ super(sourceA, sourceB, indexSource, false);
+ }
+
+ /**
+ * Set which parameter of the encoder you are using as a process control variable. The encoder
+ * class supports the rate and distance parameters.
+ *
+ * @param pidSource An enum to select the parameter.
+ */
+ @Override
+ public void setPIDSourceType(PIDSourceType pidSource) {
+ m_pidSource = pidSource;
+ }
+
+ @Override
+ public PIDSourceType getPIDSourceType() {
+ return m_pidSource;
+ }
+
+ /**
+ * Implement the PIDSource interface.
+ *
+ * @return The current value of the selected source parameter.
+ */
+ @Override
+ public double pidGet() {
+ switch (m_pidSource) {
+ case kDisplacement:
+ return getDistance();
+ case kRate:
+ return getRate();
+ default:
+ return 0.0;
+ }
+ }
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDMotorController.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDMotorController.java
new file mode 100644
index 0000000..11d033b
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDMotorController.java
@@ -0,0 +1,116 @@
+// 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.
+
+package edu.wpi.first.wpilibj.pidwrappers;
+
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.wpilibj.PIDOutput;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+
+/**
+ * Wrapper so that PIDOutput is implemented for MotorController for old PIDController.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ * wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
+public class PIDMotorController implements PIDOutput, MotorController, Sendable {
+ private final MotorController m_motorController;
+
+ public PIDMotorController(MotorController motorController) {
+ m_motorController = motorController;
+ }
+
+ /**
+ * Write out the PID value as seen in the PIDOutput base object.
+ *
+ * @param output Write out the PWM value as was found in the PIDController
+ */
+ @Override
+ public void pidWrite(double output) {
+ m_motorController.set(output);
+ }
+
+ /**
+ * Common interface for setting the speed of a motor controller.
+ *
+ * @param speed The speed to set. Value should be between -1.0 and 1.0.
+ */
+ @Override
+ public void set(double speed) {
+ m_motorController.set(speed);
+ }
+
+ /**
+ * Sets the voltage output of the MotorController. Compensates for the current bus voltage to
+ * ensure that the desired voltage is output even if the battery voltage is below 12V - highly
+ * useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward
+ * calculation).
+ *
+ * <p>NOTE: This function *must* be called regularly in order for voltage compensation to work
+ * properly - unlike the ordinary set function, it is not "set it and forget it."
+ *
+ * @param outputVolts The voltage to output.
+ */
+ @Override
+ public void setVoltage(double outputVolts) {
+ m_motorController.setVoltage(outputVolts);
+ }
+
+ /**
+ * Common interface for getting the current set speed of a motor controller.
+ *
+ * @return The current set speed. Value is between -1.0 and 1.0.
+ */
+ @Override
+ public double get() {
+ return m_motorController.get();
+ }
+
+ /**
+ * Common interface for inverting direction of a motor controller.
+ *
+ * @param isInverted The state of inversion true is inverted.
+ */
+ @Override
+ public void setInverted(boolean isInverted) {
+ m_motorController.setInverted(isInverted);
+ }
+
+ /**
+ * Common interface for returning if a motor controller is in the inverted state or not.
+ *
+ * @return isInverted The state of the inversion true is inverted.
+ */
+ @Override
+ public boolean getInverted() {
+ return m_motorController.getInverted();
+ }
+
+ /** Disable the motor controller. */
+ @Override
+ public void disable() {
+ m_motorController.disable();
+ }
+
+ /**
+ * Stops motor movement. Motor can be moved again by calling set without having to re-enable the
+ * motor.
+ */
+ @Override
+ public void stopMotor() {
+ m_motorController.stopMotor();
+ }
+
+ @Override
+ public void initSendable(SendableBuilder builder) {
+ builder.setSmartDashboardType("Motor Controller");
+ builder.setActuator(true);
+ builder.setSafeState(this::disable);
+ builder.addDoubleProperty("Value", this::get, this::set);
+ }
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDUltrasonic.java b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDUltrasonic.java
new file mode 100644
index 0000000..e542b68
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/pidwrappers/PIDUltrasonic.java
@@ -0,0 +1,55 @@
+// 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.
+
+package edu.wpi.first.wpilibj.pidwrappers;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+import edu.wpi.first.wpilibj.Ultrasonic;
+
+/**
+ * Wrapper so that PIDSource is implemented for Ultrasonic for old PIDController.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use {@link edu.wpi.first.math.controller.PIDController} which doesn't require this
+ * wrapper.
+ */
+@Deprecated(since = "2022", forRemoval = true)
+public class PIDUltrasonic extends Ultrasonic implements PIDSource {
+ protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+
+ public PIDUltrasonic(int pingChannel, int echoChannel) {
+ super(pingChannel, echoChannel);
+ }
+
+ public PIDUltrasonic(DigitalOutput pingChannel, DigitalInput echoChannel) {
+ super(pingChannel, echoChannel);
+ }
+
+ @Override
+ public void setPIDSourceType(PIDSourceType pidSource) {
+ if (!pidSource.equals(PIDSourceType.kDisplacement)) {
+ throw new IllegalArgumentException("Only displacement PID is allowed for ultrasonics.");
+ }
+ m_pidSource = pidSource;
+ }
+
+ @Override
+ public PIDSourceType getPIDSourceType() {
+ return m_pidSource;
+ }
+
+ /**
+ * Get the range in the inches for the PIDSource base object.
+ *
+ * @return The range in inches
+ */
+ @Override
+ public double pidGet() {
+ return getRangeInches();
+ }
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogAccelerometer.cpp b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogAccelerometer.cpp
new file mode 100644
index 0000000..62801e7
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogAccelerometer.cpp
@@ -0,0 +1,11 @@
+// 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/pidwrappers/PIDAnalogAccelerometer.h"
+
+using namespace frc;
+
+double PIDAnalogAccelerometer::PIDGet() {
+ return GetAcceleration();
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogGyro.cpp b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogGyro.cpp
new file mode 100644
index 0000000..d6a9ace
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogGyro.cpp
@@ -0,0 +1,18 @@
+// 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/pidwrappers/PIDAnalogGyro.h"
+
+using namespace frc;
+
+double PIDAnalogGyro::PIDGet() {
+ switch (GetPIDSourceType()) {
+ case PIDSourceType::kRate:
+ return GetRate();
+ case PIDSourceType::kDisplacement:
+ return GetAngle();
+ default:
+ return 0;
+ }
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogInput.cpp b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogInput.cpp
new file mode 100644
index 0000000..d8dc716
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogInput.cpp
@@ -0,0 +1,11 @@
+// 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/pidwrappers/PIDAnalogInput.h"
+
+using namespace frc;
+
+double PIDAnalogInput::PIDGet() {
+ return GetAverageVoltage();
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogPotentiometer.cpp b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogPotentiometer.cpp
new file mode 100644
index 0000000..7b44f6b
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDAnalogPotentiometer.cpp
@@ -0,0 +1,11 @@
+// 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/pidwrappers/PIDAnalogPotentiometer.h"
+
+using namespace frc;
+
+double PIDAnalogPotentiometer::PIDGet() {
+ return Get();
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDEncoder.cpp b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDEncoder.cpp
new file mode 100644
index 0000000..b98d1c9
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDEncoder.cpp
@@ -0,0 +1,18 @@
+// 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/pidwrappers/PIDEncoder.h"
+
+using namespace frc;
+
+double PIDEncoder::PIDGet() {
+ switch (GetPIDSourceType()) {
+ case PIDSourceType::kDisplacement:
+ return GetDistance();
+ case PIDSourceType::kRate:
+ return GetRate();
+ default:
+ return 0.0;
+ }
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDMotorController.cpp b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDMotorController.cpp
new file mode 100644
index 0000000..68d0be3
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDMotorController.cpp
@@ -0,0 +1,50 @@
+// 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/pidwrappers/PIDMotorController.h"
+
+#include <fmt/format.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
+
+using namespace frc;
+
+PIDMotorController::PIDMotorController(MotorController& motorController)
+ : m_motorController(motorController) {}
+
+void PIDMotorController::Set(double speed) {
+ m_motorController.Set(m_isInverted ? -speed : speed);
+}
+
+double PIDMotorController::Get() const {
+ return m_motorController.Get() * (m_isInverted ? -1.0 : 1.0);
+}
+
+void PIDMotorController::SetInverted(bool isInverted) {
+ m_isInverted = isInverted;
+}
+
+bool PIDMotorController::GetInverted() const {
+ return m_isInverted;
+}
+
+void PIDMotorController::Disable() {
+ m_motorController.Disable();
+}
+
+void PIDMotorController::StopMotor() {
+ Disable();
+}
+
+void PIDMotorController::PIDWrite(double output) {
+ m_motorController.Set(output);
+}
+
+void PIDMotorController::InitSendable(wpi::SendableBuilder& builder) {
+ builder.SetSmartDashboardType("Motor Controller");
+ builder.SetActuator(true);
+ builder.SetSafeState([=] { Disable(); });
+ builder.AddDoubleProperty(
+ "Value", [=] { return Get(); }, [=](double value) { Set(value); });
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDUltrasonic.cpp b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDUltrasonic.cpp
new file mode 100644
index 0000000..4c02f17
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/cpp/pidwrappers/PIDUltrasonic.cpp
@@ -0,0 +1,11 @@
+// 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/pidwrappers/PIDUltrasonic.h"
+
+using namespace frc;
+
+double PIDUltrasonic::PIDGet() {
+ return GetRange().value();
+}
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDBase.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDBase.h
index e834006..8c72ae7 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDBase.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDBase.h
@@ -30,6 +30,8 @@
* in the integral and derivative calculations. Therefore, the sample rate
* affects the controller's behavior for a given set of PID constants.
*
+ * This class is provided by the OldCommands VendorDep
+ *
* @deprecated All APIs which use this have been deprecated.
*/
class PIDBase : public PIDInterface,
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDController.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDController.h
index 763752d..224c5e9 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDController.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDController.h
@@ -30,6 +30,8 @@
* in the integral and derivative calculations. Therefore, the sample rate
* affects the controller's behavior for a given set of PID constants.
*
+ * This class is provided by the OldCommands VendorDep
+ *
* @deprecated Use frc2::PIDController class instead.
*/
class PIDController : public PIDBase, public Controller {
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDInterface.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDInterface.h
index 20d26ef..7af3ec6 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDInterface.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDInterface.h
@@ -11,6 +11,8 @@
/**
* Interface for PID Control Loop.
*
+ * This class is provided by the OldCommands VendorDep
+ *
* @deprecated All APIs which use this have been deprecated.
*/
class PIDInterface {
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDOutput.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDOutput.h
index 98c4af4..3e1e780 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDOutput.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDOutput.h
@@ -9,8 +9,10 @@
/**
* PIDOutput interface is a generic output for the PID class.
*
- * PWMs use this class. Users implement this interface to allow for a
- * PIDController to read directly from the inputs.
+ * MotorControllers use this class. Users implement this interface to allow for
+ * a PIDController to read directly from the inputs.
+ *
+ * This class is provided by the OldCommands VendorDep
*/
class PIDOutput {
public:
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDSource.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDSource.h
index 3f6ca23..52990a1 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDSource.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/PIDSource.h
@@ -13,6 +13,8 @@
*
* All sensors that can be used with the PID class will implement the PIDSource
* that returns a standard value that will be used in the PID code.
+ *
+ * This class is provided by the OldCommands VendorDep
*/
class PIDSource {
public:
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/Button.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/Button.h
index 89e2b41..51fe098 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/Button.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/Button.h
@@ -19,6 +19,8 @@
* buttons on an operator interface as a common use case of the more generalized
* Trigger objects. This is a simple wrapper around Trigger with the method
* names renamed to fit the Button object use.
+ *
+ * This class is provided by the OldCommands VendorDep
*/
class Button : public Trigger {
public:
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/InternalButton.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/InternalButton.h
index e9c1fb1..05c8348 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/InternalButton.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/InternalButton.h
@@ -8,6 +8,13 @@
namespace frc {
+/**
+ * This Button is intended to be used within a program. The programmer can
+ * manually set its value. Also includes a setting for whether or not it should
+ * invert its value.
+ *
+ * This class is provided by the OldCommands VendorDep
+ */
class InternalButton : public Button {
public:
InternalButton() = default;
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/JoystickButton.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/JoystickButton.h
index 24900b4..7e92cc1 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/JoystickButton.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/JoystickButton.h
@@ -9,6 +9,11 @@
namespace frc {
+/**
+ * A Button} that gets its state from a GenericHID.
+ *
+ * This class is provided by the OldCommands VendorDep
+ */
class JoystickButton : public Button {
public:
JoystickButton(GenericHID* joystick, int buttonNumber);
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/NetworkButton.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/NetworkButton.h
index 3c468df..e277230 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/NetworkButton.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/NetworkButton.h
@@ -14,6 +14,11 @@
namespace frc {
+/**
+ * A that uses a NetworkTable boolean field.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ */
class NetworkButton : public Button {
public:
NetworkButton(std::string_view tableName, std::string_view field);
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/POVButton.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/POVButton.h
index 87e1789..72ff50a 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/POVButton.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/POVButton.h
@@ -8,6 +8,12 @@
#include "frc/buttons/Button.h"
namespace frc {
+
+/**
+ * A Button that gets its state from a POV on a GenericHID.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
+ */
class POVButton : public Button {
public:
/**
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/Trigger.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/Trigger.h
index 966a29f..4edceaa 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/Trigger.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/buttons/Trigger.h
@@ -25,6 +25,8 @@
* a button while the robot is reading a certain sensor input). For this, they
* only have to write the Trigger::Get() method to get the full functionality of
* the Trigger class.
+ *
+ * This class is provided by the OldCommands VendorDep
*/
class Trigger : public wpi::Sendable, public wpi::SendableHelper<Trigger> {
public:
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/Command.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/Command.h
index aa20134..3e43cff 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/Command.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/Command.h
@@ -40,6 +40,8 @@
* other one will not even be started, and the active one will continue
* functioning.
*
+ * This class is provided by the OldCommands VendorDep
+ * *
* @see CommandGroup
* @see Subsystem
*/
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/CommandGroup.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/CommandGroup.h
index 016f700..f48ddbf 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/CommandGroup.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/CommandGroup.h
@@ -28,6 +28,8 @@
* CommandGroups can also execute commands in parallel, simply by adding them
* using AddParallel().
*
+ * This class is provided by the OldCommands VendorDep
+ *
* @see Command
* @see Subsystem
*/
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/ConditionalCommand.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/ConditionalCommand.h
index 19d6d75..46e73cb 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/ConditionalCommand.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/ConditionalCommand.h
@@ -26,6 +26,8 @@
* A ConditionalCommand will require the superset of subsystems of the onTrue
* and onFalse commands.
*
+ * This class is provided by the OldCommands VendorDep
+ *
* @see Command
* @see Scheduler
*/
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/InstantCommand.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/InstantCommand.h
index d16b34e..f1683eb 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/InstantCommand.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/InstantCommand.h
@@ -16,6 +16,8 @@
* This command will execute once, then finish immediately afterward.
*
* Subclassing InstantCommand is shorthand for returning true from IsFinished().
+ *
+ * This class is provided by the OldCommands VendorDep
*/
class InstantCommand : public Command {
public:
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/PIDCommand.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/PIDCommand.h
index 7eb85ec..ba8aa6e 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/PIDCommand.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/PIDCommand.h
@@ -14,6 +14,15 @@
namespace frc {
+/**
+ * This class defines aCommand which interacts heavily with a PID loop.
+ *
+ * It provides some convenience methods to run an internal PIDController . It
+ * will also start and stop said PIDController when the PIDCommand is first
+ * initialized and ended/interrupted.
+ *
+ * This class is provided by the OldCommands VendorDep
+ */
class PIDCommand : public Command, public PIDOutput, public PIDSource {
public:
PIDCommand(std::string_view name, double p, double i, double d);
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/PIDSubsystem.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/PIDSubsystem.h
index 6339c26..b66ad38 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/PIDSubsystem.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/PIDSubsystem.h
@@ -22,6 +22,8 @@
* It provides some convenience methods to run an internal PIDController. It
* also allows access to the internal PIDController in order to give total
* control to the programmer.
+ *
+ * This class is provided by the OldCommands VendorDep
*/
class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
public:
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/PrintCommand.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/PrintCommand.h
index 01d0d4b..b72b4c9 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/PrintCommand.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/PrintCommand.h
@@ -11,6 +11,13 @@
namespace frc {
+/**
+ * A PrintCommand is a command which prints out a string when it is initialized,
+ * and then immediately finishes. It is useful if you want a CommandGroup to
+ * print out a string when it reaches a certain point.
+ *
+ * This class is provided by the OldCommands VendorDep
+ */
class PrintCommand : public InstantCommand {
public:
explicit PrintCommand(std::string_view message);
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/Scheduler.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/Scheduler.h
index ad82f63..1c67df3 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/Scheduler.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/Scheduler.h
@@ -15,6 +15,18 @@
class Command;
class Subsystem;
+/**
+ * The Scheduler is a singleton which holds the top-level running commands. It
+ * is in charge of both calling the command's run() method and to make sure that
+ * there are no two commands with conflicting requirements running.
+ *
+ * It is fine if teams wish to take control of the Scheduler themselves, all
+ * that needs to be done is to call frc::Scheduler::getInstance()->run() often
+ * to have Commands function correctly. However, this is already done for you if
+ * you use the CommandBased Robot template.
+ *
+ * This class is provided by the OldCommands VendorDep
+ */
class Scheduler : public nt::NTSendable, public wpi::SendableHelper<Scheduler> {
public:
/**
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/StartCommand.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/StartCommand.h
index a58c058..2186fe5 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/StartCommand.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/StartCommand.h
@@ -8,6 +8,13 @@
namespace frc {
+/**
+ * A PrintCommand is a command which prints out a string when it is initialized,
+ * and then immediately finishes. It is useful if you want a CommandGroup to
+ * print out a string when it reaches a certain point.
+ *
+ * This class is provided by the OldCommands VendorDep
+ */
class StartCommand : public InstantCommand {
public:
explicit StartCommand(Command* commandToStart);
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/Subsystem.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/Subsystem.h
index 8c18d5c..6357f0c 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/Subsystem.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/Subsystem.h
@@ -15,6 +15,22 @@
class Command;
+/**
+ * This class defines a major component of the robot.
+ *
+ * A good example of a subsystem is the drivetrain, or a claw if the robot has
+ * one.
+ *
+ * All motors should be a part of a subsystem. For instance, all the wheel
+ * motors should be a part of some kind of "Drivetrain" subsystem.
+ *
+ * Subsystems are used within the command system as requirements for Command.
+ * Only one command which requires a subsystem can run at a time. Also,
+ * subsystems can have default commands which are started if there is no command
+ * running which requires this subsystem.
+ *
+ * This class is provided by the OldCommands VendorDep
+ */
class Subsystem : public wpi::Sendable, public wpi::SendableHelper<Subsystem> {
friend class Scheduler;
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/TimedCommand.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/TimedCommand.h
index 17eb4f4..912bcec 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/TimedCommand.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/TimedCommand.h
@@ -16,6 +16,8 @@
* A TimedCommand will wait for a timeout before finishing.
*
* TimedCommand is used to execute a command for a given amount of time.
+ *
+ * This class is provided by the OldCommands VendorDep
*/
class TimedCommand : public Command {
public:
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/WaitCommand.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/WaitCommand.h
index 3902fb6..9f4090b 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/WaitCommand.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/WaitCommand.h
@@ -12,6 +12,12 @@
namespace frc {
+/**
+ * A WaitCommand will wait for a certain amount of time before finishing. It is
+ * useful if you want a CommandGroup to pause for a moment.
+ *
+ * This class is provided by the OldCommands VendorDep
+ */
class WaitCommand : public TimedCommand {
public:
/**
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/WaitForChildren.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/WaitForChildren.h
index b92d78d..775826b 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/WaitForChildren.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/WaitForChildren.h
@@ -12,6 +12,18 @@
namespace frc {
+/**
+ * This command will only finish if whatever CommandGroup it is in has no active
+ * children. If it is not a part of a CommandGroup, then it will finish
+ * immediately. If it is itself an active child, then the CommandGroup will
+ * never end.
+ *
+ * This class is useful for the situation where you want to allow anything
+ * running in parallel to finish, before continuing in the main CommandGroup
+ * sequence.
+ *
+ * This class is provided by the OldCommands VendorDep
+ */
class WaitForChildren : public Command {
public:
explicit WaitForChildren(units::second_t timeout);
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/WaitUntilCommand.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/WaitUntilCommand.h
index 715e7bb..e9a5cba 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/WaitUntilCommand.h
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/commands/WaitUntilCommand.h
@@ -12,16 +12,18 @@
namespace frc {
+/**
+ * A WaitCommand will wait until a certain match time before finishing.
+ *
+ * This will wait until the game clock reaches some value, then continue to
+ * the next command.
+ *
+ * This class is provided by the OldCommands VendorDep
+ *
+ * @see CommandGroup
+ */
class WaitUntilCommand : public Command {
public:
- /**
- * A WaitCommand will wait until a certain match time before finishing.
- *
- * This will wait until the game clock reaches some value, then continue to
- * the next command.
- *
- * @see CommandGroup
- */
explicit WaitUntilCommand(units::second_t time);
WaitUntilCommand(std::string_view name, units::second_t time);
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h
new file mode 100644
index 0000000..d7c0ce8
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogAccelerometer.h
@@ -0,0 +1,35 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "frc/AnalogAccelerometer.h"
+#include "frc/PIDSource.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for AnalogAccelerometer for old
+ * PIDController
+ *
+ * This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
+ */
+class WPI_DEPRECATED("Use frc2::PIDController class instead.")
+ PIDAnalogAccelerometer : public PIDSource,
+ public AnalogAccelerometer {
+ using AnalogAccelerometer::AnalogAccelerometer;
+
+ public:
+ /**
+ * Get the Acceleration for the PID Source parent.
+ *
+ * @return The current acceleration in Gs.
+ */
+ double PIDGet() override;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h
new file mode 100644
index 0000000..dc73f1e
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogGyro.h
@@ -0,0 +1,35 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "frc/AnalogGyro.h"
+#include "frc/PIDSource.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for AnalogGyro for old PIDController
+ *
+ * This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
+ */
+class WPI_DEPRECATED("Use frc2::PIDController class instead.") PIDAnalogGyro
+ : public PIDSource,
+ public AnalogGyro {
+ using AnalogGyro::AnalogGyro;
+
+ public:
+ /**
+ * Get the PIDOutput for the PIDSource base object. Can be set to return
+ * angle or rate using SetPIDSourceType(). Defaults to angle.
+ *
+ * @return The PIDOutput (angle or rate, defaults to angle)
+ */
+ double PIDGet() override;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h
new file mode 100644
index 0000000..ae34e1c
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogInput.h
@@ -0,0 +1,35 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "frc/AnalogInput.h"
+#include "frc/PIDSource.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for AnalogInput for old
+ * PIDController
+ *
+ * This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
+ */
+class WPI_DEPRECATED("Use frc2::PIDController class instead.") PIDAnalogInput
+ : public PIDSource,
+ public AnalogInput {
+ using AnalogInput::AnalogInput;
+
+ public:
+ /**
+ * Get the Average value for the PID Source base object.
+ *
+ * @return The average voltage.
+ */
+ double PIDGet() override;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h
new file mode 100644
index 0000000..cd77b9e
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDAnalogPotentiometer.h
@@ -0,0 +1,35 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "frc/AnalogPotentiometer.h"
+#include "frc/PIDSource.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for AnalogPotentiometer for old
+ * PIDController
+ *
+ * This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
+ */
+class WPI_DEPRECATED("Use frc2::PIDController class instead.")
+ PIDAnalogPotentiometer : public PIDSource,
+ public AnalogPotentiometer {
+ using AnalogPotentiometer::AnalogPotentiometer;
+
+ public:
+ /**
+ * Implement the PIDSource interface.
+ *
+ * @return The current reading.
+ */
+ double PIDGet() override;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h
new file mode 100644
index 0000000..4e6d5c3
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDEncoder.h
@@ -0,0 +1,35 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "frc/Encoder.h"
+#include "frc/PIDSource.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for Encoder for old PIDController
+ *
+ * This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
+ */
+class WPI_DEPRECATED("Use frc2::PIDController class instead.") PIDEncoder
+ : public PIDSource,
+ public Encoder {
+ using Encoder::Encoder;
+
+ public:
+ /**
+ * Get the PIDOutput for the PIDSource base object. Can be set to return
+ * distance or rate using SetPIDSourceType(). Defaults to distance.
+ *
+ * @return The PIDOutput (distance or rate, defaults to distance)
+ */
+ double PIDGet() override;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h
new file mode 100644
index 0000000..547264b
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDMotorController.h
@@ -0,0 +1,69 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
+#include "frc/PIDOutput.h"
+#include "frc/motorcontrol/MotorController.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDOutput is implemented for MotorController for old
+ * PIDController
+ *
+ * This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
+ */
+class PIDMotorController : public PIDOutput,
+ public MotorController,
+ public wpi::Sendable {
+ public:
+ WPI_DEPRECATED("Use frc2::PIDController class instead.")
+ explicit PIDMotorController(MotorController& motorController);
+
+ /**
+ * Set the PWM value.
+ *
+ * The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
+ * the value for the FPGA.
+ *
+ * @param value The speed value between -1.0 and 1.0 to set.
+ */
+ void Set(double value) override;
+
+ /**
+ * Get the recently set value of the PWM. This value is affected by the
+ * inversion property. If you want the value that is sent directly to the
+ * MotorController, use PWM::GetSpeed() instead.
+ *
+ * @return The most recently set value for the PWM between -1.0 and 1.0.
+ */
+ double Get() const override;
+
+ void SetInverted(bool isInverted) override;
+
+ bool GetInverted() const override;
+
+ void Disable() override;
+
+ void StopMotor() override;
+
+ void PIDWrite(double output) override;
+
+ protected:
+ void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+ bool m_isInverted = false;
+
+ MotorController& m_motorController;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h
new file mode 100644
index 0000000..d3b9fc8
--- /dev/null
+++ b/third_party/allwpilib/wpilibOldCommands/src/main/native/include/frc/pidwrappers/PIDUltrasonic.h
@@ -0,0 +1,34 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "frc/PIDSource.h"
+#include "frc/Ultrasonic.h"
+
+namespace frc {
+
+/**
+ * Wrapper so that PIDSource is implemented for Ultrasonic for old PIDController
+ *
+ * This class is provided by the OldCommands VendorDep
+ *
+ * @deprecated Use frc2::PIDController class instead which doesn't require this
+ * wrapper.
+ */
+class WPI_DEPRECATED("Use frc2::PIDController class instead.") PIDUltrasonic
+ : public PIDSource,
+ public Ultrasonic {
+ using Ultrasonic::Ultrasonic;
+
+ public:
+ /**
+ * Get the range for the PIDSource base object.
+ *
+ * @return The range
+ */
+ double PIDGet() override;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/AbstractCommandTest.java b/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/AbstractCommandTest.java
index d305595..55411cc 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/AbstractCommandTest.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/AbstractCommandTest.java
@@ -11,7 +11,7 @@
import org.junit.jupiter.api.BeforeEach;
/** The basic test for all {@link Command} tests. */
-public abstract class AbstractCommandTest {
+public class AbstractCommandTest {
@BeforeEach
void commandSetup() {
Scheduler.getInstance().removeAll();
diff --git a/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java b/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
index 3a299ef..d8ef933 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
@@ -16,7 +16,7 @@
* timeout.
*/
@Test
- public void testThreeCommandOnSubSystem() {
+ void testThreeCommandOnSubSystem() {
logger.fine("Beginning Test");
final ASubsystem subsystem = new ASubsystem();
diff --git a/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSupersedeTest.java b/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSupersedeTest.java
index 85f58ea..7169c39 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSupersedeTest.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSupersedeTest.java
@@ -60,12 +60,8 @@
void commandFailingSupersedingBecauseFirstCanNotBeInterruptedTest() {
final ASubsystem subsystem = new ASubsystem();
- final MockCommand command1 =
- new MockCommand(subsystem) {
- {
- setInterruptible(false);
- }
- };
+ final MockCommand command1 = new MockCommand(subsystem);
+ command1.setInterruptible(false);
final MockCommand command2 = new MockCommand(subsystem);
diff --git a/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/DefaultCommandTest.java b/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/DefaultCommandTest.java
index 698c0e6..8539d44 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/DefaultCommandTest.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/DefaultCommandTest.java
@@ -7,7 +7,7 @@
import org.junit.jupiter.api.Test;
/** Tests the {@link Command} library. */
-public class DefaultCommandTest extends AbstractCommandTest {
+class DefaultCommandTest extends AbstractCommandTest {
/** Testing of default commands where the interrupting command ends itself. */
@Test
void defaultCommandWhereTheInteruptingCommandEndsItselfTest() {
diff --git a/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTabTest.java b/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTabTest.java
index 6236e62..c7deb23 100644
--- a/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTabTest.java
+++ b/third_party/allwpilib/wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTabTest.java
@@ -20,7 +20,7 @@
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
-public class ShuffleboardTabTest {
+class ShuffleboardTabTest {
private NetworkTableInstance m_ntInstance;
private ShuffleboardTab m_tab;
private ShuffleboardInstance m_instance;
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
new file mode 100644
index 0000000..25d674f
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
@@ -0,0 +1,874 @@
+// 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.
+
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2020 Analog Devices Inc. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/* */
+/* Modified by Juan Chong - frcsupport@analog.com */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/ADIS16448_IMU.h"
+
+#include <frc/DigitalInput.h>
+#include <frc/DigitalOutput.h>
+#include <frc/DigitalSource.h>
+#include <frc/DriverStation.h>
+#include <frc/SPI.h>
+#include <frc/Timer.h>
+
+#include <algorithm>
+#include <cmath>
+#include <string>
+
+#include <hal/HAL.h>
+#include <networktables/NTSendableBuilder.h>
+#include <wpi/numbers>
+#include <wpi/sendable/SendableRegistry.h>
+
+#include "frc/Errors.h"
+
+/* Helpful conversion functions */
+static inline uint16_t BuffToUShort(const uint32_t* buf) {
+ return (static_cast<uint16_t>(buf[0]) << 8) | buf[1];
+}
+
+static inline uint8_t BuffToUByte(const uint32_t* buf) {
+ return static_cast<uint8_t>(buf[0]);
+}
+
+static inline int16_t BuffToShort(const uint32_t* buf) {
+ return (static_cast<int16_t>(buf[0]) << 8) | buf[1];
+}
+
+static inline uint16_t ToUShort(const uint8_t* buf) {
+ return (static_cast<uint16_t>(buf[0]) << 8) | buf[1];
+}
+
+using namespace frc;
+
+namespace {
+template <typename S, typename... Args>
+inline void ADISReportError(int32_t status, const char* file, int line,
+ const char* function, const S& format,
+ Args&&... args) {
+ frc::ReportErrorV(status, file, line, function, format,
+ fmt::make_args_checked<Args...>(format, args...));
+}
+} // namespace
+
+#define REPORT_WARNING(msg) \
+ ADISReportError(warn::Warning, __FILE__, __LINE__, __FUNCTION__, "{}", msg);
+#define REPORT_ERROR(msg) \
+ ADISReportError(err::Error, __FILE__, __LINE__, __FUNCTION__, "{}", msg)
+
+ADIS16448_IMU::ADIS16448_IMU()
+ : ADIS16448_IMU(kZ, SPI::Port::kMXP, CalibrationTime::_512ms) {}
+
+ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
+ CalibrationTime cal_time)
+ : m_yaw_axis(yaw_axis),
+ m_spi_port(port),
+ m_simDevice("Gyro:ADIS16448", port) {
+ if (m_simDevice) {
+ m_simGyroAngleX =
+ m_simDevice.CreateDouble("gyro_angle_x", hal::SimDevice::kInput, 0.0);
+ m_simGyroAngleY =
+ m_simDevice.CreateDouble("gyro_angle_y", hal::SimDevice::kInput, 0.0);
+ m_simGyroAngleZ =
+ m_simDevice.CreateDouble("gyro_angle_z", hal::SimDevice::kInput, 0.0);
+ m_simGyroRateX =
+ m_simDevice.CreateDouble("gyro_rate_x", hal::SimDevice::kInput, 0.0);
+ m_simGyroRateY =
+ m_simDevice.CreateDouble("gyro_rate_y", hal::SimDevice::kInput, 0.0);
+ m_simGyroRateZ =
+ m_simDevice.CreateDouble("gyro_rate_z", hal::SimDevice::kInput, 0.0);
+ m_simAccelX =
+ m_simDevice.CreateDouble("accel_x", hal::SimDevice::kInput, 0.0);
+ m_simAccelY =
+ m_simDevice.CreateDouble("accel_y", hal::SimDevice::kInput, 0.0);
+ m_simAccelZ =
+ m_simDevice.CreateDouble("accel_z", hal::SimDevice::kInput, 0.0);
+ }
+
+ if (!m_simDevice) {
+ // Force the IMU reset pin to toggle on startup (doesn't require DS enable)
+ // Relies on the RIO hardware by default configuring an output as low
+ // and configuring an input as high Z. The 10k pull-up resistor internal to
+ // the IMU then forces the reset line high for normal operation.
+ DigitalOutput* m_reset_out = new DigitalOutput(18); // Drive MXP DIO8 low
+ Wait(10_ms); // Wait 10ms
+ delete m_reset_out;
+ new DigitalInput(18); // Set MXP DIO8 high
+ Wait(500_ms); // Wait 500ms for reset to complete
+
+ ConfigCalTime(cal_time);
+
+ // Configure standard SPI
+ if (!SwitchToStandardSPI()) {
+ return;
+ }
+
+ // Set IMU internal decimation to 819.2 SPS
+ WriteRegister(SMPL_PRD, 0x0001);
+ // Enable Data Ready (LOW = Good Data) on DIO1 (PWM0 on MXP)
+ WriteRegister(MSC_CTRL, 0x0016);
+ // Disable IMU internal Bartlett filter
+ WriteRegister(SENS_AVG, 0x0400);
+ // Clear offset registers
+ WriteRegister(XGYRO_OFF, 0x0000);
+ WriteRegister(YGYRO_OFF, 0x0000);
+ WriteRegister(ZGYRO_OFF, 0x0000);
+ // Configure and enable auto SPI
+ if (!SwitchToAutoSPI()) {
+ return;
+ }
+ // Notify DS that IMU calibration delay is active
+ REPORT_WARNING(
+ "ADIS16448 IMU Detected. Starting initial calibration delay.");
+ // Wait for whatever time the user set as the start-up delay
+ Wait(static_cast<double>(m_calibration_time) * 1.2_s);
+ // Execute calibration routine
+ Calibrate();
+ // Reset accumulated offsets
+ Reset();
+ // Tell the acquire loop that we're done starting up
+ m_start_up_mode = false;
+
+ // Let the user know the IMU was initiallized successfully
+ REPORT_WARNING("ADIS16448 IMU Successfully Initialized!");
+
+ // TODO: Find what the proper pin is to turn this LED
+ // Drive MXP PWM5 (IMU ready LED) low (active low)
+ new DigitalOutput(19);
+ }
+
+ // Report usage and post data to DS
+ HAL_Report(HALUsageReporting::kResourceType_ADIS16448, 0);
+
+ wpi::SendableRegistry::AddLW(this, "ADIS16448", port);
+}
+
+/**
+ * @brief Switches to standard SPI operation. Primarily used when exiting auto
+ *SPI mode.
+ *
+ * @return A boolean indicating the success or failure of setting up the SPI
+ *peripheral in standard SPI mode.
+ *
+ * This function switches the active SPI port to standard SPI and is used
+ *primarily when exiting auto SPI. Exiting auto SPI is required to read or write
+ *using SPI since the auto SPI configuration, once active, locks the SPI message
+ *being transacted. This function also verifies that the SPI port is operating
+ *in standard SPI mode by reading back the IMU product ID.
+ **/
+bool ADIS16448_IMU::SwitchToStandardSPI() {
+ // Check to see whether the acquire thread is active. If so, wait for it to
+ // stop producing data.
+ if (m_thread_active) {
+ m_thread_active = false;
+ while (!m_thread_idle) {
+ Wait(10_ms);
+ }
+ // Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
+ if (m_spi != nullptr && m_auto_configured) {
+ m_spi->StopAuto();
+ // We need to get rid of all the garbage left in the auto SPI buffer after
+ // stopping it. Sometimes data magically reappears, so we have to check
+ // the buffer size a couple of times
+ // to be sure we got it all. Yuck.
+ uint32_t trashBuffer[200];
+ Wait(100_ms);
+ int data_count = m_spi->ReadAutoReceivedData(trashBuffer, 0, 0_s);
+ while (data_count > 0) {
+ /* Dequeue 200 at a time, or the remainder of the buffer if less than
+ * 200 */
+ m_spi->ReadAutoReceivedData(trashBuffer, std::min(200, data_count),
+ 0_s);
+ /* Update remaining buffer count */
+ data_count = m_spi->ReadAutoReceivedData(trashBuffer, 0, 0_s);
+ }
+ }
+ }
+ // There doesn't seem to be a SPI port active. Let's try to set one up
+ if (m_spi == nullptr) {
+ m_spi = new SPI(m_spi_port);
+ m_spi->SetClockRate(1000000);
+ m_spi->SetMSBFirst();
+ m_spi->SetSampleDataOnTrailingEdge();
+ m_spi->SetClockActiveLow();
+ m_spi->SetChipSelectActiveLow();
+ ReadRegister(PROD_ID); // Dummy read
+
+ // Validate the product ID
+ uint16_t prod_id = ReadRegister(PROD_ID);
+ if (prod_id != 16448) {
+ REPORT_ERROR("Could not find ADIS16448!");
+ Close();
+ return false;
+ }
+ return true;
+ } else {
+ // Maybe the SPI port is active, but not in auto SPI mode? Try to read the
+ // product ID.
+ ReadRegister(PROD_ID); // Dummy read
+ uint16_t prod_id = ReadRegister(PROD_ID);
+ if (prod_id != 16448) {
+ REPORT_ERROR("Could not find ADIS16448!");
+ Close();
+ return false;
+ } else {
+ return true;
+ }
+ }
+}
+
+void ADIS16448_IMU::InitOffsetBuffer(int size) {
+ // avoid exceptions in the case of bad arguments
+ if (size < 1) {
+ size = 1;
+ }
+
+ // set average size to size (correct bad values)
+ m_avg_size = size;
+
+ // resize vector
+ if (m_offset_buffer != nullptr) {
+ delete[] m_offset_buffer;
+ }
+ m_offset_buffer = new OffsetData[size];
+
+ // set accumulate count to 0
+ m_accum_count = 0;
+}
+
+/**
+ * This function switches the active SPI port to auto SPI and is used primarily
+ *when exiting standard SPI. Auto SPI is required to asynchronously read data
+ *over SPI as it utilizes special FPGA hardware to react to an external data
+ *ready (GPIO) input. Data captured using auto SPI is buffered in the FPGA and
+ *can be read by the CPU asynchronously. Standard SPI transactions are
+ * impossible on the selected SPI port once auto SPI is enabled. The stall
+ *settings, GPIO interrupt pin, and data packet settings used in this function
+ *are hard-coded to work only with the ADIS16448 IMU.
+ **/
+bool ADIS16448_IMU::SwitchToAutoSPI() {
+ // No SPI port has been set up. Go set one up first.
+ if (m_spi == nullptr) {
+ if (!SwitchToStandardSPI()) {
+ REPORT_ERROR("Failed to start/restart auto SPI");
+ return false;
+ }
+ }
+ // Only set up the interrupt if needed.
+ if (m_auto_interrupt == nullptr) {
+ m_auto_interrupt = new DigitalInput(10);
+ }
+ // The auto SPI controller gets angry if you try to set up two instances on
+ // one bus.
+ if (!m_auto_configured) {
+ m_spi->InitAuto(8200);
+ m_auto_configured = true;
+ }
+ // Set auto SPI packet data and size
+ 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
+ // activated)
+ m_spi->StartAutoTrigger(*m_auto_interrupt, true, false);
+ // Check to see if the acquire thread is running. If not, kick one off.
+ if (!m_thread_idle) {
+ m_first_run = true;
+ m_thread_active = true;
+ // Set up circular buffer
+ InitOffsetBuffer(m_avg_size);
+ // Kick off acquire thread
+ m_acquire_task = std::thread(&ADIS16448_IMU::Acquire, this);
+ } else {
+ m_first_run = true;
+ m_thread_active = true;
+ }
+ // Looks like the thread didn't start for some reason. Abort.
+ /*
+ if(!m_thread_idle) {
+ REPORT_ERROR("Failed to start/restart the acquire() thread.");
+ Close();
+ return false;
+ }
+ */
+ return true;
+}
+
+/**
+ *
+ **/
+int ADIS16448_IMU::ConfigCalTime(CalibrationTime new_cal_time) {
+ if (m_calibration_time == new_cal_time) {
+ return 1;
+ } else {
+ m_calibration_time = new_cal_time;
+ m_avg_size = static_cast<uint16_t>(m_calibration_time) * 819;
+ InitOffsetBuffer(m_avg_size);
+ return 0;
+ }
+}
+
+/**
+ *
+ **/
+void ADIS16448_IMU::Calibrate() {
+ std::scoped_lock sync(m_mutex);
+ // Calculate the running average
+ int gyroAverageSize = std::min(m_accum_count, m_avg_size);
+ double accum_gyro_rate_x = 0.0;
+ double accum_gyro_rate_y = 0.0;
+ double accum_gyro_rate_z = 0.0;
+ for (int i = 0; i < gyroAverageSize; i++) {
+ accum_gyro_rate_x += m_offset_buffer[i].gyro_rate_x;
+ accum_gyro_rate_y += m_offset_buffer[i].gyro_rate_y;
+ accum_gyro_rate_z += m_offset_buffer[i].gyro_rate_z;
+ }
+ m_gyro_rate_offset_x = accum_gyro_rate_x / gyroAverageSize;
+ m_gyro_rate_offset_y = accum_gyro_rate_y / gyroAverageSize;
+ m_gyro_rate_offset_z = accum_gyro_rate_z / gyroAverageSize;
+ m_integ_gyro_angle_x = 0.0;
+ m_integ_gyro_angle_y = 0.0;
+ m_integ_gyro_angle_z = 0.0;
+}
+
+/**
+ * This function reads the contents of an 8-bit register location by
+ *transmitting the register location byte along with a null (0x00) byte using
+ *the standard WPILib API. The response (two bytes) is read back using the
+ *WPILib API and joined using a helper function. This function assumes the
+ *controller is set to standard SPI mode.
+ **/
+uint16_t ADIS16448_IMU::ReadRegister(uint8_t reg) {
+ uint8_t buf[2];
+ buf[0] = reg & 0x7f;
+ buf[1] = 0;
+
+ m_spi->Write(buf, 2);
+ m_spi->Read(false, buf, 2);
+
+ return ToUShort(buf);
+}
+
+/**
+ * This function writes an unsigned, 16-bit value into adjacent 8-bit addresses
+ *via SPI. The upper and lower bytes that make up the 16-bit value are split
+ *into two unsined, 8-bit values and written to the upper and lower addresses of
+ *the specified register value. Only the lower (base) address must be specified.
+ *This function assumes the controller is set to standard SPI mode.
+ **/
+void ADIS16448_IMU::WriteRegister(uint8_t reg, uint16_t val) {
+ uint8_t buf[2];
+ buf[0] = 0x80 | reg;
+ buf[1] = val & 0xff;
+ m_spi->Write(buf, 2);
+ buf[0] = 0x81 | reg;
+ buf[1] = val >> 8;
+ m_spi->Write(buf, 2);
+}
+
+/**
+ * This function resets (zeros) the accumulated (integrated) angle estimates for
+ *the xgyro, ygyro, and zgyro outputs.
+ **/
+void ADIS16448_IMU::Reset() {
+ std::scoped_lock sync(m_mutex);
+ m_integ_gyro_angle_x = 0.0;
+ m_integ_gyro_angle_y = 0.0;
+ m_integ_gyro_angle_z = 0.0;
+}
+
+void ADIS16448_IMU::Close() {
+ if (m_thread_active) {
+ m_thread_active = false;
+ if (m_acquire_task.joinable()) {
+ m_acquire_task.join();
+ }
+ }
+ if (m_spi != nullptr) {
+ if (m_auto_configured) {
+ m_spi->StopAuto();
+ }
+ delete m_spi;
+ m_auto_configured = false;
+ if (m_auto_interrupt != nullptr) {
+ delete m_auto_interrupt;
+ m_auto_interrupt = nullptr;
+ }
+ m_spi = nullptr;
+ }
+ delete[] m_offset_buffer;
+}
+
+ADIS16448_IMU::~ADIS16448_IMU() {
+ Close();
+}
+
+void ADIS16448_IMU::Acquire() {
+ // Set data packet length
+ const int dataset_len = 29; // 18 data points + timestamp
+
+ const int BUFFER_SIZE = 4000;
+
+ // This buffer can contain many datasets
+ uint32_t buffer[BUFFER_SIZE];
+ int data_count = 0;
+ int data_remainder = 0;
+ int data_to_read = 0;
+ int bufferAvgIndex = 0;
+ uint32_t previous_timestamp = 0;
+ double gyro_rate_x = 0.0;
+ double gyro_rate_y = 0.0;
+ double gyro_rate_z = 0.0;
+ double accel_x = 0.0;
+ double accel_y = 0.0;
+ double accel_z = 0.0;
+ double mag_x = 0.0;
+ double mag_y = 0.0;
+ double mag_z = 0.0;
+ double baro = 0.0;
+ double temp = 0.0;
+ double gyro_rate_x_si = 0.0;
+ double gyro_rate_y_si = 0.0;
+ // double gyro_rate_z_si = 0.0;
+ double accel_x_si = 0.0;
+ double accel_y_si = 0.0;
+ double accel_z_si = 0.0;
+ double compAngleX = 0.0;
+ double compAngleY = 0.0;
+ double accelAngleX = 0.0;
+ double accelAngleY = 0.0;
+
+ while (true) {
+ // Sleep loop for 10ms (wait for data)
+ Wait(10_ms);
+
+ if (m_thread_active) {
+ data_count = m_spi->ReadAutoReceivedData(
+ buffer, 0,
+ 0_s); // Read number of bytes currently stored in the buffer
+ data_remainder =
+ data_count % dataset_len; // Check if frame is incomplete
+ data_to_read = data_count -
+ data_remainder; // Remove incomplete data from read count
+ /* Want to cap the data to read in a single read at the buffer size */
+ if (data_to_read > BUFFER_SIZE) {
+ REPORT_WARNING(
+ "ADIS16448 data processing thread overrun has occurred!");
+ data_to_read = BUFFER_SIZE - (BUFFER_SIZE % dataset_len);
+ }
+ m_spi->ReadAutoReceivedData(buffer, data_to_read,
+ 0_s); // Read data from DMA buffer
+
+ // Could be multiple data sets in the buffer. Handle each one.
+ for (int i = 0; i < data_to_read; i += dataset_len) {
+ // Calculate CRC-16 on each data packet
+ uint16_t calc_crc = 0xFFFF; // Starting word
+ uint8_t byte = 0;
+ uint16_t imu_crc = 0;
+ for (int k = 5; k < 27;
+ k += 2) // Cycle through XYZ GYRO, XYZ ACCEL, XYZ MAG, BARO, TEMP
+ // (Ignore Status & CRC)
+ {
+ byte = BuffToUByte(&buffer[i + k + 1]); // Process LSB
+ calc_crc = (calc_crc >> 8) ^ adiscrc[(calc_crc & 0x00FF) ^ byte];
+ byte = BuffToUByte(&buffer[i + k]); // Process MSB
+ calc_crc = (calc_crc >> 8) ^ adiscrc[(calc_crc & 0x00FF) ^ byte];
+ }
+ calc_crc = ~calc_crc; // Complement
+ calc_crc = static_cast<uint16_t>((calc_crc << 8) |
+ (calc_crc >> 8)); // Flip LSB & MSB
+ imu_crc =
+ BuffToUShort(&buffer[i + 27]); // Extract DUT CRC from data buffer
+
+ // Compare calculated vs read CRC. Don't update outputs or dt if CRC-16
+ // is bad
+ if (calc_crc == imu_crc) {
+ // Timestamp is at buffer[i]
+ m_dt = (buffer[i] - previous_timestamp) / 1000000.0;
+ // Split array and scale data
+ gyro_rate_x = BuffToShort(&buffer[i + 5]) * 0.04;
+ gyro_rate_y = BuffToShort(&buffer[i + 7]) * 0.04;
+ gyro_rate_z = BuffToShort(&buffer[i + 9]) * 0.04;
+ accel_x = BuffToShort(&buffer[i + 11]) * 0.833;
+ accel_y = BuffToShort(&buffer[i + 13]) * 0.833;
+ accel_z = BuffToShort(&buffer[i + 15]) * 0.833;
+ mag_x = BuffToShort(&buffer[i + 17]) * 0.1429;
+ mag_y = BuffToShort(&buffer[i + 19]) * 0.1429;
+ mag_z = BuffToShort(&buffer[i + 21]) * 0.1429;
+ baro = BuffToShort(&buffer[i + 23]) * 0.02;
+ temp = BuffToShort(&buffer[i + 25]) * 0.07386 + 31.0;
+
+ // Convert scaled sensor data to SI units
+ gyro_rate_x_si = gyro_rate_x * deg_to_rad;
+ gyro_rate_y_si = gyro_rate_y * deg_to_rad;
+ // gyro_rate_z_si = gyro_rate_z * deg_to_rad;
+ accel_x_si = accel_x * grav;
+ accel_y_si = accel_y * grav;
+ accel_z_si = accel_z * grav;
+ // Store timestamp for next iteration
+ previous_timestamp = buffer[i];
+ // Calculate alpha for use with the complementary filter
+ m_alpha = m_tau / (m_tau + m_dt);
+ // Calculate complementary filter
+ if (m_first_run) {
+ accelAngleX = atan2f(
+ -accel_x_si,
+ sqrtf((accel_y_si * accel_y_si) + (-accel_z_si * -accel_z_si)));
+ accelAngleY =
+ atan2f(accel_y_si, sqrtf((-accel_x_si * -accel_x_si) +
+ (-accel_z_si * -accel_z_si)));
+ compAngleX = accelAngleX;
+ compAngleY = accelAngleY;
+ } else {
+ accelAngleX = atan2f(
+ -accel_x_si,
+ sqrtf((accel_y_si * accel_y_si) + (-accel_z_si * -accel_z_si)));
+ accelAngleY =
+ atan2f(accel_y_si, sqrtf((-accel_x_si * -accel_x_si) +
+ (-accel_z_si * -accel_z_si)));
+ accelAngleX = FormatAccelRange(accelAngleX, -accel_z_si);
+ accelAngleY = FormatAccelRange(accelAngleY, -accel_z_si);
+ compAngleX =
+ CompFilterProcess(compAngleX, accelAngleX, -gyro_rate_y_si);
+ compAngleY =
+ CompFilterProcess(compAngleY, accelAngleY, -gyro_rate_x_si);
+ }
+
+ // Update global variables and state
+ {
+ std::scoped_lock sync(m_mutex);
+ // Ignore first, integrated sample
+ if (m_first_run) {
+ m_integ_gyro_angle_x = 0.0;
+ m_integ_gyro_angle_y = 0.0;
+ m_integ_gyro_angle_z = 0.0;
+ } else {
+ // Accumulate gyro for offset calibration
+ // Add most recent sample data to buffer
+ bufferAvgIndex = m_accum_count % m_avg_size;
+ m_offset_buffer[bufferAvgIndex] =
+ OffsetData{gyro_rate_x, gyro_rate_y, gyro_rate_z};
+ // Increment counter
+ m_accum_count++;
+ }
+ // Don't post accumulated data to the global variables until an
+ // initial gyro offset has been calculated
+ if (!m_start_up_mode) {
+ m_gyro_rate_x = gyro_rate_x;
+ m_gyro_rate_y = gyro_rate_y;
+ m_gyro_rate_z = gyro_rate_z;
+ m_accel_x = accel_x;
+ m_accel_y = accel_y;
+ m_accel_z = accel_z;
+ m_mag_x = mag_x;
+ m_mag_y = mag_y;
+ m_mag_z = mag_z;
+ m_baro = baro;
+ m_temp = temp;
+ m_compAngleX = compAngleX * rad_to_deg;
+ m_compAngleY = compAngleY * rad_to_deg;
+ m_accelAngleX = accelAngleX * rad_to_deg;
+ m_accelAngleY = accelAngleY * rad_to_deg;
+ // Accumulate gyro for angle integration and publish to global
+ // variables
+ m_integ_gyro_angle_x +=
+ (gyro_rate_x - m_gyro_rate_offset_x) * m_dt;
+ m_integ_gyro_angle_y +=
+ (gyro_rate_y - m_gyro_rate_offset_y) * m_dt;
+ m_integ_gyro_angle_z +=
+ (gyro_rate_z - m_gyro_rate_offset_z) * m_dt;
+ }
+ }
+ m_first_run = false;
+ }
+ }
+ } else {
+ m_thread_idle = true;
+ data_count = 0;
+ data_remainder = 0;
+ data_to_read = 0;
+ previous_timestamp = 0.0;
+ gyro_rate_x = 0.0;
+ gyro_rate_y = 0.0;
+ gyro_rate_z = 0.0;
+ accel_x = 0.0;
+ accel_y = 0.0;
+ accel_z = 0.0;
+ mag_x = 0.0;
+ mag_y = 0.0;
+ mag_z = 0.0;
+ baro = 0.0;
+ temp = 0.0;
+ gyro_rate_x_si = 0.0;
+ gyro_rate_y_si = 0.0;
+ // gyro_rate_z_si = 0.0;
+ accel_x_si = 0.0;
+ accel_y_si = 0.0;
+ accel_z_si = 0.0;
+ compAngleX = 0.0;
+ compAngleY = 0.0;
+ accelAngleX = 0.0;
+ accelAngleY = 0.0;
+ }
+ }
+}
+
+/* Complementary filter functions */
+double ADIS16448_IMU::FormatFastConverge(double compAngle, double accAngle) {
+ if (compAngle > accAngle + wpi::numbers::pi) {
+ compAngle = compAngle - 2.0 * wpi::numbers::pi;
+ } else if (accAngle > compAngle + wpi::numbers::pi) {
+ compAngle = compAngle + 2.0 * wpi::numbers::pi;
+ }
+ return compAngle;
+}
+
+double ADIS16448_IMU::FormatRange0to2PI(double compAngle) {
+ while (compAngle >= 2 * wpi::numbers::pi) {
+ compAngle = compAngle - 2.0 * wpi::numbers::pi;
+ }
+ while (compAngle < 0.0) {
+ compAngle = compAngle + 2.0 * wpi::numbers::pi;
+ }
+ return compAngle;
+}
+
+double ADIS16448_IMU::FormatAccelRange(double accelAngle, double accelZ) {
+ if (accelZ < 0.0) {
+ accelAngle = wpi::numbers::pi - accelAngle;
+ } else if (accelZ > 0.0 && accelAngle < 0.0) {
+ accelAngle = 2.0 * wpi::numbers::pi + accelAngle;
+ }
+ return accelAngle;
+}
+
+double ADIS16448_IMU::CompFilterProcess(double compAngle, double accelAngle,
+ double omega) {
+ compAngle = FormatFastConverge(compAngle, accelAngle);
+ compAngle =
+ m_alpha * (compAngle + omega * m_dt) + (1.0 - m_alpha) * accelAngle;
+ compAngle = FormatRange0to2PI(compAngle);
+ if (compAngle > wpi::numbers::pi) {
+ compAngle = compAngle - 2.0 * wpi::numbers::pi;
+ }
+ return compAngle;
+}
+
+int ADIS16448_IMU::ConfigDecRate(uint16_t DecimationSetting) {
+ uint16_t writeValue = DecimationSetting;
+ uint16_t readbackValue;
+ if (!SwitchToStandardSPI()) {
+ REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
+ return 2;
+ }
+
+ /* Check max */
+ if (DecimationSetting > 9) {
+ REPORT_ERROR("Attemted to write an invalid decimation value. Capping at 9");
+ DecimationSetting = 9;
+ }
+
+ /* Shift decimation setting to correct position and select internal sync */
+ writeValue = (DecimationSetting << 8) | 0x1;
+
+ /* Apply to IMU */
+ WriteRegister(SMPL_PRD, writeValue);
+
+ /* Perform read back to verify write */
+ readbackValue = ReadRegister(SMPL_PRD);
+
+ /* Throw error for invalid write */
+ if (readbackValue != writeValue) {
+ REPORT_ERROR("ADIS16448 SMPL_PRD write failed.");
+ }
+
+ if (!SwitchToAutoSPI()) {
+ REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
+ return 2;
+ }
+ return 0;
+}
+
+units::degree_t ADIS16448_IMU::GetAngle() const {
+ switch (m_yaw_axis) {
+ case kX:
+ return GetGyroAngleX();
+ case kY:
+ return GetGyroAngleY();
+ case kZ:
+ return GetGyroAngleZ();
+ default:
+ return 0_deg;
+ }
+}
+
+units::degrees_per_second_t ADIS16448_IMU::GetRate() const {
+ switch (m_yaw_axis) {
+ case kX:
+ return GetGyroRateX();
+ case kY:
+ return GetGyroRateY();
+ case kZ:
+ return GetGyroRateZ();
+ default:
+ return 0_deg_per_s;
+ }
+}
+
+units::degree_t ADIS16448_IMU::GetGyroAngleX() const {
+ if (m_simGyroAngleX) {
+ return units::degree_t{m_simGyroAngleX.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_integ_gyro_angle_x};
+}
+
+units::degree_t ADIS16448_IMU::GetGyroAngleY() const {
+ if (m_simGyroAngleY) {
+ return units::degree_t{m_simGyroAngleY.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_integ_gyro_angle_y};
+}
+
+units::degree_t ADIS16448_IMU::GetGyroAngleZ() const {
+ if (m_simGyroAngleZ) {
+ return units::degree_t{m_simGyroAngleZ.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_integ_gyro_angle_z};
+}
+
+units::degrees_per_second_t ADIS16448_IMU::GetGyroRateX() const {
+ if (m_simGyroRateX) {
+ return units::degrees_per_second_t{m_simGyroRateX.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return units::degrees_per_second_t{m_gyro_rate_x};
+}
+
+units::degrees_per_second_t ADIS16448_IMU::GetGyroRateY() const {
+ if (m_simGyroRateY) {
+ return units::degrees_per_second_t{m_simGyroRateY.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return units::degrees_per_second_t{m_gyro_rate_y};
+}
+
+units::degrees_per_second_t ADIS16448_IMU::GetGyroRateZ() const {
+ if (m_simGyroRateZ) {
+ return units::degrees_per_second_t{m_simGyroRateZ.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return units::degrees_per_second_t{m_gyro_rate_z};
+}
+
+units::meters_per_second_squared_t ADIS16448_IMU::GetAccelX() const {
+ if (m_simAccelX) {
+ return units::meters_per_second_squared_t{m_simAccelX.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return m_accel_x * 9.81_mps_sq;
+}
+
+units::meters_per_second_squared_t ADIS16448_IMU::GetAccelY() const {
+ if (m_simAccelY) {
+ return units::meters_per_second_squared_t{m_simAccelY.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return m_accel_y * 9.81_mps_sq;
+}
+
+units::meters_per_second_squared_t ADIS16448_IMU::GetAccelZ() const {
+ if (m_simAccelZ) {
+ return units::meters_per_second_squared_t{m_simAccelZ.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return m_accel_z * 9.81_mps_sq;
+}
+
+units::tesla_t ADIS16448_IMU::GetMagneticFieldX() const {
+ std::scoped_lock sync(m_mutex);
+ return units::gauss_t{m_mag_x * 1e-3};
+}
+
+units::tesla_t ADIS16448_IMU::GetMagneticFieldY() const {
+ std::scoped_lock sync(m_mutex);
+ return units::gauss_t{m_mag_y * 1e-3};
+}
+
+units::tesla_t ADIS16448_IMU::GetMagneticFieldZ() const {
+ std::scoped_lock sync(m_mutex);
+ return units::gauss_t{m_mag_z * 1e-3};
+}
+
+units::degree_t ADIS16448_IMU::GetXComplementaryAngle() const {
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_compAngleX};
+}
+
+units::degree_t ADIS16448_IMU::GetYComplementaryAngle() const {
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_compAngleY};
+}
+
+units::degree_t ADIS16448_IMU::GetXFilteredAccelAngle() const {
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_accelAngleX};
+}
+
+units::degree_t ADIS16448_IMU::GetYFilteredAccelAngle() const {
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_accelAngleY};
+}
+
+units::pounds_per_square_inch_t ADIS16448_IMU::GetBarometricPressure() const {
+ std::scoped_lock sync(m_mutex);
+ return units::mbar_t{m_baro};
+}
+
+units::celsius_t ADIS16448_IMU::GetTemperature() const {
+ std::scoped_lock sync(m_mutex);
+ return units::celsius_t{m_temp};
+}
+
+ADIS16448_IMU::IMUAxis ADIS16448_IMU::GetYawAxis() const {
+ return m_yaw_axis;
+}
+
+int ADIS16448_IMU::SetYawAxis(IMUAxis yaw_axis) {
+ if (m_yaw_axis == yaw_axis) {
+ return 1;
+ } else {
+ m_yaw_axis = yaw_axis;
+ Reset();
+ return 0;
+ }
+}
+
+int ADIS16448_IMU::GetPort() const {
+ return m_spi_port;
+}
+
+/**
+ * @brief Builds a Sendable object to push IMU data to the driver station.
+ *
+ * This function pushes the most recent angle estimates for all axes to the
+ *driver station.
+ **/
+void ADIS16448_IMU::InitSendable(nt::NTSendableBuilder& builder) {
+ builder.SetSmartDashboardType("ADIS16448 IMU");
+ auto yaw_angle = builder.GetEntry("Yaw Angle").GetHandle();
+ builder.SetUpdateTable([=]() {
+ nt::NetworkTableEntry(yaw_angle).SetDouble(GetAngle().value());
+ });
+}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
new file mode 100644
index 0000000..f48d827
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
@@ -0,0 +1,809 @@
+// 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.
+
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2020 Analog Devices Inc. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/* */
+/* Juan Chong - frcsupport@analog.com */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/ADIS16470_IMU.h"
+
+#include <frc/DigitalInput.h>
+#include <frc/DigitalSource.h>
+#include <frc/DriverStation.h>
+#include <frc/Timer.h>
+
+#include <cmath>
+#include <string>
+
+#include <hal/HAL.h>
+#include <networktables/NTSendableBuilder.h>
+#include <wpi/numbers>
+#include <wpi/sendable/SendableRegistry.h>
+
+#include "frc/Errors.h"
+
+/* Helpful conversion functions */
+static inline int32_t ToInt(const uint32_t* buf) {
+ return static_cast<int32_t>((buf[0] << 24) | (buf[1] << 16) | (buf[2] << 8) |
+ buf[3]);
+}
+
+static inline int16_t BuffToShort(const uint32_t* buf) {
+ return (static_cast<int16_t>(buf[0]) << 8) | buf[1];
+}
+
+static inline uint16_t ToUShort(const uint8_t* buf) {
+ return (static_cast<uint16_t>(buf[0]) << 8) | buf[1];
+}
+
+using namespace frc;
+
+namespace {
+template <typename S, typename... Args>
+inline void ADISReportError(int32_t status, const char* file, int line,
+ const char* function, const S& format,
+ Args&&... args) {
+ frc::ReportErrorV(status, file, line, function, format,
+ fmt::make_args_checked<Args...>(format, args...));
+}
+} // namespace
+
+#define REPORT_WARNING(msg) \
+ ADISReportError(warn::Warning, __FILE__, __LINE__, __FUNCTION__, "{}", msg);
+#define REPORT_ERROR(msg) \
+ ADISReportError(err::Error, __FILE__, __LINE__, __FUNCTION__, "{}", msg)
+
+/**
+ * Constructor.
+ */
+ADIS16470_IMU::ADIS16470_IMU()
+ : ADIS16470_IMU(kZ, SPI::Port::kOnboardCS0, CalibrationTime::_4s) {}
+
+ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, SPI::Port port,
+ CalibrationTime cal_time)
+ : m_yaw_axis(yaw_axis),
+ m_spi_port(port),
+ m_calibration_time(static_cast<uint16_t>(cal_time)),
+ m_simDevice("Gyro:ADIS16470", port) {
+ if (m_simDevice) {
+ m_simGyroAngleX =
+ m_simDevice.CreateDouble("gyro_angle_x", hal::SimDevice::kInput, 0.0);
+ m_simGyroAngleY =
+ m_simDevice.CreateDouble("gyro_angle_y", hal::SimDevice::kInput, 0.0);
+ m_simGyroAngleZ =
+ m_simDevice.CreateDouble("gyro_angle_z", hal::SimDevice::kInput, 0.0);
+ m_simGyroRateX =
+ m_simDevice.CreateDouble("gyro_rate_x", hal::SimDevice::kInput, 0.0);
+ m_simGyroRateY =
+ m_simDevice.CreateDouble("gyro_rate_y", hal::SimDevice::kInput, 0.0);
+ m_simGyroRateZ =
+ m_simDevice.CreateDouble("gyro_rate_z", hal::SimDevice::kInput, 0.0);
+ m_simAccelX =
+ m_simDevice.CreateDouble("accel_x", hal::SimDevice::kInput, 0.0);
+ m_simAccelY =
+ m_simDevice.CreateDouble("accel_y", hal::SimDevice::kInput, 0.0);
+ m_simAccelZ =
+ m_simDevice.CreateDouble("accel_z", hal::SimDevice::kInput, 0.0);
+ }
+
+ if (!m_simDevice) {
+ // Force the IMU reset pin to toggle on startup (doesn't require DS enable)
+ // Relies on the RIO hardware by default configuring an output as low
+ // and configuring an input as high Z. The 10k pull-up resistor internal to
+ // the IMU then forces the reset line high for normal operation.
+ DigitalOutput* m_reset_out =
+ new DigitalOutput(27); // Drive SPI CS2 (IMU RST) low
+ Wait(10_ms); // Wait 10ms
+ delete m_reset_out;
+ new DigitalInput(27); // Set SPI CS2 (IMU RST) high
+ Wait(500_ms); // Wait 500ms for reset to complete
+
+ // Configure standard SPI
+ if (!SwitchToStandardSPI()) {
+ return;
+ }
+
+ // Set IMU internal decimation to 4 (output data rate of 2000 SPS / (4 + 1)
+ // = 400Hz)
+ WriteRegister(DEC_RATE, 0x0004);
+ // Set data ready polarity (HIGH = Good Data), Disable gSense Compensation
+ // and PoP
+ WriteRegister(MSC_CTRL, 0x0001);
+ // Configure IMU internal Bartlett filter
+ WriteRegister(FILT_CTRL, 0x0000);
+ // Configure continuous bias calibration time based on user setting
+ WriteRegister(NULL_CNFG, m_calibration_time | 0x700);
+
+ // Notify DS that IMU calibration delay is active
+ REPORT_WARNING(
+ "ADIS16470 IMU Detected. Starting initial calibration delay.");
+
+ // Wait for samples to accumulate internal to the IMU (110% of user-defined
+ // time)
+ Wait(units::second_t{pow(2, m_calibration_time) / 2000 * 64 * 1.1});
+
+ // Write offset calibration command to IMU
+ WriteRegister(GLOB_CMD, 0x0001);
+
+ // Configure and enable auto SPI
+ if (!SwitchToAutoSPI()) {
+ return;
+ }
+
+ // Let the user know the IMU was initiallized successfully
+ REPORT_WARNING("ADIS16470 IMU Successfully Initialized!");
+
+ // Drive SPI CS3 (IMU ready LED) low (active low)
+ new DigitalOutput(28);
+ }
+
+ // Report usage and post data to DS
+ HAL_Report(HALUsageReporting::kResourceType_ADIS16470, 0);
+
+ wpi::SendableRegistry::AddLW(this, "ADIS16470", port);
+}
+
+/**
+ * @brief Switches to standard SPI operation. Primarily used when exiting auto
+ *SPI mode.
+ *
+ * @return A boolean indicating the success or failure of setting up the SPI
+ *peripheral in standard SPI mode.
+ *
+ * This function switches the active SPI port to standard SPI and is used
+ *primarily when exiting auto SPI. Exiting auto SPI is required to read or write
+ *using SPI since the auto SPI configuration, once active, locks the SPI message
+ *being transacted. This function also verifies that the SPI port is operating
+ *in standard SPI mode by reading back the IMU product ID.
+ **/
+bool ADIS16470_IMU::SwitchToStandardSPI() {
+ // Check to see whether the acquire thread is active. If so, wait for it to
+ // stop producing data.
+ if (m_thread_active) {
+ m_thread_active = false;
+ while (!m_thread_idle) {
+ Wait(10_ms);
+ }
+ // Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
+ if (m_spi != nullptr && m_auto_configured) {
+ m_spi->StopAuto();
+ // We need to get rid of all the garbage left in the auto SPI buffer after
+ // stopping it. Sometimes data magically reappears, so we have to check
+ // the buffer size a couple of times
+ // to be sure we got it all. Yuck.
+ uint32_t trashBuffer[200];
+ Wait(100_ms);
+ int data_count = m_spi->ReadAutoReceivedData(trashBuffer, 0, 0_s);
+ while (data_count > 0) {
+ /* Receive data, max of 200 words at a time (prevent potential segfault)
+ */
+ m_spi->ReadAutoReceivedData(trashBuffer, std::min(data_count, 200),
+ 0_s);
+ /*Get the reamining data count */
+ data_count = m_spi->ReadAutoReceivedData(trashBuffer, 0, 0_s);
+ }
+ }
+ }
+ // There doesn't seem to be a SPI port active. Let's try to set one up
+ if (m_spi == nullptr) {
+ m_spi = new SPI(m_spi_port);
+ m_spi->SetClockRate(2000000);
+ m_spi->SetMSBFirst();
+ m_spi->SetSampleDataOnTrailingEdge();
+ m_spi->SetClockActiveLow();
+ m_spi->SetChipSelectActiveLow();
+ ReadRegister(PROD_ID); // Dummy read
+
+ // Validate the product ID
+ uint16_t prod_id = ReadRegister(PROD_ID);
+ if (prod_id != 16982 && prod_id != 16470) {
+ REPORT_ERROR("Could not find ADIS16470!");
+ Close();
+ return false;
+ }
+ return true;
+ } else {
+ // Maybe the SPI port is active, but not in auto SPI mode? Try to read the
+ // product ID.
+ ReadRegister(PROD_ID); // Dummy read
+ uint16_t prod_id = ReadRegister(PROD_ID);
+ if (prod_id != 16982 && prod_id != 16470) {
+ REPORT_ERROR("Could not find ADIS16470!");
+ Close();
+ return false;
+ } else {
+ return true;
+ }
+ }
+}
+
+/**
+ * @brief Switches to auto SPI operation. Primarily used when exiting standard
+ *SPI mode.
+ *
+ * @return A boolean indicating the success or failure of setting up the SPI
+ *peripheral in auto SPI mode.
+ *
+ * This function switches the active SPI port to auto SPI and is used primarily
+ *when exiting standard SPI. Auto SPI is required to asynchronously read data
+ *over SPI as it utilizes special FPGA hardware to react to an external data
+ *ready (GPIO) input. Data captured using auto SPI is buffered in the FPGA and
+ *can be read by the CPU asynchronously. Standard SPI transactions are
+ * impossible on the selected SPI port once auto SPI is enabled. The stall
+ *settings, GPIO interrupt pin, and data packet settings used in this function
+ *are hard-coded to work only with the ADIS16470 IMU.
+ **/
+bool ADIS16470_IMU::SwitchToAutoSPI() {
+ // No SPI port has been set up. Go set one up first.
+ if (m_spi == nullptr) {
+ if (!SwitchToStandardSPI()) {
+ REPORT_ERROR("Failed to start/restart auto SPI");
+ return false;
+ }
+ }
+ // Only set up the interrupt if needed.
+ if (m_auto_interrupt == nullptr) {
+ m_auto_interrupt = new DigitalInput(26);
+ }
+ // The auto SPI controller gets angry if you try to set up two instances on
+ // one bus.
+ if (!m_auto_configured) {
+ m_spi->InitAuto(8200);
+ m_auto_configured = true;
+ }
+ // Do we need to change auto SPI settings?
+ switch (m_yaw_axis) {
+ case kX:
+ m_spi->SetAutoTransmitData(m_autospi_x_packet, 2);
+ break;
+ case kY:
+ m_spi->SetAutoTransmitData(m_autospi_y_packet, 2);
+ break;
+ default:
+ m_spi->SetAutoTransmitData(m_autospi_z_packet, 2);
+ break;
+ }
+ // 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
+ // activated) DR High = Data good (data capture should be triggered on the
+ // rising edge)
+ m_spi->StartAutoTrigger(*m_auto_interrupt, true, false);
+ // Check to see if the acquire thread is running. If not, kick one off.
+ if (!m_thread_idle) {
+ m_first_run = true;
+ m_thread_active = true;
+ m_acquire_task = std::thread(&ADIS16470_IMU::Acquire, this);
+ } else {
+ m_first_run = true;
+ m_thread_active = true;
+ }
+ // Looks like the thread didn't start for some reason. Abort.
+ /*
+ if(!m_thread_idle) {
+ REPORT_ERROR("Failed to start/restart the acquire() thread.");
+ Close();
+ return false;
+ }
+ */
+ return true;
+}
+
+/**
+ * @brief Switches the active SPI port to standard SPI mode, writes a new value
+ *to the NULL_CNFG register in the IMU, and re-enables auto SPI.
+ *
+ * @param new_cal_time Calibration time to be set.
+ *
+ * @return An int indicating the success or failure of writing the new NULL_CNFG
+ *setting and returning to auto SPI mode. 0 = Success, 1 = No Change, 2 =
+ *Failure
+ *
+ * This function enters standard SPI mode, writes a new NULL_CNFG setting to the
+ *IMU, and re-enters auto SPI mode. This function does not include a blocking
+ *sleep, so the user must keep track of the elapsed offset calibration time
+ * themselves. After waiting the configured calibration time, the Calibrate()
+ *function should be called to activate the new offset calibration.
+ **/
+int ADIS16470_IMU::ConfigCalTime(CalibrationTime new_cal_time) {
+ if (m_calibration_time == static_cast<uint16_t>(new_cal_time)) {
+ return 1;
+ }
+ if (!SwitchToStandardSPI()) {
+ REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
+ return 2;
+ }
+ m_calibration_time = static_cast<uint16_t>(new_cal_time);
+ WriteRegister(NULL_CNFG, m_calibration_time | 0x700);
+ if (!SwitchToAutoSPI()) {
+ REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
+ return 2;
+ }
+ return 0;
+}
+
+/**
+ * @brief Switches the active SPI port to standard SPI mode, writes a new value
+ *to the DECIMATE register in the IMU, and re-enables auto SPI.
+ *
+ * @param reg Decimation value to be set.
+ *
+ * @return An int indicating the success or failure of writing the new DECIMATE
+ *setting and returning to auto SPI mode. 0 = Success, 1 = No Change, 2 =
+ *Failure
+ *
+ * This function enters standard SPI mode, writes a new DECIMATE setting to the
+ *IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
+ **/
+int ADIS16470_IMU::ConfigDecRate(uint16_t reg) {
+ uint16_t m_reg = reg;
+ if (!SwitchToStandardSPI()) {
+ REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
+ return 2;
+ }
+ if (m_reg > 1999) {
+ REPORT_ERROR("Attempted to write an invalid decimation value.");
+ m_reg = 1999;
+ }
+ m_scaled_sample_rate = (((m_reg + 1.0) / 2000.0) * 1000000.0);
+ WriteRegister(DEC_RATE, m_reg);
+ if (!SwitchToAutoSPI()) {
+ REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
+ return 2;
+ }
+ return 0;
+}
+
+/**
+ * @brief Switches the active SPI port to standard SPI mode, writes the command
+ *to activate the new null configuration, and re-enables auto SPI.
+ *
+ * This function enters standard SPI mode, writes 0x0001 to the GLOB_CMD
+ *register (thus making the new offset active in the IMU), and re-enters auto
+ *SPI mode. This function does not include a blocking sleep, so the user must
+ *keep track of the elapsed offset calibration time themselves.
+ **/
+void ADIS16470_IMU::Calibrate() {
+ if (!SwitchToStandardSPI()) {
+ REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
+ }
+ WriteRegister(GLOB_CMD, 0x0001);
+ if (!SwitchToAutoSPI()) {
+ REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
+ }
+}
+
+/**
+ * @brief Reads the contents of a specified register location over SPI.
+ *
+ * @param reg An unsigned, 8-bit register location.
+ *
+ * @return An unsigned, 16-bit number representing the contents of the requested
+ *register location.
+ *
+ * This function reads the contents of an 8-bit register location by
+ *transmitting the register location byte along with a null (0x00) byte using
+ *the standard WPILib API. The response (two bytes) is read back using the
+ *WPILib API and joined using a helper function. This function assumes the
+ *controller is set to standard SPI mode.
+ **/
+uint16_t ADIS16470_IMU::ReadRegister(uint8_t reg) {
+ uint8_t buf[2];
+ buf[0] = reg & 0x7f;
+ buf[1] = 0;
+
+ m_spi->Write(buf, 2);
+ m_spi->Read(false, buf, 2);
+
+ return ToUShort(buf);
+}
+
+/**
+ * @brief Writes an unsigned, 16-bit value to two adjacent, 8-bit register
+ *locations over SPI.
+ *
+ * @param reg An unsigned, 8-bit register location.
+ *
+ * @param val An unsigned, 16-bit value to be written to the specified register
+ *location.
+ *
+ * This function writes an unsigned, 16-bit value into adjacent 8-bit addresses
+ *via SPI. The upper and lower bytes that make up the 16-bit value are split
+ *into two unsined, 8-bit values and written to the upper and lower addresses of
+ *the specified register value. Only the lower (base) address must be specified.
+ *This function assumes the controller is set to standard SPI mode.
+ **/
+void ADIS16470_IMU::WriteRegister(uint8_t reg, uint16_t val) {
+ uint8_t buf[2];
+ buf[0] = 0x80 | reg;
+ buf[1] = val & 0xff;
+ m_spi->Write(buf, 2);
+ buf[0] = 0x81 | reg;
+ buf[1] = val >> 8;
+ m_spi->Write(buf, 2);
+}
+
+/**
+ * @brief Resets (zeros) the xgyro, ygyro, and zgyro angle integrations.
+ *
+ * This function resets (zeros) the accumulated (integrated) angle estimates for
+ *the xgyro, ygyro, and zgyro outputs.
+ **/
+void ADIS16470_IMU::Reset() {
+ std::scoped_lock sync(m_mutex);
+ m_integ_angle = 0.0;
+}
+
+void ADIS16470_IMU::Close() {
+ if (m_thread_active) {
+ m_thread_active = false;
+ if (m_acquire_task.joinable()) {
+ m_acquire_task.join();
+ }
+ }
+ if (m_spi != nullptr) {
+ if (m_auto_configured) {
+ m_spi->StopAuto();
+ }
+ delete m_spi;
+ m_auto_configured = false;
+ if (m_auto_interrupt != nullptr) {
+ delete m_auto_interrupt;
+ m_auto_interrupt = nullptr;
+ }
+ m_spi = nullptr;
+ }
+}
+
+ADIS16470_IMU::~ADIS16470_IMU() {
+ Close();
+}
+
+/**
+ * @brief Main acquisition loop. Typically called asynchronously and free-wheels
+ *while the robot code is active.
+ *
+ * This is the main acquisiton loop for the IMU. During each iteration, data
+ *read using auto SPI is extracted from the FPGA FIFO, split, scaled, and
+ *integrated. Each X, Y, and Z value is 32-bits split across 4 indices (bytes)
+ *in the buffer. Auto SPI puts one byte in each index location. Each index is
+ *32-bits wide because the timestamp is an unsigned 32-bit int. The timestamp is
+ *always located at the beginning of the frame. Two indices (request_1 and
+ *request_2 below) are always invalid (garbage) and can be disregarded.
+ *
+ * Data order: [timestamp, request_1, request_2, x_1, x_2, x_3, x_4, y_1, y_2,
+ *y_3, y_4, z_1, z_2, z_3, z_4] x = delta x (32-bit x_1 = highest bit) y = delta
+ *y (32-bit y_1 = highest bit) z = delta z (32-bit z_1 = highest bit)
+ *
+ * Complementary filter code was borrowed from
+ *https://github.com/tcleg/Six_Axis_Complementary_Filter
+ **/
+void ADIS16470_IMU::Acquire() {
+ // Set data packet length
+ const int dataset_len = 19; // 18 data points + timestamp
+
+ /* Fixed buffer size */
+ const int BUFFER_SIZE = 4000;
+
+ // This buffer can contain many datasets
+ uint32_t buffer[BUFFER_SIZE];
+ int data_count = 0;
+ int data_remainder = 0;
+ int data_to_read = 0;
+ uint32_t previous_timestamp = 0;
+ double delta_angle = 0.0;
+ double gyro_rate_x = 0.0;
+ double gyro_rate_y = 0.0;
+ double gyro_rate_z = 0.0;
+ double accel_x = 0.0;
+ double accel_y = 0.0;
+ double accel_z = 0.0;
+ double gyro_rate_x_si = 0.0;
+ double gyro_rate_y_si = 0.0;
+ // double gyro_rate_z_si = 0.0;
+ double accel_x_si = 0.0;
+ double accel_y_si = 0.0;
+ double accel_z_si = 0.0;
+ double compAngleX = 0.0;
+ double compAngleY = 0.0;
+ double accelAngleX = 0.0;
+ double accelAngleY = 0.0;
+
+ while (true) {
+ // Sleep loop for 10ms (wait for data)
+ Wait(10_ms);
+
+ if (m_thread_active) {
+ m_thread_idle = false;
+
+ data_count = m_spi->ReadAutoReceivedData(
+ buffer, 0,
+ 0_s); // Read number of bytes currently stored in the buffer
+ data_remainder =
+ data_count % dataset_len; // Check if frame is incomplete. Add 1
+ // because of timestamp
+ data_to_read = data_count -
+ data_remainder; // Remove incomplete data from read count
+ /* Want to cap the data to read in a single read at the buffer size */
+ if (data_to_read > BUFFER_SIZE) {
+ REPORT_WARNING(
+ "ADIS16470 data processing thread overrun has occurred!");
+ data_to_read = BUFFER_SIZE - (BUFFER_SIZE % dataset_len);
+ }
+ m_spi->ReadAutoReceivedData(
+ buffer, data_to_read,
+ 0_s); // Read data from DMA buffer (only complete sets)
+
+ // Could be multiple data sets in the buffer. Handle each one.
+ for (int i = 0; i < data_to_read; i += dataset_len) {
+ // Timestamp is at buffer[i]
+ m_dt = (buffer[i] - previous_timestamp) / 1000000.0;
+ /* Get delta angle value for selected yaw axis and scale by the elapsed
+ * time (based on timestamp) */
+ delta_angle = (ToInt(&buffer[i + 3]) * delta_angle_sf) /
+ (m_scaled_sample_rate / (buffer[i] - previous_timestamp));
+ gyro_rate_x = (BuffToShort(&buffer[i + 7]) / 10.0);
+ gyro_rate_y = (BuffToShort(&buffer[i + 9]) / 10.0);
+ gyro_rate_z = (BuffToShort(&buffer[i + 11]) / 10.0);
+ accel_x = (BuffToShort(&buffer[i + 13]) / 800.0);
+ accel_y = (BuffToShort(&buffer[i + 15]) / 800.0);
+ accel_z = (BuffToShort(&buffer[i + 17]) / 800.0);
+
+ // Convert scaled sensor data to SI units
+ gyro_rate_x_si = gyro_rate_x * deg_to_rad;
+ gyro_rate_y_si = gyro_rate_y * deg_to_rad;
+ // gyro_rate_z_si = gyro_rate_z * deg_to_rad;
+ accel_x_si = accel_x * grav;
+ accel_y_si = accel_y * grav;
+ accel_z_si = accel_z * grav;
+
+ // Store timestamp for next iteration
+ previous_timestamp = buffer[i];
+
+ m_alpha = m_tau / (m_tau + m_dt);
+
+ if (m_first_run) {
+ accelAngleX = atan2f(accel_x_si, sqrtf((accel_y_si * accel_y_si) +
+ (accel_z_si * accel_z_si)));
+ accelAngleY = atan2f(accel_y_si, sqrtf((accel_x_si * accel_x_si) +
+ (accel_z_si * accel_z_si)));
+ compAngleX = accelAngleX;
+ compAngleY = accelAngleY;
+ } else {
+ // Process X angle
+ accelAngleX = atan2f(accel_x_si, sqrtf((accel_y_si * accel_y_si) +
+ (accel_z_si * accel_z_si)));
+ accelAngleY = atan2f(accel_y_si, sqrtf((accel_x_si * accel_x_si) +
+ (accel_z_si * accel_z_si)));
+ accelAngleX = FormatAccelRange(accelAngleX, accel_z_si);
+ accelAngleY = FormatAccelRange(accelAngleY, accel_z_si);
+ compAngleX =
+ CompFilterProcess(compAngleX, accelAngleX, -gyro_rate_y_si);
+ compAngleY =
+ CompFilterProcess(compAngleY, accelAngleY, gyro_rate_x_si);
+ }
+
+ {
+ std::scoped_lock sync(m_mutex);
+ /* Push data to global variables */
+ if (m_first_run) {
+ /* Don't accumulate first run. previous_timestamp will be "very" old
+ * and the integration will end up way off */
+ m_integ_angle = 0.0;
+ } else {
+ m_integ_angle += delta_angle;
+ }
+ m_gyro_rate_x = gyro_rate_x;
+ m_gyro_rate_y = gyro_rate_y;
+ m_gyro_rate_z = gyro_rate_z;
+ m_accel_x = accel_x;
+ m_accel_y = accel_y;
+ m_accel_z = accel_z;
+ m_compAngleX = compAngleX * rad_to_deg;
+ m_compAngleY = compAngleY * rad_to_deg;
+ m_accelAngleX = accelAngleX * rad_to_deg;
+ m_accelAngleY = accelAngleY * rad_to_deg;
+ }
+ m_first_run = false;
+ }
+ } else {
+ m_thread_idle = true;
+ data_count = 0;
+ data_remainder = 0;
+ data_to_read = 0;
+ previous_timestamp = 0.0;
+ delta_angle = 0.0;
+ gyro_rate_x = 0.0;
+ gyro_rate_y = 0.0;
+ gyro_rate_z = 0.0;
+ accel_x = 0.0;
+ accel_y = 0.0;
+ accel_z = 0.0;
+ gyro_rate_x_si = 0.0;
+ gyro_rate_y_si = 0.0;
+ // gyro_rate_z_si = 0.0;
+ accel_x_si = 0.0;
+ accel_y_si = 0.0;
+ accel_z_si = 0.0;
+ compAngleX = 0.0;
+ compAngleY = 0.0;
+ accelAngleX = 0.0;
+ accelAngleY = 0.0;
+ }
+ }
+}
+
+/* Complementary filter functions */
+double ADIS16470_IMU::FormatFastConverge(double compAngle, double accAngle) {
+ if (compAngle > accAngle + wpi::numbers::pi) {
+ compAngle = compAngle - 2.0 * wpi::numbers::pi;
+ } else if (accAngle > compAngle + wpi::numbers::pi) {
+ compAngle = compAngle + 2.0 * wpi::numbers::pi;
+ }
+ return compAngle;
+}
+
+double ADIS16470_IMU::FormatRange0to2PI(double compAngle) {
+ while (compAngle >= 2 * wpi::numbers::pi) {
+ compAngle = compAngle - 2.0 * wpi::numbers::pi;
+ }
+ while (compAngle < 0.0) {
+ compAngle = compAngle + 2.0 * wpi::numbers::pi;
+ }
+ return compAngle;
+}
+
+double ADIS16470_IMU::FormatAccelRange(double accelAngle, double accelZ) {
+ if (accelZ < 0.0) {
+ accelAngle = wpi::numbers::pi - accelAngle;
+ } else if (accelZ > 0.0 && accelAngle < 0.0) {
+ accelAngle = 2.0 * wpi::numbers::pi + accelAngle;
+ }
+ return accelAngle;
+}
+
+double ADIS16470_IMU::CompFilterProcess(double compAngle, double accelAngle,
+ double omega) {
+ compAngle = FormatFastConverge(compAngle, accelAngle);
+ compAngle =
+ m_alpha * (compAngle + omega * m_dt) + (1.0 - m_alpha) * accelAngle;
+ compAngle = FormatRange0to2PI(compAngle);
+ if (compAngle > wpi::numbers::pi) {
+ compAngle = compAngle - 2.0 * wpi::numbers::pi;
+ }
+ return compAngle;
+}
+
+units::degree_t ADIS16470_IMU::GetAngle() const {
+ switch (m_yaw_axis) {
+ case kX:
+ if (m_simGyroAngleX) {
+ return units::degree_t{m_simGyroAngleX.Get()};
+ }
+ break;
+ case kY:
+ if (m_simGyroAngleY) {
+ return units::degree_t{m_simGyroAngleY.Get()};
+ }
+ break;
+ case kZ:
+ if (m_simGyroAngleZ) {
+ return units::degree_t{m_simGyroAngleZ.Get()};
+ }
+ break;
+ }
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_integ_angle};
+}
+
+units::degrees_per_second_t ADIS16470_IMU::GetRate() const {
+ if (m_yaw_axis == kX) {
+ if (m_simGyroRateX) {
+ return units::degrees_per_second_t{m_simGyroRateX.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return units::degrees_per_second_t{m_gyro_rate_x};
+ } else if (m_yaw_axis == kY) {
+ if (m_simGyroRateY) {
+ return units::degrees_per_second_t{m_simGyroRateY.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return units::degrees_per_second_t{m_gyro_rate_y};
+ } else if (m_yaw_axis == kZ) {
+ if (m_simGyroRateZ) {
+ return units::degrees_per_second_t{m_simGyroRateZ.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return units::degrees_per_second_t{m_gyro_rate_z};
+ } else {
+ return 0_deg_per_s;
+ }
+}
+
+units::meters_per_second_squared_t ADIS16470_IMU::GetAccelX() const {
+ if (m_simAccelX) {
+ return units::meters_per_second_squared_t{m_simAccelX.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return units::meters_per_second_squared_t{m_accel_x};
+}
+
+units::meters_per_second_squared_t ADIS16470_IMU::GetAccelY() const {
+ if (m_simAccelY) {
+ return units::meters_per_second_squared_t{m_simAccelY.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return units::meters_per_second_squared_t{m_accel_y};
+}
+
+units::meters_per_second_squared_t ADIS16470_IMU::GetAccelZ() const {
+ if (m_simAccelZ) {
+ return units::meters_per_second_squared_t{m_simAccelZ.Get()};
+ }
+ std::scoped_lock sync(m_mutex);
+ return units::meters_per_second_squared_t{m_accel_z};
+}
+
+units::degree_t ADIS16470_IMU::GetXComplementaryAngle() const {
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_compAngleX};
+}
+
+units::degree_t ADIS16470_IMU::GetYComplementaryAngle() const {
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_compAngleY};
+}
+
+units::degree_t ADIS16470_IMU::GetXFilteredAccelAngle() const {
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_accelAngleX};
+}
+
+units::degree_t ADIS16470_IMU::GetYFilteredAccelAngle() const {
+ std::scoped_lock sync(m_mutex);
+ return units::degree_t{m_accelAngleY};
+}
+
+ADIS16470_IMU::IMUAxis ADIS16470_IMU::GetYawAxis() const {
+ return m_yaw_axis;
+}
+
+int ADIS16470_IMU::SetYawAxis(IMUAxis yaw_axis) {
+ if (m_yaw_axis == yaw_axis) {
+ return 1;
+ }
+ if (!SwitchToStandardSPI()) {
+ REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
+ return 2;
+ }
+ m_yaw_axis = yaw_axis;
+ if (!SwitchToAutoSPI()) {
+ REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
+ return 2;
+ }
+ return 0;
+}
+
+int ADIS16470_IMU::GetPort() const {
+ return m_spi_port;
+}
+
+/**
+ * @brief Builds a Sendable object to push IMU data to the driver station.
+ *
+ * This function pushes the most recent angle estimates for all axes to the
+ *driver station.
+ **/
+void ADIS16470_IMU::InitSendable(nt::NTSendableBuilder& builder) {
+ builder.SetSmartDashboardType("ADIS16470 IMU");
+ auto yaw_angle = builder.GetEntry("Yaw Angle").GetHandle();
+ builder.SetUpdateTable([=]() {
+ nt::NetworkTableEntry(yaw_angle).SetDouble(GetAngle().value());
+ });
+}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/Compressor.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/Compressor.cpp
index 0302acb..d994b14 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/Compressor.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/Compressor.cpp
@@ -19,7 +19,7 @@
throw FRC_MakeError(err::ResourceAlreadyAllocated, "{}", module);
}
- SetClosedLoopControl(true);
+ m_module->EnableCompressorDigital();
HAL_Report(HALUsageReporting::kResourceType_Compressor, module + 1);
wpi::SendableRegistry::AddLW(this, "Compressor", module);
@@ -33,11 +33,11 @@
}
void Compressor::Start() {
- SetClosedLoopControl(true);
+ EnableDigital();
}
void Compressor::Stop() {
- SetClosedLoopControl(false);
+ Disable();
}
bool Compressor::Enabled() const {
@@ -48,24 +48,43 @@
return m_module->GetPressureSwitch();
}
-double Compressor::GetCompressorCurrent() const {
+units::ampere_t Compressor::GetCurrent() const {
return m_module->GetCompressorCurrent();
}
-void Compressor::SetClosedLoopControl(bool on) {
- m_module->SetClosedLoopControl(on);
+units::volt_t Compressor::GetAnalogVoltage() const {
+ return m_module->GetAnalogVoltage(0);
}
-bool Compressor::GetClosedLoopControl() const {
- return m_module->GetClosedLoopControl();
+units::pounds_per_square_inch_t Compressor::GetPressure() const {
+ return m_module->GetPressure(0);
+}
+
+void Compressor::Disable() {
+ m_module->DisableCompressor();
+}
+
+void Compressor::EnableDigital() {
+ m_module->EnableCompressorDigital();
+}
+
+void Compressor::EnableAnalog(units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure) {
+ m_module->EnableCompressorAnalog(minPressure, maxPressure);
+}
+
+void Compressor::EnableHybrid(units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure) {
+ m_module->EnableCompressorHybrid(minPressure, maxPressure);
+}
+
+CompressorConfigType Compressor::GetConfigType() const {
+ return m_module->GetCompressorConfigType();
}
void Compressor::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("Compressor");
builder.AddBooleanProperty(
- "Closed Loop Control", [=]() { return GetClosedLoopControl(); },
- [=](bool value) { SetClosedLoopControl(value); });
- builder.AddBooleanProperty(
"Enabled", [=] { return Enabled(); }, nullptr);
builder.AddBooleanProperty(
"Pressure switch", [=]() { return GetPressureSwitchValue(); }, nullptr);
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/DigitalInput.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/DigitalInput.cpp
index 7bce921..86f1c3a 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/DigitalInput.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/DigitalInput.cpp
@@ -4,7 +4,6 @@
#include "frc/DigitalInput.h"
-#include <iostream>
#include <limits>
#include <hal/DIO.h>
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
index 8e994e9..452f5cd 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
@@ -89,6 +89,14 @@
auto counter2 = m_counter->Get();
auto pos2 = m_dutyCycle->GetOutput();
if (counter == counter2 && pos == pos2) {
+ // map sensor range
+ if (pos < m_sensorMin) {
+ pos = m_sensorMin;
+ }
+ if (pos > m_sensorMax) {
+ pos = m_sensorMax;
+ }
+ pos = (pos - m_sensorMin) / (m_sensorMax - m_sensorMin);
units::turn_t turns{counter + pos - m_positionOffset};
m_lastPosition = turns;
return turns;
@@ -102,6 +110,11 @@
return m_lastPosition;
}
+void DutyCycleEncoder::SetDutyCycleRange(double min, double max) {
+ m_sensorMin = std::clamp(min, 0.0, 1.0);
+ m_sensorMax = std::clamp(max, 0.0, 1.0);
+}
+
void DutyCycleEncoder::SetDistancePerRotation(double distancePerRotation) {
m_distancePerRotation = distancePerRotation;
m_simDistancePerRotation.Set(distancePerRotation);
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/I2C.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/I2C.cpp
index adf1c54..dcfb2b8 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/I2C.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/I2C.cpp
@@ -16,6 +16,14 @@
I2C::I2C(Port port, int deviceAddress)
: m_port(static_cast<HAL_I2CPort>(port)), m_deviceAddress(deviceAddress) {
int32_t status = 0;
+
+ if (port == I2C::Port::kOnboard) {
+ FRC_ReportError(warn::Warning, "{}",
+ "Onboard I2C port is subject to system lockups. See Known "
+ "Issues page for "
+ "details");
+ }
+
HAL_InitializeI2C(m_port, &status);
FRC_CheckErrorStatus(status, "Port {}", port);
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/MotorSafety.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/MotorSafety.cpp
index 9cb28cd..388a887 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/MotorSafety.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/MotorSafety.cpp
@@ -17,6 +17,15 @@
static wpi::SmallPtrSet<MotorSafety*, 32> instanceList;
static wpi::mutex listMutex;
+#ifndef __FRC_ROBORIO__
+namespace frc::impl {
+void ResetMotorSafety() {
+ std::scoped_lock lock(listMutex);
+ instanceList.clear();
+}
+} // namespace frc::impl
+#endif
+
MotorSafety::MotorSafety() {
std::scoped_lock lock(listMutex);
instanceList.insert(this);
@@ -89,7 +98,15 @@
if (stopTime < Timer::GetFPGATimestamp()) {
FRC_ReportError(err::Timeout, "{}... Output not updated often enough",
GetDescription());
- StopMotor();
+
+ try {
+ StopMotor();
+ } catch (frc::RuntimeError& e) {
+ e.Report();
+ } catch (std::exception& e) {
+ FRC_ReportError(err::Error, "{} StopMotor threw unexpected exception: {}",
+ GetDescription(), e.what());
+ }
}
}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/PneumaticHub.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/PneumaticHub.cpp
index 8217e86..0f32e1e 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/PneumaticHub.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/PneumaticHub.cpp
@@ -4,6 +4,7 @@
#include "frc/PneumaticHub.h"
+#include <fmt/format.h>
#include <hal/REVPH.h>
#include <wpi/NullDeleter.h>
#include <wpi/StackTrace.h>
@@ -11,11 +12,27 @@
#include "frc/Compressor.h"
#include "frc/DoubleSolenoid.h"
#include "frc/Errors.h"
+#include "frc/RobotBase.h"
#include "frc/SensorUtil.h"
#include "frc/Solenoid.h"
+#include "frc/fmt/Units.h"
using namespace frc;
+/** Converts volts to PSI per the REV Analog Pressure Sensor datasheet. */
+units::pounds_per_square_inch_t VoltsToPSI(units::volt_t sensorVoltage,
+ units::volt_t supplyVoltage) {
+ auto pressure = 250 * (sensorVoltage.value() / supplyVoltage.value()) - 25;
+ return units::pounds_per_square_inch_t{pressure};
+}
+
+/** Converts PSI to volts per the REV Analog Pressure Sensor datasheet. */
+units::volt_t PSIToVolts(units::pounds_per_square_inch_t pressure,
+ units::volt_t supplyVoltage) {
+ auto voltage = supplyVoltage.value() * (0.004 * pressure.value() + 0.1);
+ return units::volt_t{voltage};
+}
+
wpi::mutex PneumaticHub::m_handleLock;
std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>>
PneumaticHub::m_handleMap = nullptr;
@@ -39,6 +56,38 @@
m_moduleObject = PneumaticHub{handle, module};
m_moduleObject.m_dataStore =
std::shared_ptr<DataStore>{this, wpi::NullDeleter<DataStore>()};
+
+ auto version = m_moduleObject.GetVersion();
+
+ if (version.FirmwareMajor > 0 && RobotBase::IsReal()) {
+ // Write PH firmware version to roboRIO
+ std::FILE* file = nullptr;
+ file = std::fopen(
+ fmt::format("/tmp/frc_versions/REV_PH_{:0>2}_WPILib_Version.ini",
+ module)
+ .c_str(),
+ "w");
+ if (file != nullptr) {
+ std::fputs("[Version]\n", file);
+ std::fputs(fmt::format("model=REV PH\n").c_str(), file);
+ std::fputs(fmt::format("deviceID={:x}\n", (0x9052600 | module)).c_str(),
+ file);
+ std::fputs(fmt::format("currentVersion={}.{}.{}", version.FirmwareMajor,
+ version.FirmwareMinor, version.FirmwareFix)
+ .c_str(),
+ file);
+ std::fclose(file);
+ }
+ }
+
+ // Check PH firmware version
+ if (version.FirmwareMajor > 0 && version.FirmwareMajor < 22) {
+ throw FRC_MakeError(
+ err::AssertionFailure,
+ "The Pneumatic Hub has firmware version {}.{}.{}, and must be "
+ "updated to version 2022.0.0 or later using the REV Hardware Client",
+ version.FirmwareMajor, version.FirmwareMinor, version.FirmwareFix);
+ }
}
~DataStore() noexcept { HAL_FreeREVPH(m_moduleObject.m_handle); }
@@ -52,6 +101,7 @@
bool m_compressorReserved{false};
wpi::mutex m_reservedLock;
PneumaticHub m_moduleObject{HAL_kInvalidHandle, 0};
+ std::array<units::millisecond_t, 16> m_oneShotDurMs{0_ms};
};
PneumaticHub::PneumaticHub()
@@ -76,47 +126,103 @@
bool PneumaticHub::GetCompressor() const {
int32_t status = 0;
auto result = HAL_GetREVPHCompressor(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
-void PneumaticHub::SetClosedLoopControl(bool enabled) {
+void PneumaticHub::DisableCompressor() {
int32_t status = 0;
- HAL_SetREVPHClosedLoopControl(m_handle, enabled, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ HAL_SetREVPHClosedLoopControlDisabled(m_handle, &status);
+ FRC_ReportError(status, "Module {}", m_module);
}
-bool PneumaticHub::GetClosedLoopControl() const {
+void PneumaticHub::EnableCompressorDigital() {
int32_t status = 0;
- auto result = HAL_GetREVPHClosedLoopControl(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
- return result;
+ HAL_SetREVPHClosedLoopControlDigital(m_handle, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+}
+
+void PneumaticHub::EnableCompressorAnalog(
+ units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure) {
+ if (minPressure >= maxPressure) {
+ throw FRC_MakeError(err::InvalidParameter, "{}",
+ "maxPressure must be greater than minPresure");
+ }
+ if (minPressure < 0_psi || minPressure > 120_psi) {
+ throw FRC_MakeError(err::ParameterOutOfRange,
+ "minPressure must be between 0 and 120 PSI, got {}",
+ minPressure);
+ }
+ if (maxPressure < 0_psi || maxPressure > 120_psi) {
+ throw FRC_MakeError(err::ParameterOutOfRange,
+ "maxPressure must be between 0 and 120 PSI, got {}",
+ maxPressure);
+ }
+ int32_t status = 0;
+ units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
+ units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
+ HAL_SetREVPHClosedLoopControlAnalog(m_handle, minAnalogVoltage.value(),
+ maxAnalogVoltage.value(), &status);
+ FRC_ReportError(status, "Module {}", m_module);
+}
+
+void PneumaticHub::EnableCompressorHybrid(
+ units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure) {
+ if (minPressure >= maxPressure) {
+ throw FRC_MakeError(err::InvalidParameter, "{}",
+ "maxPressure must be greater than minPresure");
+ }
+ if (minPressure < 0_psi || minPressure > 120_psi) {
+ throw FRC_MakeError(err::ParameterOutOfRange,
+ "minPressure must be between 0 and 120 PSI, got {}",
+ minPressure);
+ }
+ if (maxPressure < 0_psi || maxPressure > 120_psi) {
+ throw FRC_MakeError(err::ParameterOutOfRange,
+ "maxPressure must be between 0 and 120 PSI, got {}",
+ maxPressure);
+ }
+ int32_t status = 0;
+ units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
+ units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
+ HAL_SetREVPHClosedLoopControlHybrid(m_handle, minAnalogVoltage.value(),
+ maxAnalogVoltage.value(), &status);
+ FRC_ReportError(status, "Module {}", m_module);
+}
+
+CompressorConfigType PneumaticHub::GetCompressorConfigType() const {
+ int32_t status = 0;
+ auto result = HAL_GetREVPHCompressorConfig(m_handle, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ return static_cast<CompressorConfigType>(result);
}
bool PneumaticHub::GetPressureSwitch() const {
int32_t status = 0;
auto result = HAL_GetREVPHPressureSwitch(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
-double PneumaticHub::GetCompressorCurrent() const {
+units::ampere_t PneumaticHub::GetCompressorCurrent() const {
int32_t status = 0;
auto result = HAL_GetREVPHCompressorCurrent(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
- return result;
+ FRC_ReportError(status, "Module {}", m_module);
+ return units::ampere_t{result};
}
void PneumaticHub::SetSolenoids(int mask, int values) {
int32_t status = 0;
HAL_SetREVPHSolenoids(m_handle, mask, values, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
}
int PneumaticHub::GetSolenoids() const {
int32_t status = 0;
auto result = HAL_GetREVPHSolenoids(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
@@ -125,27 +231,26 @@
}
int PneumaticHub::GetSolenoidDisabledList() const {
- return 0;
- // TODO Fix me
- // int32_t status = 0;
- // auto result = HAL_GetREVPHSolenoidDisabledList(m_handle, &status);
- // FRC_CheckErrorStatus(status, "Module {}", m_module);
- // return result;
+ int32_t status = 0;
+ HAL_REVPHStickyFaults faults;
+ std::memset(&faults, 0, sizeof(faults));
+ HAL_GetREVPHStickyFaults(m_handle, &faults, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ uint32_t intFaults = 0;
+ static_assert(sizeof(faults) == sizeof(intFaults));
+ std::memcpy(&intFaults, &faults, sizeof(faults));
+ return intFaults & 0xFFFF;
}
void PneumaticHub::FireOneShot(int index) {
- // TODO Fix me
- // int32_t status = 0;
- // HAL_FireREVPHOneShot(m_handle, index, &status);
- // FRC_CheckErrorStatus(status, "Module {}", m_module);
+ int32_t status = 0;
+ HAL_FireREVPHOneShot(m_handle, index,
+ m_dataStore->m_oneShotDurMs[index].value(), &status);
+ FRC_ReportError(status, "Module {}", m_module);
}
void PneumaticHub::SetOneShotDuration(int index, units::second_t duration) {
- // TODO Fix me
- // int32_t status = 0;
- // units::millisecond_t millis = duration;
- // HAL_SetREVPHOneShotDuration(m_handle, index, millis.to<int32_t>(),
- // &status); FRC_CheckErrorStatus(status, "Module {}", m_module);
+ m_dataStore->m_oneShotDurMs[index] = duration;
}
bool PneumaticHub::CheckSolenoidChannel(int channel) const {
@@ -181,6 +286,98 @@
m_dataStore->m_compressorReserved = false;
}
+PneumaticHub::Version PneumaticHub::GetVersion() const {
+ int32_t status = 0;
+ HAL_REVPHVersion halVersions;
+ std::memset(&halVersions, 0, sizeof(halVersions));
+ HAL_GetREVPHVersion(m_handle, &halVersions, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ PneumaticHub::Version versions;
+ static_assert(sizeof(halVersions) == sizeof(versions));
+ static_assert(std::is_standard_layout_v<decltype(versions)>);
+ static_assert(std::is_trivial_v<decltype(versions)>);
+ std::memcpy(&versions, &halVersions, sizeof(versions));
+ return versions;
+}
+
+PneumaticHub::Faults PneumaticHub::GetFaults() const {
+ int32_t status = 0;
+ HAL_REVPHFaults halFaults;
+ std::memset(&halFaults, 0, sizeof(halFaults));
+ HAL_GetREVPHFaults(m_handle, &halFaults, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ PneumaticHub::Faults faults;
+ static_assert(sizeof(halFaults) == sizeof(faults));
+ static_assert(std::is_standard_layout_v<decltype(faults)>);
+ static_assert(std::is_trivial_v<decltype(faults)>);
+ std::memcpy(&faults, &halFaults, sizeof(faults));
+ return faults;
+}
+
+PneumaticHub::StickyFaults PneumaticHub::GetStickyFaults() const {
+ int32_t status = 0;
+ HAL_REVPHStickyFaults halStickyFaults;
+ std::memset(&halStickyFaults, 0, sizeof(halStickyFaults));
+ HAL_GetREVPHStickyFaults(m_handle, &halStickyFaults, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ PneumaticHub::StickyFaults stickyFaults;
+ static_assert(sizeof(halStickyFaults) == sizeof(stickyFaults));
+ static_assert(std::is_standard_layout_v<decltype(stickyFaults)>);
+ static_assert(std::is_trivial_v<decltype(stickyFaults)>);
+ std::memcpy(&stickyFaults, &halStickyFaults, sizeof(stickyFaults));
+ return stickyFaults;
+}
+
+void PneumaticHub::ClearStickyFaults() {
+ int32_t status = 0;
+ HAL_ClearREVPHStickyFaults(m_handle, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+}
+
+units::volt_t PneumaticHub::GetInputVoltage() const {
+ int32_t status = 0;
+ auto voltage = HAL_GetREVPHVoltage(m_handle, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ return units::volt_t{voltage};
+}
+
+units::volt_t PneumaticHub::Get5VRegulatedVoltage() const {
+ int32_t status = 0;
+ auto voltage = HAL_GetREVPH5VVoltage(m_handle, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ return units::volt_t{voltage};
+}
+
+units::ampere_t PneumaticHub::GetSolenoidsTotalCurrent() const {
+ int32_t status = 0;
+ auto current = HAL_GetREVPHSolenoidCurrent(m_handle, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ return units::ampere_t{current};
+}
+
+units::volt_t PneumaticHub::GetSolenoidsVoltage() const {
+ int32_t status = 0;
+ auto voltage = HAL_GetREVPHSolenoidVoltage(m_handle, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ return units::volt_t{voltage};
+}
+
+units::volt_t PneumaticHub::GetAnalogVoltage(int channel) const {
+ int32_t status = 0;
+ auto voltage = HAL_GetREVPHAnalogVoltage(m_handle, channel, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ return units::volt_t{voltage};
+}
+
+units::pounds_per_square_inch_t PneumaticHub::GetPressure(int channel) const {
+ int32_t status = 0;
+ auto sensorVoltage = HAL_GetREVPHAnalogVoltage(m_handle, channel, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ auto supplyVoltage = HAL_GetREVPH5VVoltage(m_handle, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ return VoltsToPSI(units::volt_t{sensorVoltage}, units::volt_t{supplyVoltage});
+}
+
Solenoid PneumaticHub::MakeSolenoid(int channel) {
return Solenoid{m_module, PneumaticsModuleType::REVPH, channel};
}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/PneumaticsBase.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/PneumaticsBase.cpp
index 9d96651..bd9e033 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/PneumaticsBase.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/PneumaticsBase.cpp
@@ -4,6 +4,8 @@
#include "frc/PneumaticsBase.h"
+#include <hal/REVPH.h>
+
#include "frc/Errors.h"
#include "frc/PneumaticHub.h"
#include "frc/PneumaticsControlModule.h"
@@ -11,6 +13,19 @@
using namespace frc;
+static_assert(
+ static_cast<int>(CompressorConfigType::Disabled) ==
+ HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kDisabled);
+static_assert(
+ static_cast<int>(CompressorConfigType::Digital) ==
+ HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kDigital);
+static_assert(
+ static_cast<int>(CompressorConfigType::Analog) ==
+ HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kAnalog);
+static_assert(
+ static_cast<int>(CompressorConfigType::Hybrid) ==
+ HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kHybrid);
+
std::shared_ptr<PneumaticsBase> PneumaticsBase::GetForType(
int module, PneumaticsModuleType moduleType) {
if (moduleType == PneumaticsModuleType::CTREPCM) {
@@ -18,7 +33,8 @@
} else if (moduleType == PneumaticsModuleType::REVPH) {
return PneumaticHub::GetForModule(module);
}
- throw FRC_MakeError(err::InvalidParameter, "{}", moduleType);
+ throw FRC_MakeError(err::InvalidParameter, "{}",
+ static_cast<int>(moduleType));
}
int PneumaticsBase::GetDefaultForType(PneumaticsModuleType moduleType) {
@@ -27,5 +43,6 @@
} else if (moduleType == PneumaticsModuleType::REVPH) {
return SensorUtil::GetDefaultREVPHModule();
}
- throw FRC_MakeError(err::InvalidParameter, "{}", moduleType);
+ throw FRC_MakeError(err::InvalidParameter, "{}",
+ static_cast<int>(moduleType));
}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp
index 32de5ca..60cd84d 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp
@@ -80,105 +80,128 @@
bool PneumaticsControlModule::GetCompressor() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressor(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
-void PneumaticsControlModule::SetClosedLoopControl(bool enabled) {
+void PneumaticsControlModule::DisableCompressor() {
int32_t status = 0;
- HAL_SetCTREPCMClosedLoopControl(m_handle, enabled, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ HAL_SetCTREPCMClosedLoopControl(m_handle, false, &status);
+ FRC_ReportError(status, "Module {}", m_module);
}
-bool PneumaticsControlModule::GetClosedLoopControl() const {
+void PneumaticsControlModule::EnableCompressorDigital() {
+ int32_t status = 0;
+ HAL_SetCTREPCMClosedLoopControl(m_handle, true, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+}
+
+void PneumaticsControlModule::EnableCompressorAnalog(
+ units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure) {
+ int32_t status = 0;
+ HAL_SetCTREPCMClosedLoopControl(m_handle, true, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+}
+
+void PneumaticsControlModule::EnableCompressorHybrid(
+ units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure) {
+ int32_t status = 0;
+ HAL_SetCTREPCMClosedLoopControl(m_handle, true, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+}
+
+CompressorConfigType PneumaticsControlModule::GetCompressorConfigType() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMClosedLoopControl(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
- return result;
+ FRC_ReportError(status, "Module {}", m_module);
+ return result ? CompressorConfigType::Digital
+ : CompressorConfigType::Disabled;
}
bool PneumaticsControlModule::GetPressureSwitch() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMPressureSwitch(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
-double PneumaticsControlModule::GetCompressorCurrent() const {
+units::ampere_t PneumaticsControlModule::GetCompressorCurrent() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorCurrent(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
- return result;
+ FRC_ReportError(status, "Module {}", m_module);
+ return units::ampere_t{result};
}
bool PneumaticsControlModule::GetCompressorCurrentTooHighFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorCurrentTooHighFault(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorCurrentTooHighStickyFault() const {
int32_t status = 0;
auto result =
HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorShortedFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorShortedFault(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorShortedStickyFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorShortedStickyFault(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorNotConnectedFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorNotConnectedFault(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetCompressorNotConnectedStickyFault() const {
int32_t status = 0;
auto result =
HAL_GetCTREPCMCompressorNotConnectedStickyFault(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetSolenoidVoltageFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMSolenoidVoltageFault(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
bool PneumaticsControlModule::GetSolenoidVoltageStickyFault() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMSolenoidVoltageStickyFault(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
void PneumaticsControlModule::ClearAllStickyFaults() {
int32_t status = 0;
HAL_ClearAllCTREPCMStickyFaults(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
}
void PneumaticsControlModule::SetSolenoids(int mask, int values) {
int32_t status = 0;
HAL_SetCTREPCMSolenoids(m_handle, mask, values, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
}
int PneumaticsControlModule::GetSolenoids() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMSolenoids(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
@@ -189,14 +212,14 @@
int PneumaticsControlModule::GetSolenoidDisabledList() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMSolenoidDisabledList(m_handle, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
return result;
}
void PneumaticsControlModule::FireOneShot(int index) {
int32_t status = 0;
HAL_FireCTREPCMOneShot(m_handle, index, &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
}
void PneumaticsControlModule::SetOneShotDuration(int index,
@@ -204,7 +227,7 @@
int32_t status = 0;
units::millisecond_t millis = duration;
HAL_SetCTREPCMOneShotDuration(m_handle, index, millis.to<int32_t>(), &status);
- FRC_CheckErrorStatus(status, "Module {}", m_module);
+ FRC_ReportError(status, "Module {}", m_module);
}
bool PneumaticsControlModule::CheckSolenoidChannel(int channel) const {
@@ -240,6 +263,15 @@
m_dataStore->m_compressorReserved = false;
}
+units::volt_t PneumaticsControlModule::GetAnalogVoltage(int channel) const {
+ return units::volt_t{0};
+}
+
+units::pounds_per_square_inch_t PneumaticsControlModule::GetPressure(
+ int channel) const {
+ return 0_psi;
+}
+
Solenoid PneumaticsControlModule::MakeSolenoid(int channel) {
return Solenoid{m_module, PneumaticsModuleType::CTREPCM, channel};
}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/PowerDistribution.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/PowerDistribution.cpp
index 4c2acfc..21101f2 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/PowerDistribution.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/PowerDistribution.cpp
@@ -16,9 +16,6 @@
#include "frc/SensorUtil.h"
static_assert(static_cast<HAL_PowerDistributionType>(
- frc::PowerDistribution::ModuleType::kAutomatic) ==
- HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic);
-static_assert(static_cast<HAL_PowerDistributionType>(
frc::PowerDistribution::ModuleType::kCTRE) ==
HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE);
static_assert(static_cast<HAL_PowerDistributionType>(
@@ -29,8 +26,21 @@
using namespace frc;
-PowerDistribution::PowerDistribution()
- : PowerDistribution(-1, ModuleType::kAutomatic) {}
+PowerDistribution::PowerDistribution() {
+ auto stack = wpi::GetStackTrace(1);
+
+ int32_t status = 0;
+ m_handle = HAL_InitializePowerDistribution(
+ kDefaultModule,
+ HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic,
+ stack.c_str(), &status);
+ FRC_CheckErrorStatus(status, "Module {}", kDefaultModule);
+ m_module = HAL_GetPowerDistributionModuleNumber(m_handle, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+
+ HAL_Report(HALUsageReporting::kResourceType_PDP, m_module + 1);
+ wpi::SendableRegistry::AddLW(this, "PowerDistribution", m_module);
+}
PowerDistribution::PowerDistribution(int module, ModuleType moduleType) {
auto stack = wpi::GetStackTrace(1);
@@ -114,6 +124,13 @@
return m_module;
}
+PowerDistribution::ModuleType PowerDistribution::GetType() const {
+ int32_t status = 0;
+ auto type = HAL_GetPowerDistributionType(m_handle, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ return static_cast<ModuleType>(type);
+}
+
bool PowerDistribution::GetSwitchableChannel() const {
int32_t status = 0;
bool state = HAL_GetPowerDistributionSwitchableChannel(m_handle, &status);
@@ -127,20 +144,85 @@
FRC_ReportError(status, "Module {}", m_module);
}
+PowerDistribution::Version PowerDistribution::GetVersion() const {
+ int32_t status = 0;
+ HAL_PowerDistributionVersion halVersion;
+ std::memset(&halVersion, 0, sizeof(halVersion));
+ HAL_GetPowerDistributionVersion(m_handle, &halVersion, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ PowerDistribution::Version version;
+ static_assert(sizeof(halVersion) == sizeof(version));
+ static_assert(std::is_standard_layout_v<decltype(version)>);
+ static_assert(std::is_trivial_v<decltype(version)>);
+ std::memcpy(&version, &halVersion, sizeof(version));
+ return version;
+}
+
+PowerDistribution::Faults PowerDistribution::GetFaults() const {
+ int32_t status = 0;
+ HAL_PowerDistributionFaults halFaults;
+ std::memset(&halFaults, 0, sizeof(halFaults));
+ HAL_GetPowerDistributionFaults(m_handle, &halFaults, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ PowerDistribution::Faults faults;
+ static_assert(sizeof(halFaults) == sizeof(faults));
+ static_assert(std::is_standard_layout_v<decltype(faults)>);
+ static_assert(std::is_trivial_v<decltype(faults)>);
+ std::memcpy(&faults, &halFaults, sizeof(faults));
+ return faults;
+}
+
+PowerDistribution::StickyFaults PowerDistribution::GetStickyFaults() const {
+ int32_t status = 0;
+ HAL_PowerDistributionStickyFaults halStickyFaults;
+ std::memset(&halStickyFaults, 0, sizeof(halStickyFaults));
+ HAL_GetPowerDistributionStickyFaults(m_handle, &halStickyFaults, &status);
+ FRC_ReportError(status, "Module {}", m_module);
+ PowerDistribution::StickyFaults stickyFaults;
+ static_assert(sizeof(halStickyFaults) == sizeof(stickyFaults));
+ static_assert(std::is_standard_layout_v<decltype(stickyFaults)>);
+ static_assert(std::is_trivial_v<decltype(stickyFaults)>);
+ std::memcpy(&stickyFaults, &halStickyFaults, sizeof(stickyFaults));
+ return stickyFaults;
+}
+
void PowerDistribution::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("PowerDistribution");
int32_t status = 0;
int numChannels = HAL_GetPowerDistributionNumChannels(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
+ // Use manual reads to avoid printing errors
for (int i = 0; i < numChannels; ++i) {
builder.AddDoubleProperty(
- fmt::format("Chan{}", i), [=] { return GetCurrent(i); }, nullptr);
+ fmt::format("Chan{}", i),
+ [=] {
+ int32_t lStatus = 0;
+ return HAL_GetPowerDistributionChannelCurrent(m_handle, i, &lStatus);
+ },
+ nullptr);
}
builder.AddDoubleProperty(
- "Voltage", [=] { return GetVoltage(); }, nullptr);
+ "Voltage",
+ [=] {
+ int32_t lStatus = 0;
+ return HAL_GetPowerDistributionVoltage(m_handle, &lStatus);
+ },
+ nullptr);
builder.AddDoubleProperty(
- "TotalCurrent", [=] { return GetTotalCurrent(); }, nullptr);
+ "TotalCurrent",
+ [=] {
+ int32_t lStatus = 0;
+ return HAL_GetPowerDistributionTotalCurrent(m_handle, &lStatus);
+ },
+ nullptr);
builder.AddBooleanProperty(
- "SwitchableChannel", [=] { return GetSwitchableChannel(); },
- [=](bool value) { SetSwitchableChannel(value); });
+ "SwitchableChannel",
+ [=] {
+ int32_t lStatus = 0;
+ return HAL_GetPowerDistributionSwitchableChannel(m_handle, &lStatus);
+ },
+ [=](bool value) {
+ int32_t lStatus = 0;
+ HAL_SetPowerDistributionSwitchableChannel(m_handle, value, &lStatus);
+ });
}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/Preferences.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/Preferences.cpp
index 0c82f54..4663875 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/Preferences.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/Preferences.cpp
@@ -30,6 +30,14 @@
return instance;
}
+#ifndef __FRC_ROBORIO__
+namespace frc::impl {
+void ResetPreferencesInstance() {
+ GetInstance() = Instance();
+}
+} // namespace frc::impl
+#endif
+
Preferences* Preferences::GetInstance() {
::GetInstance();
static Preferences instance;
@@ -79,6 +87,7 @@
void Preferences::InitString(std::string_view key, std::string_view value) {
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultString(value);
+ entry.SetPersistent();
}
void Preferences::SetInt(std::string_view key, int value) {
@@ -94,6 +103,7 @@
void Preferences::InitInt(std::string_view key, int value) {
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultDouble(value);
+ entry.SetPersistent();
}
void Preferences::SetDouble(std::string_view key, double value) {
@@ -109,6 +119,7 @@
void Preferences::InitDouble(std::string_view key, double value) {
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultDouble(value);
+ entry.SetPersistent();
}
void Preferences::SetFloat(std::string_view key, float value) {
@@ -124,6 +135,7 @@
void Preferences::InitFloat(std::string_view key, float value) {
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultDouble(value);
+ entry.SetPersistent();
}
void Preferences::SetBoolean(std::string_view key, bool value) {
@@ -139,6 +151,7 @@
void Preferences::InitBoolean(std::string_view key, bool value) {
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultBoolean(value);
+ entry.SetPersistent();
}
void Preferences::SetLong(std::string_view key, int64_t value) {
@@ -154,6 +167,7 @@
void Preferences::InitLong(std::string_view key, int64_t value) {
auto entry = ::GetInstance().table->GetEntry(key);
entry.SetDefaultDouble(value);
+ entry.SetPersistent();
}
bool Preferences::ContainsKey(std::string_view key) {
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/counter/ExternalDirectionCounter.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/counter/ExternalDirectionCounter.cpp
new file mode 100644
index 0000000..8c7bb58
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/counter/ExternalDirectionCounter.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/counter/ExternalDirectionCounter.h"
+
+#include <hal/Counter.h>
+#include <hal/FRCUsageReporting.h>
+#include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+
+#include "frc/DigitalSource.h"
+#include "frc/Errors.h"
+
+using namespace frc;
+
+ExternalDirectionCounter::ExternalDirectionCounter(
+ DigitalSource& countSource, DigitalSource& directionSource)
+ : ExternalDirectionCounter(
+ {&countSource, wpi::NullDeleter<DigitalSource>()},
+ {&directionSource, wpi::NullDeleter<DigitalSource>()}) {}
+
+ExternalDirectionCounter::ExternalDirectionCounter(
+ std::shared_ptr<DigitalSource> countSource,
+ std::shared_ptr<DigitalSource> directionSource) {
+ if (countSource == nullptr) {
+ throw FRC_MakeError(err::NullParameter, "{}", "countSource");
+ }
+ if (directionSource == nullptr) {
+ throw FRC_MakeError(err::NullParameter, "{}", "directionSource");
+ }
+
+ m_countSource = countSource;
+ m_directionSource = directionSource;
+
+ int32_t status = 0;
+ m_handle = HAL_InitializeCounter(
+ HAL_Counter_Mode::HAL_Counter_kExternalDirection, &m_index, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+
+ HAL_SetCounterUpSource(m_handle, m_countSource->GetPortHandleForRouting(),
+ static_cast<HAL_AnalogTriggerType>(
+ m_countSource->GetAnalogTriggerTypeForRouting()),
+ &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+ HAL_SetCounterUpSourceEdge(m_handle, true, false, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+
+ HAL_SetCounterDownSource(
+ m_handle, m_directionSource->GetPortHandleForRouting(),
+ static_cast<HAL_AnalogTriggerType>(
+ m_directionSource->GetAnalogTriggerTypeForRouting()),
+ &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+ HAL_SetCounterDownSourceEdge(m_handle, false, true, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+
+ Reset();
+
+ HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
+ wpi::SendableRegistry::AddLW(this, "External Direction Counter", m_index);
+}
+
+ExternalDirectionCounter::~ExternalDirectionCounter() {
+ int32_t status = 0;
+ HAL_FreeCounter(m_handle, &status);
+}
+
+int ExternalDirectionCounter::GetCount() const {
+ int32_t status = 0;
+ int val = HAL_GetCounter(m_handle, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+ return val;
+}
+
+void ExternalDirectionCounter::SetReverseDirection(bool reverseDirection) {
+ int32_t status = 0;
+ HAL_SetCounterReverseDirection(m_handle, reverseDirection, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+}
+
+void ExternalDirectionCounter::Reset() {
+ int32_t status = 0;
+ HAL_ResetCounter(m_handle, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+}
+
+void ExternalDirectionCounter::SetEdgeConfiguration(
+ EdgeConfiguration configuration) {
+ int32_t status = 0;
+ bool rising = configuration == EdgeConfiguration::kRisingEdge ||
+ configuration == EdgeConfiguration::kBoth;
+ bool falling = configuration == EdgeConfiguration::kFallingEdge ||
+ configuration == EdgeConfiguration::kBoth;
+ HAL_SetCounterUpSourceEdge(m_handle, rising, falling, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+}
+
+void ExternalDirectionCounter::InitSendable(wpi::SendableBuilder& builder) {
+ builder.SetSmartDashboardType("External Direction Counter");
+ builder.AddDoubleProperty(
+ "Count", [&] { return GetCount(); }, nullptr);
+}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/counter/Tachometer.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/counter/Tachometer.cpp
new file mode 100644
index 0000000..a52bea5
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/counter/Tachometer.cpp
@@ -0,0 +1,122 @@
+// 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/counter/Tachometer.h"
+
+#include <frc/DigitalSource.h>
+
+#include <hal/Counter.h>
+#include <hal/FRCUsageReporting.h>
+#include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+
+#include "frc/Errors.h"
+
+using namespace frc;
+
+Tachometer::Tachometer(DigitalSource& source)
+ : Tachometer({&source, wpi::NullDeleter<DigitalSource>()}) {}
+Tachometer::Tachometer(std::shared_ptr<DigitalSource> source) {
+ if (source == nullptr) {
+ throw FRC_MakeError(err::NullParameter, "{}", "source");
+ }
+
+ m_source = source;
+
+ int32_t status = 0;
+ HAL_SetCounterUpSource(m_handle, m_source->GetPortHandleForRouting(),
+ static_cast<HAL_AnalogTriggerType>(
+ m_source->GetAnalogTriggerTypeForRouting()),
+ &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+ HAL_SetCounterUpSourceEdge(m_handle, true, false, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+
+ HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
+ wpi::SendableRegistry::AddLW(this, "Tachometer", m_index);
+}
+
+Tachometer::~Tachometer() {
+ int32_t status = 0;
+ HAL_FreeCounter(m_handle, &status);
+}
+
+units::hertz_t Tachometer::GetFrequency() const {
+ auto period = GetPeriod();
+ if (period.to<double>() == 0) {
+ return units::hertz_t{0.0};
+ }
+ return 1 / period;
+}
+
+units::second_t Tachometer::GetPeriod() const {
+ int32_t status = 0;
+ double period = HAL_GetCounterPeriod(m_handle, &status);
+ FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
+ return units::second_t{period};
+}
+
+int Tachometer::GetEdgesPerRevolution() const {
+ return m_edgesPerRevolution;
+}
+void Tachometer::SetEdgesPerRevolution(int edges) {
+ m_edgesPerRevolution = edges;
+}
+
+units::turns_per_second_t Tachometer::GetRevolutionsPerSecond() const {
+ auto period = GetPeriod();
+ if (period.to<double>() == 0) {
+ return units::turns_per_second_t{0.0};
+ }
+ int edgesPerRevolution = GetEdgesPerRevolution();
+ if (edgesPerRevolution == 0) {
+ return units::turns_per_second_t{0.0};
+ }
+ auto rotationHz = ((1.0 / edgesPerRevolution) / period);
+ return units::turns_per_second_t{rotationHz.to<double>()};
+}
+
+units::revolutions_per_minute_t Tachometer::GetRevolutionsPerMinute() const {
+ return units::revolutions_per_minute_t{GetRevolutionsPerSecond()};
+}
+
+bool Tachometer::GetStopped() const {
+ int32_t status = 0;
+ bool stopped = HAL_GetCounterStopped(m_handle, &status);
+ FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
+ return stopped;
+}
+
+int Tachometer::GetSamplesToAverage() const {
+ int32_t status = 0;
+ int32_t samplesToAverage = HAL_GetCounterSamplesToAverage(m_handle, &status);
+ FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
+ return samplesToAverage;
+}
+
+void Tachometer::SetSamplesToAverage(int samples) {
+ int32_t status = 0;
+ HAL_SetCounterSamplesToAverage(m_handle, samples, &status);
+ FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
+}
+
+void Tachometer::SetMaxPeriod(units::second_t maxPeriod) {
+ int32_t status = 0;
+ HAL_SetCounterMaxPeriod(m_handle, maxPeriod.to<double>(), &status);
+ FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
+}
+
+void Tachometer::SetUpdateWhenEmpty(bool updateWhenEmpty) {
+ int32_t status = 0;
+ HAL_SetCounterUpdateWhenEmpty(m_handle, updateWhenEmpty, &status);
+ FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
+}
+
+void Tachometer::InitSendable(wpi::SendableBuilder& builder) {
+ builder.SetSmartDashboardType("Tachometer");
+ builder.AddDoubleProperty(
+ "RPS", [&] { return GetRevolutionsPerSecond().to<double>(); }, nullptr);
+ builder.AddDoubleProperty(
+ "RPM", [&] { return GetRevolutionsPerMinute().to<double>(); }, nullptr);
+}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
new file mode 100644
index 0000000..62537ee
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
@@ -0,0 +1,106 @@
+// 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/counter/UpDownCounter.h"
+
+#include <hal/Counter.h>
+#include <hal/FRCUsageReporting.h>
+#include <wpi/NullDeleter.h>
+#include <wpi/sendable/SendableBuilder.h>
+
+#include "frc/DigitalSource.h"
+#include "frc/Errors.h"
+
+using namespace frc;
+
+UpDownCounter::UpDownCounter(DigitalSource& upSource, DigitalSource& downSource)
+ : UpDownCounter({&upSource, wpi::NullDeleter<DigitalSource>()},
+ {&downSource, wpi::NullDeleter<DigitalSource>()}) {}
+
+UpDownCounter::UpDownCounter(std::shared_ptr<DigitalSource> upSource,
+ std::shared_ptr<DigitalSource> downSource) {
+ m_upSource = upSource;
+ m_downSource = downSource;
+
+ int32_t status = 0;
+ m_handle = HAL_InitializeCounter(HAL_Counter_Mode::HAL_Counter_kTwoPulse,
+ &m_index, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+
+ if (m_upSource) {
+ HAL_SetCounterUpSource(m_handle, m_upSource->GetPortHandleForRouting(),
+ static_cast<HAL_AnalogTriggerType>(
+ m_upSource->GetAnalogTriggerTypeForRouting()),
+ &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+ HAL_SetCounterUpSourceEdge(m_handle, true, false, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+ }
+
+ if (m_downSource) {
+ HAL_SetCounterDownSource(
+ m_handle, m_downSource->GetPortHandleForRouting(),
+ static_cast<HAL_AnalogTriggerType>(
+ m_downSource->GetAnalogTriggerTypeForRouting()),
+ &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+ HAL_SetCounterDownSourceEdge(m_handle, true, false, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+ }
+
+ Reset();
+
+ HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
+ wpi::SendableRegistry::AddLW(this, "UpDown Counter", m_index);
+}
+
+UpDownCounter::~UpDownCounter() {
+ int32_t status = 0;
+ HAL_FreeCounter(m_handle, &status);
+}
+
+int UpDownCounter::GetCount() const {
+ int32_t status = 0;
+ int val = HAL_GetCounter(m_handle, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+ return val;
+}
+
+void UpDownCounter::SetReverseDirection(bool reverseDirection) {
+ int32_t status = 0;
+ HAL_SetCounterReverseDirection(m_handle, reverseDirection, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+}
+
+void UpDownCounter::Reset() {
+ int32_t status = 0;
+ HAL_ResetCounter(m_handle, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+}
+
+void UpDownCounter::SetUpEdgeConfiguration(EdgeConfiguration configuration) {
+ int32_t status = 0;
+ bool rising = configuration == EdgeConfiguration::kRisingEdge ||
+ configuration == EdgeConfiguration::kBoth;
+ bool falling = configuration == EdgeConfiguration::kFallingEdge ||
+ configuration == EdgeConfiguration::kBoth;
+ HAL_SetCounterUpSourceEdge(m_handle, rising, falling, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+}
+
+void UpDownCounter::SetDownEdgeConfiguration(EdgeConfiguration configuration) {
+ int32_t status = 0;
+ bool rising = configuration == EdgeConfiguration::kRisingEdge ||
+ configuration == EdgeConfiguration::kBoth;
+ bool falling = configuration == EdgeConfiguration::kFallingEdge ||
+ configuration == EdgeConfiguration::kBoth;
+ HAL_SetCounterDownSourceEdge(m_handle, rising, falling, &status);
+ FRC_CheckErrorStatus(status, "{}", m_index);
+}
+
+void UpDownCounter::InitSendable(wpi::SendableBuilder& builder) {
+ builder.SetSmartDashboardType("UpDown Counter");
+ builder.AddDoubleProperty(
+ "Count", [&] { return GetCount(); }, nullptr);
+}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
index b54b607..eed9495 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
@@ -112,9 +112,10 @@
double maxInput =
std::copysign(std::max(std::abs(xSpeed), std::abs(zRotation)), xSpeed);
- if (xSpeed >= 0.0) {
+ // Sign is used because `xSpeed >= 0.0` succeeds for -0.0
+ if (!std::signbit(xSpeed)) {
// First quadrant, else second quadrant
- if (zRotation >= 0.0) {
+ if (!std::signbit(zRotation)) {
leftSpeed = maxInput;
rightSpeed = xSpeed - zRotation;
} else {
@@ -123,7 +124,7 @@
}
} else {
// Third quadrant, else fourth quadrant
- if (zRotation >= 0.0) {
+ if (!std::signbit(zRotation)) {
leftSpeed = xSpeed + zRotation;
rightSpeed = maxInput;
} else {
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
index c847678..268ae64 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
@@ -102,7 +102,7 @@
wheelSpeeds[kRight] = input.ScalarProject(m_rightVec) + zRotation;
wheelSpeeds[kBack] = input.ScalarProject(m_backVec) + zRotation;
- Normalize(wheelSpeeds);
+ Desaturate(wheelSpeeds);
return {wheelSpeeds[kLeft], wheelSpeeds[kRight], wheelSpeeds[kBack]};
}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
index b74c611..70e90d4 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
@@ -103,7 +103,7 @@
wheelSpeeds[kRearLeft] = input.x - input.y + zRotation;
wheelSpeeds[kRearRight] = input.x + input.y - zRotation;
- Normalize(wheelSpeeds);
+ Desaturate(wheelSpeeds);
return {wheelSpeeds[kFrontLeft], wheelSpeeds[kFrontRight],
wheelSpeeds[kRearLeft], wheelSpeeds[kRearRight]};
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
index 2159958..97ea0ee 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
@@ -35,7 +35,7 @@
return frc::ApplyDeadband(value, deadband);
}
-void RobotDriveBase::Normalize(wpi::span<double> wheelSpeeds) {
+void RobotDriveBase::Desaturate(wpi::span<double> wheelSpeeds) {
double maxMagnitude = std::abs(wheelSpeeds[0]);
for (size_t i = 1; i < wheelSpeeds.size(); i++) {
double temp = std::abs(wheelSpeeds[i]);
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
index f8be7de..ac1c8ad 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
@@ -48,11 +48,23 @@
};
} // namespace
-static Instance& GetInstance() {
- static Instance instance;
+static std::unique_ptr<Instance>& GetInstanceHolder() {
+ static std::unique_ptr<Instance> instance = std::make_unique<Instance>();
return instance;
}
+static Instance& GetInstance() {
+ return *GetInstanceHolder();
+}
+
+#ifndef __FRC_ROBORIO__
+namespace frc::impl {
+void ResetLiveWindow() {
+ std::make_unique<Instance>().swap(GetInstanceHolder());
+}
+} // namespace frc::impl
+#endif
+
std::shared_ptr<Component> Instance::GetOrAdd(wpi::Sendable* sendable) {
auto data = std::static_pointer_cast<Component>(
wpi::SendableRegistry::GetData(sendable, dataHandle));
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
index 9829a75..f9ff4b8 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
@@ -42,6 +42,10 @@
return m_pwm.GetChannel();
}
+void PWMMotorController::EnableDeadbandElimination(bool eliminateDeadband) {
+ m_pwm.EnableDeadbandElimination(eliminateDeadband);
+}
+
PWMMotorController::PWMMotorController(std::string_view name, int channel)
: m_pwm(channel, false) {
wpi::SendableRegistry::AddLW(this, name, channel);
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
index 1675c64..d5e076a 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
@@ -8,19 +8,19 @@
#include <memory>
#include <string>
-#include <wpi/DenseMap.h>
+#include <wpi/StringMap.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
namespace frc {
namespace detail {
std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
- CS_Source source) {
- static wpi::DenseMap<int, std::shared_ptr<SendableCameraWrapper>> wrappers;
- return wrappers[static_cast<int>(source)];
+ std::string_view cameraName) {
+ static wpi::StringMap<std::shared_ptr<SendableCameraWrapper>> wrappers;
+ return wrappers[cameraName];
}
-void AddToSendableRegistry(wpi::Sendable* sendable, std::string name) {
+void AddToSendableRegistry(wpi::Sendable* sendable, std::string_view name) {
wpi::SendableRegistry::Add(sendable, name);
}
} // namespace detail
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp
index 81f6671..31e4b11 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp
@@ -31,6 +31,7 @@
"Differential Drivebase",
"Mecanum Drivebase",
"Camera Stream",
+ "Field",
};
const char* detail::GetStringForWidgetType(BuiltInWidgets type) {
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/ADIS16448_IMUSim.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/ADIS16448_IMUSim.cpp
new file mode 100644
index 0000000..46c412a
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/ADIS16448_IMUSim.cpp
@@ -0,0 +1,59 @@
+// 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/ADIS16448_IMUSim.h"
+
+#include <frc/ADIS16448_IMU.h>
+#include <frc/simulation/SimDeviceSim.h>
+
+using namespace frc::sim;
+
+ADIS16448_IMUSim::ADIS16448_IMUSim(const frc::ADIS16448_IMU& imu) {
+ frc::sim::SimDeviceSim deviceSim{"Gyro:ADIS16448", imu.GetPort()};
+ m_simGyroAngleX = deviceSim.GetDouble("gyro_angle_x");
+ m_simGyroAngleY = deviceSim.GetDouble("gyro_angle_y");
+ m_simGyroAngleZ = deviceSim.GetDouble("gyro_angle_z");
+ m_simGyroRateX = deviceSim.GetDouble("gyro_rate_x");
+ m_simGyroRateY = deviceSim.GetDouble("gyro_rate_y");
+ m_simGyroRateZ = deviceSim.GetDouble("gyro_rate_z");
+ m_simAccelX = deviceSim.GetDouble("accel_x");
+ m_simAccelY = deviceSim.GetDouble("accel_y");
+ m_simAccelZ = deviceSim.GetDouble("accel_z");
+}
+
+void ADIS16448_IMUSim::SetGyroAngleX(units::degree_t angle) {
+ m_simGyroAngleX.Set(angle.value());
+}
+
+void ADIS16448_IMUSim::SetGyroAngleY(units::degree_t angle) {
+ m_simGyroAngleY.Set(angle.value());
+}
+
+void ADIS16448_IMUSim::SetGyroAngleZ(units::degree_t angle) {
+ m_simGyroAngleZ.Set(angle.value());
+}
+
+void ADIS16448_IMUSim::SetGyroRateX(units::degrees_per_second_t angularRate) {
+ m_simGyroRateX.Set(angularRate.value());
+}
+
+void ADIS16448_IMUSim::SetGyroRateY(units::degrees_per_second_t angularRate) {
+ m_simGyroRateY.Set(angularRate.value());
+}
+
+void ADIS16448_IMUSim::SetGyroRateZ(units::degrees_per_second_t angularRate) {
+ m_simGyroRateZ.Set(angularRate.value());
+}
+
+void ADIS16448_IMUSim::SetAccelX(units::meters_per_second_squared_t accel) {
+ m_simAccelX.Set(accel.value());
+}
+
+void ADIS16448_IMUSim::SetAccelY(units::meters_per_second_squared_t accel) {
+ m_simAccelY.Set(accel.value());
+}
+
+void ADIS16448_IMUSim::SetAccelZ(units::meters_per_second_squared_t accel) {
+ m_simAccelZ.Set(accel.value());
+}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/ADIS16470_IMUSim.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/ADIS16470_IMUSim.cpp
new file mode 100644
index 0000000..40c09c3
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/ADIS16470_IMUSim.cpp
@@ -0,0 +1,59 @@
+// 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/ADIS16470_IMUSim.h"
+
+#include <frc/ADIS16470_IMU.h>
+#include <frc/simulation/SimDeviceSim.h>
+
+using namespace frc::sim;
+
+ADIS16470_IMUSim::ADIS16470_IMUSim(const frc::ADIS16470_IMU& imu) {
+ frc::sim::SimDeviceSim deviceSim{"Gyro:ADIS16470", imu.GetPort()};
+ m_simGyroAngleX = deviceSim.GetDouble("gyro_angle_x");
+ m_simGyroAngleY = deviceSim.GetDouble("gyro_angle_y");
+ m_simGyroAngleZ = deviceSim.GetDouble("gyro_angle_z");
+ m_simGyroRateX = deviceSim.GetDouble("gyro_rate_x");
+ m_simGyroRateY = deviceSim.GetDouble("gyro_rate_y");
+ m_simGyroRateZ = deviceSim.GetDouble("gyro_rate_z");
+ m_simAccelX = deviceSim.GetDouble("accel_x");
+ m_simAccelY = deviceSim.GetDouble("accel_y");
+ m_simAccelZ = deviceSim.GetDouble("accel_z");
+}
+
+void ADIS16470_IMUSim::SetGyroAngleX(units::degree_t angle) {
+ m_simGyroAngleX.Set(angle.value());
+}
+
+void ADIS16470_IMUSim::SetGyroAngleY(units::degree_t angle) {
+ m_simGyroAngleY.Set(angle.value());
+}
+
+void ADIS16470_IMUSim::SetGyroAngleZ(units::degree_t angle) {
+ m_simGyroAngleZ.Set(angle.value());
+}
+
+void ADIS16470_IMUSim::SetGyroRateX(units::degrees_per_second_t angularRate) {
+ m_simGyroRateX.Set(angularRate.value());
+}
+
+void ADIS16470_IMUSim::SetGyroRateY(units::degrees_per_second_t angularRate) {
+ m_simGyroRateY.Set(angularRate.value());
+}
+
+void ADIS16470_IMUSim::SetGyroRateZ(units::degrees_per_second_t angularRate) {
+ m_simGyroRateZ.Set(angularRate.value());
+}
+
+void ADIS16470_IMUSim::SetAccelX(units::meters_per_second_squared_t accel) {
+ m_simAccelX.Set(accel.value());
+}
+
+void ADIS16470_IMUSim::SetAccelY(units::meters_per_second_squared_t accel) {
+ m_simAccelY.Set(accel.value());
+}
+
+void ADIS16470_IMUSim::SetAccelZ(units::meters_per_second_squared_t accel) {
+ m_simAccelZ.Set(accel.value());
+}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
new file mode 100644
index 0000000..7860e32
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
@@ -0,0 +1,46 @@
+// 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/DCMotorSim.h"
+
+#include <wpi/MathExtras.h>
+
+#include "frc/system/plant/LinearSystemId.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+DCMotorSim::DCMotorSim(const LinearSystem<2, 1, 2>& plant,
+ const DCMotor& gearbox, double gearing,
+ const std::array<double, 2>& measurementStdDevs)
+ : LinearSystemSim<2, 1, 2>(plant, measurementStdDevs),
+ m_gearbox(gearbox),
+ m_gearing(gearing) {}
+
+DCMotorSim::DCMotorSim(const DCMotor& gearbox, double gearing,
+ units::kilogram_square_meter_t moi,
+ const std::array<double, 2>& measurementStdDevs)
+ : DCMotorSim(LinearSystemId::DCMotorSystem(gearbox, moi, gearing), gearbox,
+ gearing, measurementStdDevs) {}
+
+units::radian_t DCMotorSim::GetAngularPosition() const {
+ return units::radian_t{GetOutput(0)};
+}
+
+units::radians_per_second_t DCMotorSim::GetAngularVelocity() const {
+ return units::radians_per_second_t{GetOutput(1)};
+}
+
+units::ampere_t DCMotorSim::GetCurrentDraw() const {
+ // I = V / R - omega / (Kv * R)
+ // Reductions are greater than 1, so a reduction of 10:1 would mean the motor
+ // is spinning 10x faster than the output.
+ return m_gearbox.Current(GetAngularVelocity() * m_gearing,
+ units::volt_t{m_u(0)}) *
+ wpi::sgn(m_u(0));
+}
+
+void DCMotorSim::SetInputVoltage(units::volt_t voltage) {
+ SetInput(Eigen::Vector<double, 1>{voltage.value()});
+}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
index 0bbf9c3..78b9dc7 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
@@ -43,8 +43,8 @@
Eigen::Vector<double, 2> DifferentialDrivetrainSim::ClampInput(
const Eigen::Vector<double, 2>& u) {
- return frc::NormalizeInputVector<2>(u,
- frc::RobotController::GetInputVoltage());
+ return frc::DesaturateInputVector<2>(u,
+ frc::RobotController::GetInputVoltage());
}
void DifferentialDrivetrainSim::SetInputs(units::volt_t leftVoltage,
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp
index dd6dba8..ca7384a 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp
@@ -73,21 +73,23 @@
HALSIM_SetREVPHCompressorOn(m_index, compressorOn);
}
-std::unique_ptr<CallbackStore> REVPHSim::RegisterClosedLoopEnabledCallback(
+std::unique_ptr<CallbackStore> REVPHSim::RegisterCompressorConfigTypeCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
- m_index, -1, callback, &HALSIM_CancelREVPHClosedLoopEnabledCallback);
- store->SetUid(HALSIM_RegisterREVPHClosedLoopEnabledCallback(
+ m_index, -1, callback, &HALSIM_CancelREVPHCompressorConfigTypeCallback);
+ store->SetUid(HALSIM_RegisterREVPHCompressorConfigTypeCallback(
m_index, &CallbackStoreThunk, store.get(), initialNotify));
return store;
}
-bool REVPHSim::GetClosedLoopEnabled() const {
- return HALSIM_GetREVPHClosedLoopEnabled(m_index);
+int REVPHSim::GetCompressorConfigType() const {
+ return HALSIM_GetREVPHCompressorConfigType(m_index);
}
-void REVPHSim::SetClosedLoopEnabled(bool closedLoopEnabled) {
- HALSIM_SetREVPHClosedLoopEnabled(m_index, closedLoopEnabled);
+void REVPHSim::SetCompressorConfigType(int compressorConfigType) {
+ HALSIM_SetREVPHCompressorConfigType(
+ m_index,
+ static_cast<HAL_REVPHCompressorConfigType>(compressorConfigType));
}
std::unique_ptr<CallbackStore> REVPHSim::RegisterPressureSwitchCallback(
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
index 175db0d..b49bc99 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
@@ -21,7 +21,6 @@
void MechanismLigament2d::UpdateEntries(
std::shared_ptr<nt::NetworkTable> table) {
- std::scoped_lock lock(m_mutex);
table->GetEntry(".type").SetString("line");
m_colorEntry = table->GetEntry("color");
@@ -50,7 +49,20 @@
Flush();
}
+Color8Bit MechanismLigament2d::GetColor() {
+ std::scoped_lock lock(m_mutex);
+ if (m_colorEntry) {
+ auto color = m_colorEntry.GetString("");
+ std::strncpy(m_color, color.c_str(), sizeof(m_color));
+ m_color[sizeof(m_color) - 1] = '\0';
+ }
+ unsigned int r = 0, g = 0, b = 0;
+ std::sscanf(m_color, "#%02X%02X%02X", &r, &g, &b);
+ return {static_cast<int>(r), static_cast<int>(g), static_cast<int>(b)};
+}
+
double MechanismLigament2d::GetAngle() {
+ std::scoped_lock lock(m_mutex);
if (m_angleEntry) {
m_angle = m_angleEntry.GetDouble(0.0);
}
@@ -58,12 +70,21 @@
}
double MechanismLigament2d::GetLength() {
+ std::scoped_lock lock(m_mutex);
if (m_lengthEntry) {
m_length = m_lengthEntry.GetDouble(0.0);
}
return m_length;
}
+double MechanismLigament2d::GetLineWeight() {
+ std::scoped_lock lock(m_mutex);
+ if (m_weightEntry) {
+ m_weight = m_weightEntry.GetDouble(0.0);
+ }
+ return m_weight;
+}
+
void MechanismLigament2d::SetLength(double length) {
std::scoped_lock lock(m_mutex);
m_length = length;
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
index 07d15f0..637b24b 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
@@ -20,14 +20,12 @@
}
void MechanismRoot2d::UpdateEntries(std::shared_ptr<nt::NetworkTable> table) {
- std::scoped_lock lock(m_mutex);
m_xEntry = table->GetEntry("x");
m_yEntry = table->GetEntry("y");
Flush();
}
inline void MechanismRoot2d::Flush() {
- std::scoped_lock lock(m_mutex);
if (m_xEntry) {
m_xEntry.SetDouble(m_x);
}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp b/third_party/allwpilib/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
index 25bb61f..5088394 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
@@ -19,6 +19,8 @@
namespace {
struct Instance {
+ Instance() { HAL_Report(HALUsageReporting::kResourceType_SmartDashboard, 0); }
+
detail::ListenerExecutor listenerExecutor;
std::shared_ptr<nt::NetworkTable> table =
nt::NetworkTableInstance::GetDefault().GetTable("SmartDashboard");
@@ -27,12 +29,23 @@
};
} // namespace
-static Instance& GetInstance() {
- HAL_Report(HALUsageReporting::kResourceType_SmartDashboard, 0);
- static Instance instance;
+static std::unique_ptr<Instance>& GetInstanceHolder() {
+ static std::unique_ptr<Instance> instance = std::make_unique<Instance>();
return instance;
}
+static Instance& GetInstance() {
+ return *GetInstanceHolder();
+}
+
+#ifndef __FRC_ROBORIO__
+namespace frc::impl {
+void ResetSmartDashboardInstance() {
+ std::make_unique<Instance>().swap(GetInstanceHolder());
+}
+} // namespace frc::impl
+#endif
+
void SmartDashboard::init() {
GetInstance();
}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cppcs/RobotBase.cpp b/third_party/allwpilib/wpilibc/src/main/native/cppcs/RobotBase.cpp
index 78c286c..3433a02 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cppcs/RobotBase.cpp
+++ b/third_party/allwpilib/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -251,6 +251,9 @@
}
}
+ // Call DriverStation::InDisabled() to kick off DS thread
+ DriverStation::InDisabled(true);
+
// First and one-time initialization
inst.GetTable("LiveWindow")
->GetSubTable(".status")
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
new file mode 100644
index 0000000..0dbfa68
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
@@ -0,0 +1,428 @@
+// 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.
+
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2020 Analog Devices Inc. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/* */
+/* Modified by Juan Chong - frcsupport@analog.com */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include <atomic>
+#include <memory>
+#include <thread>
+
+#include <hal/SimDevice.h>
+#include <networktables/NTSendable.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+#include <units/magnetic_field_strength.h>
+#include <units/pressure.h>
+#include <units/temperature.h>
+#include <wpi/condition_variable.h>
+#include <wpi/mutex.h>
+#include <wpi/sendable/SendableHelper.h>
+
+#include "frc/DigitalInput.h"
+#include "frc/DigitalOutput.h"
+#include "frc/DigitalSource.h"
+#include "frc/SPI.h"
+
+namespace frc {
+/**
+ * Use DMA SPI to read rate, acceleration, and magnetometer data from the
+ * ADIS16448 IMU and return the robots heading relative to a starting position,
+ * AHRS, and instant measurements
+ *
+ * The ADIS16448 gyro angle outputs track the robot's heading based on the
+ * starting position. As the robot rotates the new heading is computed by
+ * integrating the rate of rotation returned by the IMU. When the class is
+ * instantiated, a short calibration routine is performed where the IMU samples
+ * the gyros while at rest to determine the initial offset. This is subtracted
+ * from each sample to determine the heading.
+ *
+ * This class is for the ADIS16448 IMU connected via the SPI port available on
+ * the RoboRIO MXP port.
+ */
+
+class ADIS16448_IMU : public nt::NTSendable,
+ public wpi::SendableHelper<ADIS16448_IMU> {
+ public:
+ /* ADIS16448 Calibration Time Enum Class */
+ enum class CalibrationTime {
+ _32ms = 0,
+ _64ms = 1,
+ _128ms = 2,
+ _256ms = 3,
+ _512ms = 4,
+ _1s = 5,
+ _2s = 6,
+ _4s = 7,
+ _8s = 8,
+ _16s = 9,
+ _32s = 10,
+ _64s = 11
+ };
+
+ enum IMUAxis { kX, kY, kZ };
+
+ /**
+ * IMU constructor on onboard MXP CS0, Z-up orientation, and complementary
+ * AHRS computation.
+ */
+ ADIS16448_IMU();
+
+ /**
+ * IMU constructor on the specified MXP port and orientation.
+ *
+ * @param yaw_axis The axis where gravity is present. Valid options are kX,
+ * kY, and kZ
+ * @param port The SPI port where the IMU is connected.
+ * @param cal_time The calibration time that should be used on start-up.
+ */
+ explicit ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
+ CalibrationTime cal_time);
+
+ ~ADIS16448_IMU() override;
+
+ ADIS16448_IMU(ADIS16448_IMU&&) = default;
+ ADIS16448_IMU& operator=(ADIS16448_IMU&&) = default;
+
+ /**
+ * Initialize the IMU.
+ *
+ * Perform gyro offset calibration by collecting data for a number of seconds
+ * and computing the center value. The center value is subtracted from
+ * subsequent measurements.
+ *
+ * It's important to make sure that the robot is not moving while the
+ * centering calculations are in progress, this is typically done when the
+ * robot is first turned on while it's sitting at rest before the match
+ * starts.
+ *
+ * The calibration routine can be triggered by the user during runtime.
+ */
+ void Calibrate();
+
+ /**
+ * Configures the calibration time used for the next calibrate.
+ *
+ * @param new_cal_time The calibration time that should be used
+ */
+ int ConfigCalTime(CalibrationTime new_cal_time);
+
+ /**
+ * Reset the gyro.
+ *
+ * Resets the gyro accumulations to a heading of zero. This can be used if
+ * there is significant drift in the gyro and it needs to be recalibrated
+ * after running.
+ */
+ void Reset();
+
+ /**
+ * Returns the yaw axis angle in degrees (CCW positive).
+ */
+ units::degree_t GetAngle() const;
+
+ /**
+ * Returns the yaw axis angular rate in degrees per second (CCW positive).
+ */
+ units::degrees_per_second_t GetRate() const;
+
+ /**
+ * Returns the accumulated gyro angle in the X axis.
+ */
+ units::degree_t GetGyroAngleX() const;
+
+ /**
+ * Returns the accumulated gyro angle in the Y axis.
+ */
+ units::degree_t GetGyroAngleY() const;
+
+ /**
+ * Returns the accumulated gyro angle in the Z axis.
+ */
+ units::degree_t GetGyroAngleZ() const;
+
+ /**
+ * Returns the angular rate in the X axis.
+ */
+ units::degrees_per_second_t GetGyroRateX() const;
+
+ /**
+ * Returns the angular rate in the Y axis.
+ */
+ units::degrees_per_second_t GetGyroRateY() const;
+
+ /**
+ * Returns the angular rate in the Z axis.
+ */
+ units::degrees_per_second_t GetGyroRateZ() const;
+
+ /**
+ * Returns the acceleration in the X axis.
+ */
+ units::meters_per_second_squared_t GetAccelX() const;
+
+ /**
+ * Returns the acceleration in the Y axis.
+ */
+ units::meters_per_second_squared_t GetAccelY() const;
+
+ /**
+ * Returns the acceleration in the Z axis.
+ */
+ units::meters_per_second_squared_t GetAccelZ() const;
+
+ units::degree_t GetXComplementaryAngle() const;
+
+ units::degree_t GetYComplementaryAngle() const;
+
+ units::degree_t GetXFilteredAccelAngle() const;
+
+ units::degree_t GetYFilteredAccelAngle() const;
+
+ units::tesla_t GetMagneticFieldX() const;
+
+ units::tesla_t GetMagneticFieldY() const;
+
+ units::tesla_t GetMagneticFieldZ() const;
+
+ units::pounds_per_square_inch_t GetBarometricPressure() const;
+
+ units::celsius_t GetTemperature() const;
+
+ IMUAxis GetYawAxis() const;
+
+ int SetYawAxis(IMUAxis yaw_axis);
+
+ int ConfigDecRate(uint16_t DecimationRate);
+
+ /**
+ * Get the SPI port number.
+ *
+ * @return The SPI port number.
+ */
+ int GetPort() const;
+
+ void InitSendable(nt::NTSendableBuilder& builder) override;
+
+ private:
+ /** @brief ADIS16448 Register Map Declaration */
+ static constexpr uint8_t FLASH_CNT = 0x00; // Flash memory write count
+ static constexpr uint8_t XGYRO_OUT = 0x04; // X-axis gyroscope output
+ static constexpr uint8_t YGYRO_OUT = 0x06; // Y-axis gyroscope output
+ static constexpr uint8_t ZGYRO_OUT = 0x08; // Z-axis gyroscope output
+ static constexpr uint8_t XACCL_OUT = 0x0A; // X-axis accelerometer output
+ static constexpr uint8_t YACCL_OUT = 0x0C; // Y-axis accelerometer output
+ static constexpr uint8_t ZACCL_OUT = 0x0E; // Z-axis accelerometer output
+ static constexpr uint8_t XMAGN_OUT = 0x10; // X-axis magnetometer output
+ static constexpr uint8_t YMAGN_OUT = 0x12; // Y-axis magnetometer output
+ static constexpr uint8_t ZMAGN_OUT = 0x14; // Z-axis magnetometer output
+ static constexpr uint8_t BARO_OUT =
+ 0x16; // Barometer pressure measurement, high word
+ static constexpr uint8_t TEMP_OUT = 0x18; // Temperature output
+ static constexpr uint8_t XGYRO_OFF =
+ 0x1A; // X-axis gyroscope bias offset factor
+ static constexpr uint8_t YGYRO_OFF =
+ 0x1C; // Y-axis gyroscope bias offset factor
+ static constexpr uint8_t ZGYRO_OFF =
+ 0x1E; // Z-axis gyroscope bias offset factor
+ static constexpr uint8_t XACCL_OFF =
+ 0x20; // X-axis acceleration bias offset factor
+ static constexpr uint8_t YACCL_OFF =
+ 0x22; // Y-axis acceleration bias offset factor
+ static constexpr uint8_t ZACCL_OFF =
+ 0x24; // Z-axis acceleration bias offset factor
+ static constexpr uint8_t XMAGN_HIC =
+ 0x26; // X-axis magnetometer, hard iron factor
+ static constexpr uint8_t YMAGN_HIC =
+ 0x28; // Y-axis magnetometer, hard iron factor
+ static constexpr uint8_t ZMAGN_HIC =
+ 0x2A; // Z-axis magnetometer, hard iron factor
+ static constexpr uint8_t XMAGN_SIC =
+ 0x2C; // X-axis magnetometer, soft iron factor
+ static constexpr uint8_t YMAGN_SIC =
+ 0x2E; // Y-axis magnetometer, soft iron factor
+ static constexpr uint8_t ZMAGN_SIC =
+ 0x30; // Z-axis magnetometer, soft iron factor
+ static constexpr uint8_t GPIO_CTRL = 0x32; // GPIO control
+ static constexpr uint8_t MSC_CTRL = 0x34; // MISC control
+ static constexpr uint8_t SMPL_PRD =
+ 0x36; // Sample clock/Decimation filter control
+ static constexpr uint8_t SENS_AVG = 0x38; // Digital filter control
+ static constexpr uint8_t SEQ_CNT = 0x3A; // MAGN_OUT and BARO_OUT counter
+ static constexpr uint8_t DIAG_STAT = 0x3C; // System status
+ static constexpr uint8_t GLOB_CMD = 0x3E; // System command
+ static constexpr uint8_t ALM_MAG1 = 0x40; // Alarm 1 amplitude threshold
+ static constexpr uint8_t ALM_MAG2 = 0x42; // Alarm 2 amplitude threshold
+ static constexpr uint8_t ALM_SMPL1 = 0x44; // Alarm 1 sample size
+ static constexpr uint8_t ALM_SMPL2 = 0x46; // Alarm 2 sample size
+ static constexpr uint8_t ALM_CTRL = 0x48; // Alarm control
+ static constexpr uint8_t LOT_ID1 = 0x52; // Lot identification number
+ static constexpr uint8_t LOT_ID2 = 0x54; // Lot identification number
+ static constexpr uint8_t PROD_ID = 0x56; // Product identifier
+ static constexpr uint8_t SERIAL_NUM = 0x58; // Lot-specific serial number
+
+ /** @brief ADIS16448 Static Constants */
+ static constexpr double rad_to_deg = 57.2957795;
+ static constexpr double deg_to_rad = 0.0174532;
+ static constexpr double grav = 9.81;
+
+ /** @brief struct to store offset data */
+ struct OffsetData {
+ double gyro_rate_x = 0.0;
+ double gyro_rate_y = 0.0;
+ double gyro_rate_z = 0.0;
+ };
+
+ bool SwitchToStandardSPI();
+
+ bool SwitchToAutoSPI();
+
+ uint16_t ReadRegister(uint8_t reg);
+
+ void WriteRegister(uint8_t reg, uint16_t val);
+
+ void Acquire();
+
+ void Close();
+
+ // User-specified yaw axis
+ IMUAxis m_yaw_axis;
+
+ // Last read values (post-scaling)
+ double m_gyro_rate_x = 0.0;
+ double m_gyro_rate_y = 0.0;
+ double m_gyro_rate_z = 0.0;
+ double m_accel_x = 0.0;
+ double m_accel_y = 0.0;
+ double m_accel_z = 0.0;
+ double m_mag_x = 0.0;
+ double m_mag_y = 0.0;
+ double m_mag_z = 0.0;
+ double m_baro = 0.0;
+ double m_temp = 0.0;
+
+ // Complementary filter variables
+ double m_tau = 0.5;
+ double m_dt, m_alpha = 0.0;
+ double m_compAngleX, m_compAngleY, m_accelAngleX, m_accelAngleY = 0.0;
+
+ // vector for storing most recent imu values
+ OffsetData* m_offset_buffer = nullptr;
+
+ double m_gyro_rate_offset_x = 0.0;
+ double m_gyro_rate_offset_y = 0.0;
+ double m_gyro_rate_offset_z = 0.0;
+
+ // function to re-init offset buffer
+ void InitOffsetBuffer(int size);
+
+ // Accumulated gyro values (for offset calculation)
+ int m_avg_size = 0;
+ int m_accum_count = 0;
+
+ // Integrated gyro values
+ double m_integ_gyro_angle_x = 0.0;
+ double m_integ_gyro_angle_y = 0.0;
+ double m_integ_gyro_angle_z = 0.0;
+
+ // Complementary filter functions
+ double FormatFastConverge(double compAngle, double accAngle);
+
+ double FormatRange0to2PI(double compAngle);
+
+ double FormatAccelRange(double accelAngle, double accelZ);
+
+ double CompFilterProcess(double compAngle, double accelAngle, double omega);
+
+ // State and resource variables
+ volatile bool m_thread_active = false;
+ volatile bool m_first_run = true;
+ volatile bool m_thread_idle = false;
+ volatile bool m_start_up_mode = true;
+
+ bool m_auto_configured = false;
+ SPI::Port m_spi_port;
+ CalibrationTime m_calibration_time{0};
+ SPI* m_spi = nullptr;
+ DigitalInput* m_auto_interrupt = nullptr;
+
+ std::thread m_acquire_task;
+
+ hal::SimDevice m_simDevice;
+ hal::SimDouble m_simGyroAngleX;
+ hal::SimDouble m_simGyroAngleY;
+ hal::SimDouble m_simGyroAngleZ;
+ hal::SimDouble m_simGyroRateX;
+ hal::SimDouble m_simGyroRateY;
+ hal::SimDouble m_simGyroRateZ;
+ hal::SimDouble m_simAccelX;
+ hal::SimDouble m_simAccelY;
+ hal::SimDouble m_simAccelZ;
+
+ struct NonMovableMutexWrapper {
+ wpi::mutex mutex;
+ NonMovableMutexWrapper() = default;
+
+ NonMovableMutexWrapper(const NonMovableMutexWrapper&) = delete;
+ NonMovableMutexWrapper& operator=(const NonMovableMutexWrapper&) = delete;
+
+ NonMovableMutexWrapper(NonMovableMutexWrapper&&) {}
+ NonMovableMutexWrapper& operator=(NonMovableMutexWrapper&&) {
+ return *this;
+ }
+
+ void lock() { mutex.lock(); }
+
+ void unlock() { mutex.unlock(); }
+
+ bool try_lock() noexcept { return mutex.try_lock(); }
+ };
+
+ mutable NonMovableMutexWrapper m_mutex;
+
+ // CRC-16 Look-Up Table
+ static constexpr uint16_t adiscrc[256] = {
+ 0x0000, 0x17CE, 0x0FDF, 0x1811, 0x1FBE, 0x0870, 0x1061, 0x07AF, 0x1F3F,
+ 0x08F1, 0x10E0, 0x072E, 0x0081, 0x174F, 0x0F5E, 0x1890, 0x1E3D, 0x09F3,
+ 0x11E2, 0x062C, 0x0183, 0x164D, 0x0E5C, 0x1992, 0x0102, 0x16CC, 0x0EDD,
+ 0x1913, 0x1EBC, 0x0972, 0x1163, 0x06AD, 0x1C39, 0x0BF7, 0x13E6, 0x0428,
+ 0x0387, 0x1449, 0x0C58, 0x1B96, 0x0306, 0x14C8, 0x0CD9, 0x1B17, 0x1CB8,
+ 0x0B76, 0x1367, 0x04A9, 0x0204, 0x15CA, 0x0DDB, 0x1A15, 0x1DBA, 0x0A74,
+ 0x1265, 0x05AB, 0x1D3B, 0x0AF5, 0x12E4, 0x052A, 0x0285, 0x154B, 0x0D5A,
+ 0x1A94, 0x1831, 0x0FFF, 0x17EE, 0x0020, 0x078F, 0x1041, 0x0850, 0x1F9E,
+ 0x070E, 0x10C0, 0x08D1, 0x1F1F, 0x18B0, 0x0F7E, 0x176F, 0x00A1, 0x060C,
+ 0x11C2, 0x09D3, 0x1E1D, 0x19B2, 0x0E7C, 0x166D, 0x01A3, 0x1933, 0x0EFD,
+ 0x16EC, 0x0122, 0x068D, 0x1143, 0x0952, 0x1E9C, 0x0408, 0x13C6, 0x0BD7,
+ 0x1C19, 0x1BB6, 0x0C78, 0x1469, 0x03A7, 0x1B37, 0x0CF9, 0x14E8, 0x0326,
+ 0x0489, 0x1347, 0x0B56, 0x1C98, 0x1A35, 0x0DFB, 0x15EA, 0x0224, 0x058B,
+ 0x1245, 0x0A54, 0x1D9A, 0x050A, 0x12C4, 0x0AD5, 0x1D1B, 0x1AB4, 0x0D7A,
+ 0x156B, 0x02A5, 0x1021, 0x07EF, 0x1FFE, 0x0830, 0x0F9F, 0x1851, 0x0040,
+ 0x178E, 0x0F1E, 0x18D0, 0x00C1, 0x170F, 0x10A0, 0x076E, 0x1F7F, 0x08B1,
+ 0x0E1C, 0x19D2, 0x01C3, 0x160D, 0x11A2, 0x066C, 0x1E7D, 0x09B3, 0x1123,
+ 0x06ED, 0x1EFC, 0x0932, 0x0E9D, 0x1953, 0x0142, 0x168C, 0x0C18, 0x1BD6,
+ 0x03C7, 0x1409, 0x13A6, 0x0468, 0x1C79, 0x0BB7, 0x1327, 0x04E9, 0x1CF8,
+ 0x0B36, 0x0C99, 0x1B57, 0x0346, 0x1488, 0x1225, 0x05EB, 0x1DFA, 0x0A34,
+ 0x0D9B, 0x1A55, 0x0244, 0x158A, 0x0D1A, 0x1AD4, 0x02C5, 0x150B, 0x12A4,
+ 0x056A, 0x1D7B, 0x0AB5, 0x0810, 0x1FDE, 0x07CF, 0x1001, 0x17AE, 0x0060,
+ 0x1871, 0x0FBF, 0x172F, 0x00E1, 0x18F0, 0x0F3E, 0x0891, 0x1F5F, 0x074E,
+ 0x1080, 0x162D, 0x01E3, 0x19F2, 0x0E3C, 0x0993, 0x1E5D, 0x064C, 0x1182,
+ 0x0912, 0x1EDC, 0x06CD, 0x1103, 0x16AC, 0x0162, 0x1973, 0x0EBD, 0x1429,
+ 0x03E7, 0x1BF6, 0x0C38, 0x0B97, 0x1C59, 0x0448, 0x1386, 0x0B16, 0x1CD8,
+ 0x04C9, 0x1307, 0x14A8, 0x0366, 0x1B77, 0x0CB9, 0x0A14, 0x1DDA, 0x05CB,
+ 0x1205, 0x15AA, 0x0264, 0x1A75, 0x0DBB, 0x152B, 0x02E5, 0x1AF4, 0x0D3A,
+ 0x0A95, 0x1D5B, 0x054A, 0x1284};
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
new file mode 100644
index 0000000..e6f3ce7
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
@@ -0,0 +1,417 @@
+// 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.
+
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2020 Analog Devices Inc. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/* */
+/* Juan Chong - frcsupport@analog.com */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include <atomic>
+#include <memory>
+#include <thread>
+
+#include <hal/SimDevice.h>
+#include <networktables/NTSendable.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+#include <wpi/condition_variable.h>
+#include <wpi/mutex.h>
+#include <wpi/sendable/SendableHelper.h>
+
+#include "frc/DigitalInput.h"
+#include "frc/DigitalOutput.h"
+#include "frc/DigitalSource.h"
+#include "frc/SPI.h"
+
+namespace frc {
+/**
+ * Use DMA SPI to read rate and acceleration data from the ADIS16470 IMU and
+ * return the robot's heading relative to a starting position and instant
+ * measurements
+ *
+ * The ADIS16470 gyro angle outputs track the robot's heading based on the
+ * starting position. As the robot rotates the new heading is computed by
+ * integrating the rate of rotation returned by the IMU. When the class is
+ * instantiated, a short calibration routine is performed where the IMU samples
+ * the gyros while at rest to determine the initial offset. This is subtracted
+ * from each sample to determine the heading.
+ *
+ * This class is for the ADIS16470 IMU connected via the primary SPI port
+ * available on the RoboRIO.
+ */
+
+class ADIS16470_IMU : public nt::NTSendable,
+ public wpi::SendableHelper<ADIS16470_IMU> {
+ public:
+ /* ADIS16470 Calibration Time Enum Class */
+ enum class CalibrationTime {
+ _32ms = 0,
+ _64ms = 1,
+ _128ms = 2,
+ _256ms = 3,
+ _512ms = 4,
+ _1s = 5,
+ _2s = 6,
+ _4s = 7,
+ _8s = 8,
+ _16s = 9,
+ _32s = 10,
+ _64s = 11
+ };
+
+ enum IMUAxis { kX, kY, kZ };
+
+ /**
+ * @brief Default constructor. Uses CS0 on the 10-pin SPI port, the yaw axis
+ * is set to the IMU Z axis, and calibration time is defaulted to 4 seconds.
+ */
+ ADIS16470_IMU();
+
+ /**
+ * @brief Customizable constructor. Allows the SPI port and CS to be
+ * customized, the yaw axis used for GetAngle() is adjustable, and initial
+ * calibration time can be modified.
+ *
+ * @param yaw_axis Selects the "default" axis to use for GetAngle() and
+ * GetRate()
+ *
+ * @param port The SPI port and CS where the IMU is connected.
+ *
+ * @param cal_time The calibration time that should be used on start-up.
+ */
+ explicit ADIS16470_IMU(IMUAxis yaw_axis, SPI::Port port,
+ CalibrationTime cal_time);
+
+ /**
+ * @brief Destructor. Kills the acquisiton loop and closes the SPI peripheral.
+ */
+ ~ADIS16470_IMU() override;
+
+ ADIS16470_IMU(ADIS16470_IMU&&) = default;
+ ADIS16470_IMU& operator=(ADIS16470_IMU&&) = default;
+
+ int ConfigDecRate(uint16_t reg);
+
+ /**
+ * @brief Switches the active SPI port to standard SPI mode, writes the
+ * command to activate the new null configuration, and re-enables auto SPI.
+ */
+ void Calibrate();
+
+ /**
+ * @brief Switches the active SPI port to standard SPI mode, writes a new
+ * value to the NULL_CNFG register in the IMU, and re-enables auto SPI.
+ */
+ int ConfigCalTime(CalibrationTime new_cal_time);
+
+ /**
+ * @brief Resets (zeros) the xgyro, ygyro, and zgyro angle integrations.
+ *
+ * Resets the gyro accumulations to a heading of zero. This can be used if
+ * the "zero" orientation of the sensor needs to be changed in runtime.
+ */
+ void Reset();
+
+ /**
+ * Returns the yaw axis angle in degrees (CCW positive).
+ */
+ units::degree_t GetAngle() const;
+
+ /**
+ * Returns the yaw axis angular rate in degrees per second (CCW positive).
+ */
+ units::degrees_per_second_t GetRate() const;
+
+ /**
+ * Returns the acceleration in the X axis.
+ */
+ units::meters_per_second_squared_t GetAccelX() const;
+
+ /**
+ * Returns the acceleration in the Y axis.
+ */
+ units::meters_per_second_squared_t GetAccelY() const;
+
+ /**
+ * Returns the acceleration in the Z axis.
+ */
+ units::meters_per_second_squared_t GetAccelZ() const;
+
+ units::degree_t GetXComplementaryAngle() const;
+
+ units::degree_t GetYComplementaryAngle() const;
+
+ units::degree_t GetXFilteredAccelAngle() const;
+
+ units::degree_t GetYFilteredAccelAngle() const;
+
+ IMUAxis GetYawAxis() const;
+
+ int SetYawAxis(IMUAxis yaw_axis);
+
+ // IMU yaw axis
+ IMUAxis m_yaw_axis;
+
+ /**
+ * Get the SPI port number.
+ *
+ * @return The SPI port number.
+ */
+ int GetPort() const;
+
+ void InitSendable(nt::NTSendableBuilder& builder) override;
+
+ private:
+ /* ADIS16470 Register Map Declaration */
+ static constexpr uint8_t FLASH_CNT = 0x00; // Flash memory write count
+ static constexpr uint8_t DIAG_STAT =
+ 0x02; // Diagnostic and operational status
+ static constexpr uint8_t X_GYRO_LOW =
+ 0x04; // X-axis gyroscope output, lower word
+ static constexpr uint8_t X_GYRO_OUT =
+ 0x06; // X-axis gyroscope output, upper word
+ static constexpr uint8_t Y_GYRO_LOW =
+ 0x08; // Y-axis gyroscope output, lower word
+ static constexpr uint8_t Y_GYRO_OUT =
+ 0x0A; // Y-axis gyroscope output, upper word
+ static constexpr uint8_t Z_GYRO_LOW =
+ 0x0C; // Z-axis gyroscope output, lower word
+ static constexpr uint8_t Z_GYRO_OUT =
+ 0x0E; // Z-axis gyroscope output, upper word
+ static constexpr uint8_t X_ACCL_LOW =
+ 0x10; // X-axis accelerometer output, lower word
+ static constexpr uint8_t X_ACCL_OUT =
+ 0x12; // X-axis accelerometer output, upper word
+ static constexpr uint8_t Y_ACCL_LOW =
+ 0x14; // Y-axis accelerometer output, lower word
+ static constexpr uint8_t Y_ACCL_OUT =
+ 0x16; // Y-axis accelerometer output, upper word
+ static constexpr uint8_t Z_ACCL_LOW =
+ 0x18; // Z-axis accelerometer output, lower word
+ static constexpr uint8_t Z_ACCL_OUT =
+ 0x1A; // Z-axis accelerometer output, upper word
+ static constexpr uint8_t TEMP_OUT =
+ 0x1C; // Temperature output (internal, not calibrated)
+ static constexpr uint8_t TIME_STAMP = 0x1E; // PPS mode time stamp
+ static constexpr uint8_t X_DELTANG_LOW =
+ 0x24; // X-axis delta angle output, lower word
+ static constexpr uint8_t X_DELTANG_OUT =
+ 0x26; // X-axis delta angle output, upper word
+ static constexpr uint8_t Y_DELTANG_LOW =
+ 0x28; // Y-axis delta angle output, lower word
+ static constexpr uint8_t Y_DELTANG_OUT =
+ 0x2A; // Y-axis delta angle output, upper word
+ static constexpr uint8_t Z_DELTANG_LOW =
+ 0x2C; // Z-axis delta angle output, lower word
+ static constexpr uint8_t Z_DELTANG_OUT =
+ 0x2E; // Z-axis delta angle output, upper word
+ static constexpr uint8_t X_DELTVEL_LOW =
+ 0x30; // X-axis delta velocity output, lower word
+ static constexpr uint8_t X_DELTVEL_OUT =
+ 0x32; // X-axis delta velocity output, upper word
+ static constexpr uint8_t Y_DELTVEL_LOW =
+ 0x34; // Y-axis delta velocity output, lower word
+ static constexpr uint8_t Y_DELTVEL_OUT =
+ 0x36; // Y-axis delta velocity output, upper word
+ static constexpr uint8_t Z_DELTVEL_LOW =
+ 0x38; // Z-axis delta velocity output, lower word
+ static constexpr uint8_t Z_DELTVEL_OUT =
+ 0x3A; // Z-axis delta velocity output, upper word
+ static constexpr uint8_t XG_BIAS_LOW =
+ 0x40; // X-axis gyroscope bias offset correction, lower word
+ static constexpr uint8_t XG_BIAS_HIGH =
+ 0x42; // X-axis gyroscope bias offset correction, upper word
+ static constexpr uint8_t YG_BIAS_LOW =
+ 0x44; // Y-axis gyroscope bias offset correction, lower word
+ static constexpr uint8_t YG_BIAS_HIGH =
+ 0x46; // Y-axis gyroscope bias offset correction, upper word
+ static constexpr uint8_t ZG_BIAS_LOW =
+ 0x48; // Z-axis gyroscope bias offset correction, lower word
+ static constexpr uint8_t ZG_BIAS_HIGH =
+ 0x4A; // Z-axis gyroscope bias offset correction, upper word
+ static constexpr uint8_t XA_BIAS_LOW =
+ 0x4C; // X-axis accelerometer bias offset correction, lower word
+ static constexpr uint8_t XA_BIAS_HIGH =
+ 0x4E; // X-axis accelerometer bias offset correction, upper word
+ static constexpr uint8_t YA_BIAS_LOW =
+ 0x50; // Y-axis accelerometer bias offset correction, lower word
+ static constexpr uint8_t YA_BIAS_HIGH =
+ 0x52; // Y-axis accelerometer bias offset correction, upper word
+ static constexpr uint8_t ZA_BIAS_LOW =
+ 0x54; // Z-axis accelerometer bias offset correction, lower word
+ static constexpr uint8_t ZA_BIAS_HIGH =
+ 0x56; // Z-axis accelerometer bias offset correction, upper word
+ static constexpr uint8_t FILT_CTRL = 0x5C; // Filter control
+ static constexpr uint8_t MSC_CTRL = 0x60; // Miscellaneous control
+ static constexpr uint8_t UP_SCALE = 0x62; // Clock scale factor, PPS mode
+ static constexpr uint8_t DEC_RATE =
+ 0x64; // Decimation rate control (output data rate)
+ static constexpr uint8_t NULL_CNFG = 0x66; // Auto-null configuration control
+ static constexpr uint8_t GLOB_CMD = 0x68; // Global commands
+ static constexpr uint8_t FIRM_REV = 0x6C; // Firmware revision
+ static constexpr uint8_t FIRM_DM =
+ 0x6E; // Firmware revision date, month and day
+ static constexpr uint8_t FIRM_Y = 0x70; // Firmware revision date, year
+ static constexpr uint8_t PROD_ID = 0x72; // Product identification
+ static constexpr uint8_t SERIAL_NUM =
+ 0x74; // Serial number (relative to assembly lot)
+ static constexpr uint8_t USER_SCR1 = 0x76; // User scratch register 1
+ static constexpr uint8_t USER_SCR2 = 0x78; // User scratch register 2
+ static constexpr uint8_t USER_SCR3 = 0x7A; // User scratch register 3
+ static constexpr uint8_t FLSHCNT_LOW =
+ 0x7C; // Flash update count, lower word
+ static constexpr uint8_t FLSHCNT_HIGH =
+ 0x7E; // Flash update count, upper word
+
+ /* ADIS16470 Auto SPI Data Packets */
+ static constexpr uint8_t m_autospi_x_packet[16] = {
+ X_DELTANG_OUT, FLASH_CNT, X_DELTANG_LOW, FLASH_CNT, X_GYRO_OUT, FLASH_CNT,
+ Y_GYRO_OUT, FLASH_CNT, Z_GYRO_OUT, FLASH_CNT, X_ACCL_OUT, FLASH_CNT,
+ Y_ACCL_OUT, FLASH_CNT, Z_ACCL_OUT, FLASH_CNT};
+
+ static constexpr uint8_t m_autospi_y_packet[16] = {
+ Y_DELTANG_OUT, FLASH_CNT, Y_DELTANG_LOW, FLASH_CNT, X_GYRO_OUT, FLASH_CNT,
+ Y_GYRO_OUT, FLASH_CNT, Z_GYRO_OUT, FLASH_CNT, X_ACCL_OUT, FLASH_CNT,
+ Y_ACCL_OUT, FLASH_CNT, Z_ACCL_OUT, FLASH_CNT};
+
+ static constexpr uint8_t m_autospi_z_packet[16] = {
+ Z_DELTANG_OUT, FLASH_CNT, Z_DELTANG_LOW, FLASH_CNT, X_GYRO_OUT, FLASH_CNT,
+ Y_GYRO_OUT, FLASH_CNT, Z_GYRO_OUT, FLASH_CNT, X_ACCL_OUT, FLASH_CNT,
+ Y_ACCL_OUT, FLASH_CNT, Z_ACCL_OUT, FLASH_CNT};
+
+ /* ADIS16470 Constants */
+ static constexpr double delta_angle_sf =
+ 2160.0 / 2147483648.0; /* 2160 / (2^31) */
+ static constexpr double rad_to_deg = 57.2957795;
+ static constexpr double deg_to_rad = 0.0174532;
+ static constexpr double grav = 9.81;
+
+ /**
+ * @brief Switches to standard SPI operation. Primarily used when exiting auto
+ * SPI mode.
+ *
+ * @return A boolean indicating the success or failure of setting up the SPI
+ * peripheral in standard SPI mode.
+ */
+ bool SwitchToStandardSPI();
+
+ /**
+ * @brief Switches to auto SPI operation. Primarily used when exiting standard
+ * SPI mode.
+ *
+ * @return A boolean indicating the success or failure of setting up the SPI
+ * peripheral in auto SPI mode.
+ */
+ bool SwitchToAutoSPI();
+
+ /**
+ * @brief Reads the contents of a specified register location over SPI.
+ *
+ * @param reg An unsigned, 8-bit register location.
+ *
+ * @return An unsigned, 16-bit number representing the contents of the
+ * requested register location.
+ */
+ uint16_t ReadRegister(uint8_t reg);
+
+ /**
+ * @brief Writes an unsigned, 16-bit value to two adjacent, 8-bit register
+ * locations over SPI.
+ *
+ * @param reg An unsigned, 8-bit register location.
+ *
+ * @param val An unsigned, 16-bit value to be written to the specified
+ * register location.
+ */
+ void WriteRegister(uint8_t reg, uint16_t val);
+
+ /**
+ * @brief Main acquisition loop. Typically called asynchronously and
+ * free-wheels while the robot code is active.
+ */
+ void Acquire();
+
+ void Close();
+
+ // Integrated gyro value
+ double m_integ_angle = 0.0;
+
+ // Instant raw outputs
+ double m_gyro_rate_x = 0.0;
+ double m_gyro_rate_y = 0.0;
+ double m_gyro_rate_z = 0.0;
+ double m_accel_x = 0.0;
+ double m_accel_y = 0.0;
+ double m_accel_z = 0.0;
+
+ // Complementary filter variables
+ double m_tau = 1.0;
+ double m_dt, m_alpha = 0.0;
+ double m_compAngleX, m_compAngleY, m_accelAngleX, m_accelAngleY = 0.0;
+
+ // Complementary filter functions
+ double FormatFastConverge(double compAngle, double accAngle);
+
+ double FormatRange0to2PI(double compAngle);
+
+ double FormatAccelRange(double accelAngle, double accelZ);
+
+ double CompFilterProcess(double compAngle, double accelAngle, double omega);
+
+ // State and resource variables
+ volatile bool m_thread_active = false;
+ volatile bool m_first_run = true;
+ volatile bool m_thread_idle = false;
+ bool m_auto_configured = false;
+ SPI::Port m_spi_port;
+ uint16_t m_calibration_time = 0;
+ SPI* m_spi = nullptr;
+ DigitalInput* m_auto_interrupt = nullptr;
+ double m_scaled_sample_rate = 2500.0; // Default sample rate setting
+
+ std::thread m_acquire_task;
+
+ hal::SimDevice m_simDevice;
+ hal::SimDouble m_simGyroAngleX;
+ hal::SimDouble m_simGyroAngleY;
+ hal::SimDouble m_simGyroAngleZ;
+ hal::SimDouble m_simGyroRateX;
+ hal::SimDouble m_simGyroRateY;
+ hal::SimDouble m_simGyroRateZ;
+ hal::SimDouble m_simAccelX;
+ hal::SimDouble m_simAccelY;
+ hal::SimDouble m_simAccelZ;
+
+ struct NonMovableMutexWrapper {
+ wpi::mutex mutex;
+ NonMovableMutexWrapper() = default;
+
+ NonMovableMutexWrapper(const NonMovableMutexWrapper&) = delete;
+ NonMovableMutexWrapper& operator=(const NonMovableMutexWrapper&) = delete;
+
+ NonMovableMutexWrapper(NonMovableMutexWrapper&&) {}
+ NonMovableMutexWrapper& operator=(NonMovableMutexWrapper&&) {
+ return *this;
+ }
+
+ void lock() { mutex.lock(); }
+
+ void unlock() { mutex.unlock(); }
+
+ bool try_lock() noexcept { return mutex.try_lock(); }
+ };
+
+ mutable NonMovableMutexWrapper m_mutex;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/Compressor.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/Compressor.h
index cc065ff..d8125ed 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/Compressor.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/Compressor.h
@@ -7,9 +7,11 @@
#include <memory>
#include <hal/Types.h>
+#include <wpi/deprecated.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
+#include "frc/CompressorConfigType.h"
#include "frc/PneumaticsBase.h"
#include "frc/PneumaticsModuleType.h"
#include "frc/SensorUtil.h"
@@ -59,13 +61,19 @@
/**
* Starts closed-loop control. Note that closed loop control is enabled by
* default.
+ *
+ * @deprecated Use EnableDigital() instead.
*/
+ WPI_DEPRECATED("Use EnableDigital() instead")
void Start();
/**
* Stops closed-loop control. Note that closed loop control is enabled by
* default.
+ *
+ * @deprecated Use Disable() instead.
*/
+ WPI_DEPRECATED("Use Disable() instead")
void Stop();
/**
@@ -87,25 +95,58 @@
*
* @return The current through the compressor, in amps
*/
- double GetCompressorCurrent() const;
+ units::ampere_t GetCurrent() const;
/**
- * Enables or disables automatically turning the compressor on when the
- * pressure is low.
+ * Query the analog input voltage (on channel 0) (if supported).
*
- * @param on Set to true to enable closed loop control of the compressor.
- * False to disable.
+ * @return The analog input voltage, in volts
*/
- void SetClosedLoopControl(bool on);
+ units::volt_t GetAnalogVoltage() const;
/**
- * Returns true if the compressor will automatically turn on when the
- * pressure is low.
+ * Query the analog sensor pressure (on channel 0) (if supported). Note this
+ * is only for use with the REV Analog Pressure Sensor.
*
- * @return True if closed loop control of the compressor is enabled. False if
- * disabled.
+ * @return The analog sensor pressure, in PSI
*/
- bool GetClosedLoopControl() const;
+ units::pounds_per_square_inch_t GetPressure() const;
+
+ /**
+ * Disable the compressor.
+ */
+ void Disable();
+
+ /**
+ * Enable compressor closed loop control using digital input.
+ */
+ void EnableDigital();
+
+ /**
+ * Enable compressor closed loop control using analog input. Note this is only
+ * for use with the REV Analog Pressure Sensor.
+ *
+ * <p>On CTRE PCM, this will enable digital control.
+ *
+ * @param minPressure The minimum pressure in PSI to enable compressor
+ * @param maxPressure The maximum pressure in PSI to disable compressor
+ */
+ void EnableAnalog(units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure);
+
+ /**
+ * Enable compressor closed loop control using hybrid input. Note this is only
+ * for use with the REV Analog Pressure Sensor.
+ *
+ * On CTRE PCM, this will enable digital control.
+ *
+ * @param minPressure The minimum pressure in PSI to enable compressor
+ * @param maxPressure The maximum pressure in PSI to disable compressor
+ */
+ void EnableHybrid(units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure);
+
+ CompressorConfigType GetConfigType() const;
void InitSendable(wpi::SendableBuilder& builder) override;
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/CompressorConfigType.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/CompressorConfigType.h
new file mode 100644
index 0000000..5a5a1c1
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/CompressorConfigType.h
@@ -0,0 +1,15 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+namespace frc {
+enum class CompressorConfigType {
+ Disabled = 0,
+ Digital = 1,
+ Analog = 2,
+ Hybrid = 3
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
index ccf56ad..ab7ded9 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
@@ -122,6 +122,21 @@
units::turn_t Get() const;
/**
+ * Set the encoder duty cycle range. As the encoder needs to maintain a duty
+ * cycle, the duty cycle cannot go all the way to 0% or all the way to 100%.
+ * For example, an encoder with a 4096 us period might have a minimum duty
+ * cycle of 1 us / 4096 us and a maximum duty cycle of 4095 / 4096 us. Setting
+ * the range will result in an encoder duty cycle less than or equal to the
+ * minimum being output as 0 rotation, the duty cycle greater than or equal to
+ * the maximum being output as 1 rotation, and values in between linearly
+ * scaled from 0 to 1.
+ *
+ * @param min minimum duty cycle (0-1 range)
+ * @param max maximum duty cycle (0-1 range)
+ */
+ void SetDutyCycleRange(double min, double max);
+
+ /**
* Set the distance per rotation of the encoder. This sets the multiplier used
* to determine the distance driven based on the rotation value from the
* encoder. Set this value based on the how far the mechanism travels in 1
@@ -175,6 +190,8 @@
double m_positionOffset = 0;
double m_distancePerRotation = 1.0;
mutable units::turn_t m_lastPosition{0.0};
+ double m_sensorMin = 0;
+ double m_sensorMax = 1;
hal::SimDevice m_simDevice;
hal::SimDouble m_simPosition;
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/MotorSafety.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/MotorSafety.h
index f84af17..1bfd34a 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/MotorSafety.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/MotorSafety.h
@@ -91,6 +91,12 @@
static void CheckMotors();
virtual void StopMotor() = 0;
+
+ /**
+ * The return value from this method is printed out when an error occurs
+ *
+ * This method must not throw!
+ */
virtual std::string GetDescription() const = 0;
private:
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/PneumaticHub.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/PneumaticHub.h
index 857ed51..d412bb6 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/PneumaticHub.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/PneumaticHub.h
@@ -22,13 +22,23 @@
bool GetCompressor() const override;
- void SetClosedLoopControl(bool enabled) override;
+ void DisableCompressor() override;
- bool GetClosedLoopControl() const override;
+ void EnableCompressorDigital() override;
+
+ void EnableCompressorAnalog(
+ units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure) override;
+
+ void EnableCompressorHybrid(
+ units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure) override;
+
+ CompressorConfigType GetCompressorConfigType() const override;
bool GetPressureSwitch() const override;
- double GetCompressorCurrent() const override;
+ units::ampere_t GetCompressorCurrent() const override;
void SetSolenoids(int mask, int values) override;
@@ -57,6 +67,70 @@
int reverseChannel) override;
Compressor MakeCompressor() override;
+ struct Version {
+ uint32_t FirmwareMajor;
+ uint32_t FirmwareMinor;
+ uint32_t FirmwareFix;
+ uint32_t HardwareMinor;
+ uint32_t HardwareMajor;
+ uint32_t UniqueId;
+ };
+
+ Version GetVersion() const;
+
+ struct Faults {
+ uint32_t Channel0Fault : 1;
+ uint32_t Channel1Fault : 1;
+ uint32_t Channel2Fault : 1;
+ uint32_t Channel3Fault : 1;
+ uint32_t Channel4Fault : 1;
+ uint32_t Channel5Fault : 1;
+ uint32_t Channel6Fault : 1;
+ uint32_t Channel7Fault : 1;
+ uint32_t Channel8Fault : 1;
+ uint32_t Channel9Fault : 1;
+ uint32_t Channel10Fault : 1;
+ uint32_t Channel11Fault : 1;
+ uint32_t Channel12Fault : 1;
+ uint32_t Channel13Fault : 1;
+ uint32_t Channel14Fault : 1;
+ uint32_t Channel15Fault : 1;
+ uint32_t CompressorOverCurrent : 1;
+ uint32_t CompressorOpen : 1;
+ uint32_t SolenoidOverCurrent : 1;
+ uint32_t Brownout : 1;
+ uint32_t CanWarning : 1;
+ uint32_t HardwareFault : 1;
+ };
+
+ Faults GetFaults() const;
+
+ struct StickyFaults {
+ uint32_t CompressorOverCurrent : 1;
+ uint32_t CompressorOpen : 1;
+ uint32_t SolenoidOverCurrent : 1;
+ uint32_t Brownout : 1;
+ uint32_t CanWarning : 1;
+ uint32_t CanBusOff : 1;
+ uint32_t HasReset : 1;
+ };
+
+ StickyFaults GetStickyFaults() const;
+
+ void ClearStickyFaults();
+
+ units::volt_t GetInputVoltage() const;
+
+ units::volt_t Get5VRegulatedVoltage() const;
+
+ units::ampere_t GetSolenoidsTotalCurrent() const;
+
+ units::volt_t GetSolenoidsVoltage() const;
+
+ units::volt_t GetAnalogVoltage(int channel) const override;
+
+ units::pounds_per_square_inch_t GetPressure(int channel) const override;
+
private:
class DataStore;
friend class DataStore;
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/PneumaticsBase.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/PneumaticsBase.h
index 06cad5d..50ceb87 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/PneumaticsBase.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/PneumaticsBase.h
@@ -6,8 +6,12 @@
#include <memory>
+#include <units/current.h>
+#include <units/pressure.h>
#include <units/time.h>
+#include <units/voltage.h>
+#include "frc/CompressorConfigType.h"
#include "frc/PneumaticsModuleType.h"
namespace frc {
@@ -22,11 +26,21 @@
virtual bool GetPressureSwitch() const = 0;
- virtual double GetCompressorCurrent() const = 0;
+ virtual units::ampere_t GetCompressorCurrent() const = 0;
- virtual void SetClosedLoopControl(bool on) = 0;
+ virtual void DisableCompressor() = 0;
- virtual bool GetClosedLoopControl() const = 0;
+ virtual void EnableCompressorDigital() = 0;
+
+ virtual void EnableCompressorAnalog(
+ units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure) = 0;
+
+ virtual void EnableCompressorHybrid(
+ units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure) = 0;
+
+ virtual CompressorConfigType GetCompressorConfigType() const = 0;
virtual void SetSolenoids(int mask, int values) = 0;
@@ -50,6 +64,10 @@
virtual void UnreserveCompressor() = 0;
+ virtual units::volt_t GetAnalogVoltage(int channel) const = 0;
+
+ virtual units::pounds_per_square_inch_t GetPressure(int channel) const = 0;
+
virtual Solenoid MakeSolenoid(int channel) = 0;
virtual DoubleSolenoid MakeDoubleSolenoid(int forwardChannel,
int reverseChannel) = 0;
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/PneumaticsControlModule.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/PneumaticsControlModule.h
index 64686d6..ea4517b 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/PneumaticsControlModule.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/PneumaticsControlModule.h
@@ -22,13 +22,23 @@
bool GetCompressor() const override;
- void SetClosedLoopControl(bool enabled) override;
+ void DisableCompressor() override;
- bool GetClosedLoopControl() const override;
+ void EnableCompressorDigital() override;
+
+ void EnableCompressorAnalog(
+ units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure) override;
+
+ void EnableCompressorHybrid(
+ units::pounds_per_square_inch_t minPressure,
+ units::pounds_per_square_inch_t maxPressure) override;
+
+ CompressorConfigType GetCompressorConfigType() const override;
bool GetPressureSwitch() const override;
- double GetCompressorCurrent() const override;
+ units::ampere_t GetCompressorCurrent() const override;
bool GetCompressorCurrentTooHighFault() const;
bool GetCompressorCurrentTooHighStickyFault() const;
@@ -64,6 +74,10 @@
void UnreserveCompressor() override;
+ units::volt_t GetAnalogVoltage(int channel) const override;
+
+ units::pounds_per_square_inch_t GetPressure(int channel) const override;
+
Solenoid MakeSolenoid(int channel) override;
DoubleSolenoid MakeDoubleSolenoid(int forwardChannel,
int reverseChannel) override;
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/PowerDistribution.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/PowerDistribution.h
index 2863daf..763e6bf 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/PowerDistribution.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/PowerDistribution.h
@@ -12,25 +12,26 @@
/**
* Class for getting voltage, current, temperature, power and energy from the
- * CAN PDP.
+ * CTRE Power Distribution Panel (PDP) or REV Power Distribution Hub (PDH).
*/
class PowerDistribution : public wpi::Sendable,
public wpi::SendableHelper<PowerDistribution> {
public:
static constexpr int kDefaultModule = -1;
- enum class ModuleType { kAutomatic = 0, kCTRE = 1, kRev = 2 };
+ enum class ModuleType { kCTRE = 1, kRev = 2 };
/**
- * Constructs a PowerDistribution.
+ * Constructs a PowerDistribution object.
*
- * Uses the default CAN ID.
+ * Detects the connected PDP/PDH using the default CAN ID (0 for CTRE and 1
+ * for REV).
*/
PowerDistribution();
/**
- * Constructs a PowerDistribution.
+ * Constructs a PowerDistribution object.
*
- * @param module The CAN ID of the PDP
+ * @param module The CAN ID of the PDP/PDH
* @param moduleType The type of module
*/
PowerDistribution(int module, ModuleType moduleType);
@@ -40,56 +41,57 @@
PowerDistribution& operator=(PowerDistribution&&) = default;
/**
- * Query the input voltage of the PDP.
+ * Query the input voltage of the PDP/PDH.
*
- * @return The voltage of the PDP in volts
+ * @return The input voltage in volts
*/
double GetVoltage() const;
/**
- * Query the temperature of the PDP.
+ * Query the temperature of the PDP/PDH.
*
- * @return The temperature of the PDP in degrees Celsius
+ * @return The temperature in degrees Celsius
*/
double GetTemperature() const;
/**
- * Query the current of a single channel of the PDP.
+ * Query the current of a single channel of the PDP/PDH.
*
- * @return The current of one of the PDP channels (channels 0-15) in Amperes
+ * @param channel the channel to query (0-15 for PDP, 0-23 for PDH)
+ * @return The current of the channel in Amperes
*/
double GetCurrent(int channel) const;
/**
- * Query the total current of all monitored PDP channels (0-15).
+ * Query the total current of all monitored PDP/PDH channels.
*
- * @return The the total current drawn from the PDP channels in Amperes
+ * @return The total current drawn from all channels in Amperes
*/
double GetTotalCurrent() const;
/**
- * Query the total power drawn from the monitored PDP channels.
+ * Query the total power drawn from all monitored PDP/PDH channels.
*
- * @return The the total power drawn from the PDP channels in Watts
+ * @return The total power drawn in Watts
*/
double GetTotalPower() const;
/**
- * Query the total energy drawn from the monitored PDP channels.
+ * Query the total energy drawn from the monitored PDP/PDH channels.
*
- * @return The the total energy drawn from the PDP channels in Joules
+ * @return The total energy drawn in Joules
*/
double GetTotalEnergy() const;
/**
- * Reset the total energy drawn from the PDP.
+ * Reset the total energy drawn from the PDP/PDH.
*
* @see PowerDistribution#GetTotalEnergy
*/
void ResetTotalEnergy();
/**
- * Remove all of the fault flags on the PDP.
+ * Remove all of the fault flags on the PDP/PDH.
*/
void ClearStickyFaults();
@@ -98,10 +100,102 @@
*/
int GetModule() const;
+ /**
+ * Gets module type.
+ */
+ ModuleType GetType() const;
+
+ /**
+ * Gets whether the PDH switchable channel is turned on or off. Returns false
+ * with the CTRE PDP.
+ *
+ * @return The output state of the PDH switchable channel
+ */
bool GetSwitchableChannel() const;
+ /**
+ * Sets the PDH switchable channel on or off. Does nothing with the CTRE PDP.
+ *
+ * @param enabled Whether to turn the PDH switchable channel on or off
+ */
void SetSwitchableChannel(bool enabled);
+ struct Version {
+ uint32_t FirmwareMajor;
+ uint32_t FirmwareMinor;
+ uint32_t FirmwareFix;
+ uint32_t HardwareMinor;
+ uint32_t HardwareMajor;
+ uint32_t UniqueId;
+ };
+
+ Version GetVersion() const;
+
+ struct Faults {
+ uint32_t Channel0BreakerFault : 1;
+ uint32_t Channel1BreakerFault : 1;
+ uint32_t Channel2BreakerFault : 1;
+ uint32_t Channel3BreakerFault : 1;
+ uint32_t Channel4BreakerFault : 1;
+ uint32_t Channel5BreakerFault : 1;
+ uint32_t Channel6BreakerFault : 1;
+ uint32_t Channel7BreakerFault : 1;
+ uint32_t Channel8BreakerFault : 1;
+ uint32_t Channel9BreakerFault : 1;
+ uint32_t Channel10BreakerFault : 1;
+ uint32_t Channel11BreakerFault : 1;
+ uint32_t Channel12BreakerFault : 1;
+ uint32_t Channel13BreakerFault : 1;
+ uint32_t Channel14BreakerFault : 1;
+ uint32_t Channel15BreakerFault : 1;
+ uint32_t Channel16BreakerFault : 1;
+ uint32_t Channel17BreakerFault : 1;
+ uint32_t Channel18BreakerFault : 1;
+ uint32_t Channel19BreakerFault : 1;
+ uint32_t Channel20BreakerFault : 1;
+ uint32_t Channel21BreakerFault : 1;
+ uint32_t Channel22BreakerFault : 1;
+ uint32_t Channel23BreakerFault : 1;
+ uint32_t Brownout : 1;
+ uint32_t CanWarning : 1;
+ uint32_t HardwareFault : 1;
+ };
+
+ Faults GetFaults() const;
+
+ struct StickyFaults {
+ uint32_t Channel0BreakerFault : 1;
+ uint32_t Channel1BreakerFault : 1;
+ uint32_t Channel2BreakerFault : 1;
+ uint32_t Channel3BreakerFault : 1;
+ uint32_t Channel4BreakerFault : 1;
+ uint32_t Channel5BreakerFault : 1;
+ uint32_t Channel6BreakerFault : 1;
+ uint32_t Channel7BreakerFault : 1;
+ uint32_t Channel8BreakerFault : 1;
+ uint32_t Channel9BreakerFault : 1;
+ uint32_t Channel10BreakerFault : 1;
+ uint32_t Channel11BreakerFault : 1;
+ uint32_t Channel12BreakerFault : 1;
+ uint32_t Channel13BreakerFault : 1;
+ uint32_t Channel14BreakerFault : 1;
+ uint32_t Channel15BreakerFault : 1;
+ uint32_t Channel16BreakerFault : 1;
+ uint32_t Channel17BreakerFault : 1;
+ uint32_t Channel18BreakerFault : 1;
+ uint32_t Channel19BreakerFault : 1;
+ uint32_t Channel20BreakerFault : 1;
+ uint32_t Channel21BreakerFault : 1;
+ uint32_t Channel22BreakerFault : 1;
+ uint32_t Channel23BreakerFault : 1;
+ uint32_t Brownout : 1;
+ uint32_t CanWarning : 1;
+ uint32_t CanBusOff : 1;
+ uint32_t HasReset : 1;
+ };
+
+ StickyFaults GetStickyFaults() const;
+
void InitSendable(wpi::SendableBuilder& builder) override;
private:
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/SPI.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/SPI.h
index 0ec5ce6..38b5e04 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/SPI.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/SPI.h
@@ -35,7 +35,7 @@
*/
explicit SPI(Port port);
- ~SPI();
+ virtual ~SPI();
SPI(SPI&&) = default;
SPI& operator=(SPI&&) = default;
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/Servo.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/Servo.h
index b1df655..96cbfa4 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/Servo.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/Servo.h
@@ -46,7 +46,8 @@
* Get the servo position.
*
* Servo values range from 0.0 to 1.0 corresponding to the range of full left
- * to full right.
+ * to full right. This returns the commanded position, not the position that
+ * the servo is actually at, as the servo does not report its own position.
*
* @return Position from 0.0 to 1.0.
*/
@@ -55,8 +56,8 @@
/**
* Set the servo angle.
*
- * Assume that the servo angle is linear with respect to the PWM value (big
- * assumption, need to test).
+ * The angles are based on the HS-322HD Servo, and have a range of 0 to 180
+ * degrees.
*
* Servo angles that are out of the supported range of the servo simply
* "saturate" in that direction. In other words, if the servo has a range of
@@ -71,8 +72,8 @@
/**
* Get the servo angle.
*
- * Assume that the servo angle is linear with respect to the PWM value (big
- * assumption, need to test).
+ * This returns the commanded angle, not the angle that the servo is actually
+ * at, as the servo does not report its own angle.
*
* @return The angle in degrees to which the servo is set.
*/
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/WPIWarnings.mac b/third_party/allwpilib/wpilibc/src/main/native/include/frc/WPIWarnings.mac
index fa63494..6ac2c11 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/WPIWarnings.mac
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/WPIWarnings.mac
@@ -10,7 +10,7 @@
S(NonBinaryDigitalValue, 5, "Digital output value is not 0 or 1")
S(IncorrectBatteryChannel, 6,
"Battery measurement channel is not correct value")
-S(BadJoystickIndex, 7, "Joystick index is out of range, should be 0-3")
+S(BadJoystickIndex, 7, "Joystick index is out of range, should be 0-5")
S(BadJoystickAxis, 8, "Joystick axis or POV is out of range")
S(InvalidMotorIndex, 9, "Motor index is out of range, should be 0-3")
S(DriverStationTaskError, 10, "Driver Station task won't start")
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/counter/EdgeConfiguration.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/counter/EdgeConfiguration.h
new file mode 100644
index 0000000..508117d
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/counter/EdgeConfiguration.h
@@ -0,0 +1,14 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+namespace frc {
+enum class EdgeConfiguration {
+ kNone = 0,
+ kRisingEdge = 0x1,
+ kFallingEdge = 0x2,
+ kBoth = 0x3
+};
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/counter/ExternalDirectionCounter.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/counter/ExternalDirectionCounter.h
new file mode 100644
index 0000000..4d9faf2
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/counter/ExternalDirectionCounter.h
@@ -0,0 +1,84 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <memory>
+
+#include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
+#include "EdgeConfiguration.h"
+
+namespace frc {
+class DigitalSource;
+
+/** Counter using external direction.
+ *
+ * <p>This counts on an edge from one digital input and the whether it counts
+ * up or down based on the state of a second digital input.
+ *
+ */
+class ExternalDirectionCounter
+ : public wpi::Sendable,
+ public wpi::SendableHelper<ExternalDirectionCounter> {
+ public:
+ /**
+ * Constructs a new ExternalDirectionCounter.
+ *
+ * @param countSource The source for counting.
+ * @param directionSource The source for selecting count direction.
+ */
+ ExternalDirectionCounter(DigitalSource& countSource,
+ DigitalSource& directionSource);
+
+ /**
+ * Constructs a new ExternalDirectionCounter.
+ *
+ * @param countSource The source for counting.
+ * @param directionSource The source for selecting count direction.
+ */
+ ExternalDirectionCounter(std::shared_ptr<DigitalSource> countSource,
+ std::shared_ptr<DigitalSource> directionSource);
+
+ ~ExternalDirectionCounter() override;
+
+ ExternalDirectionCounter(ExternalDirectionCounter&&) = default;
+ ExternalDirectionCounter& operator=(ExternalDirectionCounter&&) = default;
+
+ /**
+ * Gets the current count.
+ *
+ * @return The current count.
+ */
+ int GetCount() const;
+
+ /**
+ * Sets to reverse the counter direction.
+ *
+ * @param reverseDirection True to reverse counting direction.
+ */
+ void SetReverseDirection(bool reverseDirection);
+
+ /** Resets the current count. */
+ void Reset();
+
+ /**
+ * Sets the edge configuration for counting.
+ *
+ * @param configuration The counting edge configuration.
+ */
+ void SetEdgeConfiguration(EdgeConfiguration configuration);
+
+ protected:
+ void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+ std::shared_ptr<DigitalSource> m_countSource;
+ std::shared_ptr<DigitalSource> m_directionSource;
+ hal::Handle<HAL_CounterHandle> m_handle;
+ int32_t m_index = 0;
+};
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/counter/Tachometer.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/counter/Tachometer.h
new file mode 100644
index 0000000..dba1575
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/counter/Tachometer.h
@@ -0,0 +1,140 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <memory>
+
+#include <hal/Types.h>
+#include <units/angular_velocity.h>
+#include <units/frequency.h>
+#include <units/time.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
+namespace frc {
+class DigitalSource;
+
+/**
+ * Tachometer for getting rotational speed from a device.
+ *
+ * <p>The Tachometer class measures the time between digital pulses to
+ * determine the rotation speed of a mechanism. Examples of devices that could
+ * be used with the tachometer class are a hall effect sensor, break beam
+ * sensor, or optical sensor detecting tape on a shooter wheel. Unlike
+ * encoders, this class only needs a single digital input.
+ */
+class Tachometer : public wpi::Sendable,
+ public wpi::SendableHelper<Tachometer> {
+ public:
+ /**
+ * Constructs a new tachometer.
+ *
+ * @param source The source.
+ */
+ explicit Tachometer(DigitalSource& source);
+
+ /**
+ * Constructs a new tachometer.
+ *
+ * @param source The source.
+ */
+ explicit Tachometer(std::shared_ptr<DigitalSource> source);
+
+ ~Tachometer() override;
+
+ Tachometer(Tachometer&&) = default;
+ Tachometer& operator=(Tachometer&&) = default;
+
+ /**
+ * Gets the tachometer frequency.
+ *
+ * @return Current frequency.
+ */
+ units::hertz_t GetFrequency() const;
+
+ /**
+ * Gets the tachometer period.
+ *
+ * @return Current period.
+ */
+ units::second_t GetPeriod() const;
+
+ /**
+ * Gets the number of edges per revolution.
+ *
+ * @return Edges per revolution.
+ */
+ int GetEdgesPerRevolution() const;
+
+ /**
+ * Sets the number of edges per revolution.
+ *
+ * @param edges Edges per revolution.
+ */
+ void SetEdgesPerRevolution(int edges);
+
+ /**
+ * Gets the current tachometer revolutions per second.
+ *
+ * SetEdgesPerRevolution must be set with a non 0 value for this to work.
+ *
+ * @return Current RPS.
+ */
+ units::turns_per_second_t GetRevolutionsPerSecond() const;
+
+ /**
+ * Gets the current tachometer revolutions per minute.
+ *
+ * SetEdgesPerRevolution must be set with a non 0 value for this to work.
+ *
+ * @return Current RPM.
+ */
+ units::revolutions_per_minute_t GetRevolutionsPerMinute() const;
+
+ /**
+ * Gets if the tachometer is stopped.
+ *
+ * @return True if the tachometer is stopped.
+ */
+ bool GetStopped() const;
+
+ /**
+ * Gets the number of sample to average.
+ *
+ * @return Samples to average.
+ */
+ int GetSamplesToAverage() const;
+
+ /**
+ * Sets the number of samples to average.
+ *
+ * @param samples Samples to average.
+ */
+ void SetSamplesToAverage(int samples);
+
+ /**
+ * Sets the maximum period before the tachometer is considered stopped.
+ *
+ * @param maxPeriod The max period.
+ */
+ void SetMaxPeriod(units::second_t maxPeriod);
+
+ /**
+ * Sets if to update when empty.
+ *
+ * @param updateWhenEmpty True to update when empty.
+ */
+ void SetUpdateWhenEmpty(bool updateWhenEmpty);
+
+ protected:
+ void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+ std::shared_ptr<DigitalSource> m_source;
+ hal::Handle<HAL_CounterHandle> m_handle;
+ int m_edgesPerRevolution;
+ int32_t m_index;
+};
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/counter/UpDownCounter.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/counter/UpDownCounter.h
new file mode 100644
index 0000000..b01ce42
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/counter/UpDownCounter.h
@@ -0,0 +1,90 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <memory>
+
+#include <hal/Types.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
+#include "EdgeConfiguration.h"
+
+namespace frc {
+class DigitalSource;
+
+/** Up Down Counter.
+ *
+ * This class can count edges on a single digital input or count up based on an
+ * edge from one digital input and down on an edge from another digital input.
+ *
+ */
+class UpDownCounter : public wpi::Sendable,
+ public wpi::SendableHelper<UpDownCounter> {
+ public:
+ /**
+ * Constructs a new UpDown Counter.
+ *
+ * @param upSource The up count source (can be null).
+ * @param downSource The down count source (can be null).
+ */
+ UpDownCounter(DigitalSource& upSource, DigitalSource& downSource);
+
+ /**
+ * Constructs a new UpDown Counter.
+ *
+ * @param upSource The up count source (can be null).
+ * @param downSource The down count source (can be null).
+ */
+ UpDownCounter(std::shared_ptr<DigitalSource> upSource,
+ std::shared_ptr<DigitalSource> downSource);
+
+ ~UpDownCounter() override;
+
+ UpDownCounter(UpDownCounter&&) = default;
+ UpDownCounter& operator=(UpDownCounter&&) = default;
+
+ /**
+ * Gets the current count.
+ *
+ * @return The current count.
+ */
+ int GetCount() const;
+
+ /**
+ * Sets to revert the counter direction.
+ *
+ * @param reverseDirection True to reverse counting direction.
+ */
+ void SetReverseDirection(bool reverseDirection);
+
+ /** Resets the current count. */
+ void Reset();
+
+ /**
+ * Sets the configuration for the up source.
+ *
+ * @param configuration The up source configuration.
+ */
+ void SetUpEdgeConfiguration(EdgeConfiguration configuration);
+
+ /**
+ * Sets the configuration for the down source.
+ *
+ * @param configuration The down source configuration.
+ */
+ void SetDownEdgeConfiguration(EdgeConfiguration configuration);
+
+ protected:
+ void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+ void InitUpDownCounter();
+ std::shared_ptr<DigitalSource> m_upSource;
+ std::shared_ptr<DigitalSource> m_downSource;
+ hal::Handle<HAL_CounterHandle> m_handle;
+ int32_t m_index = 0;
+};
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
index 50a7a3f..7009eb9 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
@@ -101,6 +101,11 @@
public wpi::Sendable,
public wpi::SendableHelper<DifferentialDrive> {
public:
+ /**
+ * Wheel speeds for a differential drive.
+ *
+ * Uses normalized voltage [-1.0..1.0].
+ */
struct WheelSpeeds {
double left = 0.0;
double right = 0.0;
@@ -142,10 +147,11 @@
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0].
* Forward is positive.
- * @param zRotation The robot's rotation rate around the Z axis
- * [-1.0..1.0]. Clockwise is positive.
+ * @param zRotation The normalized curvature [-1.0..1.0]. Clockwise is
+ * positive.
* @param allowTurnInPlace If set, overrides constant-curvature turning for
- * turn-in-place maneuvers.
+ * turn-in-place maneuvers. zRotation will control
+ * turning rate instead of curvature.
*/
void CurvatureDrive(double xSpeed, double zRotation, bool allowTurnInPlace);
@@ -171,6 +177,7 @@
* @param zRotation The rotation rate of the robot around the Z axis
* [-1.0..1.0]. Clockwise is positive.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
+ * @return Wheel speeds [-1.0..1.0].
*/
static WheelSpeeds ArcadeDriveIK(double xSpeed, double zRotation,
bool squareInputs = true);
@@ -184,10 +191,12 @@
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0].
* Forward is positive.
- * @param zRotation The robot's rotation rate around the Z axis
- * [-1.0..1.0]. Clockwise is positive.
+ * @param zRotation The normalized curvature [-1.0..1.0]. Clockwise is
+ * positive.
* @param allowTurnInPlace If set, overrides constant-curvature turning for
- * turn-in-place maneuvers.
+ * turn-in-place maneuvers. zRotation will control
+ * turning rate instead of curvature.
+ * @return Wheel speeds [-1.0..1.0].
*/
static WheelSpeeds CurvatureDriveIK(double xSpeed, double zRotation,
bool allowTurnInPlace);
@@ -200,6 +209,7 @@
* @param rightSpeed The robot right side's speed along the X axis
* [-1.0..1.0]. Forward is positive.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
+ * @return Wheel speeds [-1.0..1.0].
*/
static WheelSpeeds TankDriveIK(double leftSpeed, double rightSpeed,
bool squareInputs = true);
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h
index 1acc69f..d4c5c5c 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h
@@ -62,6 +62,11 @@
static constexpr double kDefaultRightMotorAngle = 120.0;
static constexpr double kDefaultBackMotorAngle = 270.0;
+ /**
+ * Wheel speeds for a Killough drive.
+ *
+ * Uses normalized voltage [-1.0..1.0].
+ */
struct WheelSpeeds {
double left = 0.0;
double right = 0.0;
@@ -154,6 +159,7 @@
* Clockwise is positive.
* @param gyroAngle The current angle reading from the gyro in degrees around
* the Z axis. Use this to implement field-oriented controls.
+ * @return Wheel speeds [-1.0..1.0].
*/
WheelSpeeds DriveCartesianIK(double ySpeed, double xSpeed, double zRotation,
double gyroAngle = 0.0);
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
index 809e7ea..757ae67 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
@@ -44,25 +44,20 @@
* </pre>
*
* Each Drive() function provides different inverse kinematic relations for a
- * Mecanum drive robot. Motor outputs for the right side are negated, so motor
- * direction inversion by the user is usually unnecessary.
+ * Mecanum drive robot.
*
- * This library uses the NED axes convention (North-East-Down as external
- * reference in the world frame):
- * http://www.nuclearprojects.com/ins/images/axis_big.png.
- *
- * The positive X axis points ahead, the positive Y axis points to the right,
+ * The positive Y axis points ahead, the positive X axis points to the right,
* and the positive Z axis points down. Rotations follow the right-hand rule, so
* clockwise rotation around the Z axis is positive.
*
+ * Note: the axis conventions used in this class differ from DifferentialDrive.
+ * This may change in a future year's WPILib release.
+ *
* Inputs smaller then 0.02 will be set to 0, and larger values will be scaled
* so that the full range is still used. This deadband value can be changed
* with SetDeadband().
*
* RobotDrive porting guide:
- * <br>In MecanumDrive, the right side motor controllers are automatically
- * inverted, while in RobotDrive, no motor controllers are automatically
- * inverted.
* <br>DriveCartesian(double, double, double, double) is equivalent to
* RobotDrive's MecanumDrive_Cartesian(double, double, double, double)
* if a deadband of 0 is used, and the ySpeed and gyroAngle values are inverted
@@ -76,6 +71,11 @@
public wpi::Sendable,
public wpi::SendableHelper<MecanumDrive> {
public:
+ /**
+ * Wheel speeds for a mecanum drive.
+ *
+ * Uses normalized voltage [-1.0..1.0].
+ */
struct WheelSpeeds {
double frontLeft = 0.0;
double frontRight = 0.0;
@@ -103,9 +103,9 @@
* Angles are measured clockwise from the positive X axis. The robot's speed
* is independent from its angle or rotation rate.
*
- * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is
+ * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Forward is
* positive.
- * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is
+ * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Right is
* positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Clockwise is positive.
@@ -136,14 +136,15 @@
* Angles are measured clockwise from the positive X axis. The robot's speed
* is independent from its angle or rotation rate.
*
- * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is
+ * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Forward is
* positive.
- * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is
+ * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Right is
* positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Clockwise is positive.
* @param gyroAngle The current angle reading from the gyro in degrees around
* the Z axis. Use this to implement field-oriented controls.
+ * @return Wheel speeds [-1.0..1.0].
*/
static WheelSpeeds DriveCartesianIK(double ySpeed, double xSpeed,
double zRotation, double gyroAngle = 0.0);
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
index 389d67b..8ce5636 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
@@ -82,10 +82,10 @@
static double ApplyDeadband(double value, double deadband);
/**
- * Normalize all wheel speeds if the magnitude of any wheel is greater than
+ * Renormalize all wheel speeds if the magnitude of any wheel is greater than
* 1.0.
*/
- static void Normalize(wpi::span<double> wheelSpeeds);
+ static void Desaturate(wpi::span<double> wheelSpeeds);
double m_deadband = 0.02;
double m_maxOutput = 1.0;
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h
index ac6ba4b..7bb63fb 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h
@@ -61,6 +61,16 @@
int GetChannel() const;
+ /**
+ * Optionally eliminate the deadband from a motor controller.
+ *
+ * @param eliminateDeadband If true, set the motor curve on the speed
+ * controller to eliminate the deadband in the middle
+ * of the range. Otherwise, keep the full range
+ * without modifying any values.
+ */
+ void EnableDeadbandElimination(bool eliminateDeadband);
+
protected:
/**
* Constructor for a PWM Motor %Controller connected via PWM.
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h
index 9ac315f..d7ed1d5 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h
@@ -370,7 +370,16 @@
* </td></tr>
* </table>
*/
- kCameraStream
+ kCameraStream,
+ /**
+ * Displays a field2d object.<br>
+ * Supported types:
+ *
+ * <ul>
+ * <li>Field2d
+ * </ul>
+ */
+ kField,
};
} // namespace frc
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/shuffleboard/SendableCameraWrapper.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/shuffleboard/SendableCameraWrapper.h
index e7c9a81..4792ce3 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/shuffleboard/SendableCameraWrapper.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/shuffleboard/SendableCameraWrapper.h
@@ -7,9 +7,13 @@
#include <functional>
#include <memory>
#include <string>
+#include <string_view>
#ifndef DYNAMIC_CAMERA_SERVER
#include <cscore_oo.h>
+#include <fmt/format.h>
+#include <networktables/NetworkTable.h>
+#include <networktables/NetworkTableInstance.h>
#else
namespace cs {
class VideoSource;
@@ -20,6 +24,7 @@
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
+#include <wpi/span.h>
namespace frc {
@@ -28,8 +33,8 @@
namespace detail {
constexpr const char* kProtocol = "camera_server://";
std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
- CS_Source source);
-void AddToSendableRegistry(wpi::Sendable* sendable, std::string name);
+ std::string_view cameraName);
+void AddToSendableRegistry(wpi::Sendable* sendable, std::string_view name);
} // namespace detail
/**
@@ -46,9 +51,9 @@
* Creates a new sendable wrapper. Private constructor to avoid direct
* instantiation with multiple wrappers floating around for the same camera.
*
- * @param source the source to wrap
+ * @param cameraName the name of the camera to wrap
*/
- SendableCameraWrapper(CS_Source source, const private_init&);
+ SendableCameraWrapper(std::string_view cameraName, const private_init&);
/**
* Gets a sendable wrapper object for the given video source, creating the
@@ -61,6 +66,9 @@
static SendableCameraWrapper& Wrap(const cs::VideoSource& source);
static SendableCameraWrapper& Wrap(CS_Source source);
+ static SendableCameraWrapper& Wrap(std::string_view cameraName,
+ wpi::span<const std::string> cameraUrls);
+
void InitSendable(wpi::SendableBuilder& builder) override;
private:
@@ -68,11 +76,9 @@
};
#ifndef DYNAMIC_CAMERA_SERVER
-inline SendableCameraWrapper::SendableCameraWrapper(CS_Source source,
+inline SendableCameraWrapper::SendableCameraWrapper(std::string_view name,
const private_init&)
: m_uri(detail::kProtocol) {
- CS_Status status = 0;
- auto name = cs::GetSourceName(source, &status);
detail::AddToSendableRegistry(this, name);
m_uri += name;
}
@@ -83,12 +89,27 @@
}
inline SendableCameraWrapper& SendableCameraWrapper::Wrap(CS_Source source) {
- auto& wrapper = detail::GetSendableCameraWrapper(source);
+ CS_Status status = 0;
+ auto name = cs::GetSourceName(source, &status);
+ auto& wrapper = detail::GetSendableCameraWrapper(name);
if (!wrapper) {
- wrapper = std::make_shared<SendableCameraWrapper>(source, private_init{});
+ wrapper = std::make_shared<SendableCameraWrapper>(name, private_init{});
}
return *wrapper;
}
+
+inline SendableCameraWrapper& SendableCameraWrapper::Wrap(
+ std::string_view cameraName, wpi::span<const std::string> cameraUrls) {
+ auto& wrapper = detail::GetSendableCameraWrapper(cameraName);
+ if (!wrapper) {
+ wrapper =
+ std::make_shared<SendableCameraWrapper>(cameraName, private_init{});
+ }
+ auto streams = fmt::format("/CameraPublisher/{}/streams", cameraName);
+ nt::NetworkTableInstance::GetDefault().GetEntry(streams).SetStringArray(
+ cameraUrls);
+ return *wrapper;
+}
#endif
} // namespace frc
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h
index db58a21..13a5cee 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h
@@ -128,6 +128,18 @@
ComplexWidget& Add(std::string_view title, const cs::VideoSource& video);
/**
+ * Adds a widget to this container to display a video stream.
+ *
+ * @param title the title of the widget
+ * @param cameraName the name of the streamed camera
+ * @param cameraUrls the URLs with which the dashboard can access the camera
+ * stream
+ * @return a widget to display the camera stream
+ */
+ ComplexWidget& AddCamera(std::string_view title, std::string_view cameraName,
+ wpi::span<const std::string> cameraUrls);
+
+ /**
* Adds a widget to this container to display the given sendable.
*
* @param sendable the sendable to display
@@ -526,4 +538,10 @@
std::string_view title, const cs::VideoSource& video) {
return Add(title, frc::SendableCameraWrapper::Wrap(video));
}
+
+inline frc::ComplexWidget& frc::ShuffleboardContainer::AddCamera(
+ std::string_view title, std::string_view cameraName,
+ wpi::span<const std::string> cameraUrls) {
+ return Add(title, frc::SendableCameraWrapper::Wrap(cameraName, cameraUrls));
+}
#endif
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/ADIS16448_IMUSim.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/ADIS16448_IMUSim.h
new file mode 100644
index 0000000..9618695
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/ADIS16448_IMUSim.h
@@ -0,0 +1,106 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <hal/SimDevice.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+
+namespace frc {
+
+class ADIS16448_IMU;
+
+namespace sim {
+
+/**
+ * Class to control a simulated ADIS16448 IMU.
+ */
+class ADIS16448_IMUSim {
+ public:
+ /**
+ * Constructs from a ADIS16448_IMU object.
+ *
+ * @param imu ADIS16448_IMU to simulate
+ */
+ explicit ADIS16448_IMUSim(const ADIS16448_IMU& imu);
+
+ /**
+ * Sets the X axis angle (CCW positive).
+ *
+ * @param angle The angle.
+ */
+ void SetGyroAngleX(units::degree_t angle);
+
+ /**
+ * Sets the Y axis angle (CCW positive).
+ *
+ * @param angle The angle.
+ */
+ void SetGyroAngleY(units::degree_t angle);
+
+ /**
+ * Sets the Z axis angle (CCW positive).
+ *
+ * @param angle The angle.
+ */
+ void SetGyroAngleZ(units::degree_t angle);
+
+ /**
+ * Sets the X axis angular rate (CCW positive).
+ *
+ * @param angularRate The angular rate.
+ */
+ void SetGyroRateX(units::degrees_per_second_t angularRate);
+
+ /**
+ * Sets the Y axis angular rate (CCW positive).
+ *
+ * @param angularRate The angular rate.
+ */
+ void SetGyroRateY(units::degrees_per_second_t angularRate);
+
+ /**
+ * Sets the Z axis angular rate (CCW positive).
+ *
+ * @param angularRate The angular rate.
+ */
+ void SetGyroRateZ(units::degrees_per_second_t angularRate);
+
+ /**
+ * Sets the X axis acceleration.
+ *
+ * @param accel The acceleration.
+ */
+ void SetAccelX(units::meters_per_second_squared_t accel);
+
+ /**
+ * Sets the Y axis acceleration.
+ *
+ * @param accel The acceleration.
+ */
+ void SetAccelY(units::meters_per_second_squared_t accel);
+
+ /**
+ * Sets the Z axis acceleration.
+ *
+ * @param accel The acceleration.
+ */
+ void SetAccelZ(units::meters_per_second_squared_t accel);
+
+ private:
+ hal::SimDouble m_simGyroAngleX;
+ hal::SimDouble m_simGyroAngleY;
+ hal::SimDouble m_simGyroAngleZ;
+ hal::SimDouble m_simGyroRateX;
+ hal::SimDouble m_simGyroRateY;
+ hal::SimDouble m_simGyroRateZ;
+ hal::SimDouble m_simAccelX;
+ hal::SimDouble m_simAccelY;
+ hal::SimDouble m_simAccelZ;
+};
+
+} // namespace sim
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/ADIS16470_IMUSim.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/ADIS16470_IMUSim.h
new file mode 100644
index 0000000..7b43762
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/ADIS16470_IMUSim.h
@@ -0,0 +1,106 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <hal/SimDevice.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+
+namespace frc {
+
+class ADIS16470_IMU;
+
+namespace sim {
+
+/**
+ * Class to control a simulated ADIS16470 IMU.
+ */
+class ADIS16470_IMUSim {
+ public:
+ /**
+ * Constructs from a ADIS16470_IMU object.
+ *
+ * @param imu ADIS16470_IMU to simulate
+ */
+ explicit ADIS16470_IMUSim(const ADIS16470_IMU& imu);
+
+ /**
+ * Sets the X axis angle (CCW positive).
+ *
+ * @param angle The angle.
+ */
+ void SetGyroAngleX(units::degree_t angle);
+
+ /**
+ * Sets the Y axis angle (CCW positive).
+ *
+ * @param angle The angle.
+ */
+ void SetGyroAngleY(units::degree_t angle);
+
+ /**
+ * Sets the Z axis angle (CCW positive).
+ *
+ * @param angle The angle.
+ */
+ void SetGyroAngleZ(units::degree_t angle);
+
+ /**
+ * Sets the X axis angular rate (CCW positive).
+ *
+ * @param angularRate The angular rate.
+ */
+ void SetGyroRateX(units::degrees_per_second_t angularRate);
+
+ /**
+ * Sets the Y axis angular rate (CCW positive).
+ *
+ * @param angularRate The angular rate.
+ */
+ void SetGyroRateY(units::degrees_per_second_t angularRate);
+
+ /**
+ * Sets the Z axis angular rate (CCW positive).
+ *
+ * @param angularRate The angular rate.
+ */
+ void SetGyroRateZ(units::degrees_per_second_t angularRate);
+
+ /**
+ * Sets the X axis acceleration.
+ *
+ * @param accel The acceleration.
+ */
+ void SetAccelX(units::meters_per_second_squared_t accel);
+
+ /**
+ * Sets the Y axis acceleration.
+ *
+ * @param accel The acceleration.
+ */
+ void SetAccelY(units::meters_per_second_squared_t accel);
+
+ /**
+ * Sets the Z axis acceleration.
+ *
+ * @param accel The acceleration.
+ */
+ void SetAccelZ(units::meters_per_second_squared_t accel);
+
+ private:
+ hal::SimDouble m_simGyroAngleX;
+ hal::SimDouble m_simGyroAngleY;
+ hal::SimDouble m_simGyroAngleZ;
+ hal::SimDouble m_simGyroRateX;
+ hal::SimDouble m_simGyroRateY;
+ hal::SimDouble m_simGyroRateZ;
+ hal::SimDouble m_simAccelX;
+ hal::SimDouble m_simAccelY;
+ hal::SimDouble m_simAccelZ;
+};
+
+} // namespace sim
+} // namespace frc
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h
new file mode 100644
index 0000000..b1388bd
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h
@@ -0,0 +1,81 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+#include <units/moment_of_inertia.h>
+
+#include "frc/simulation/LinearSystemSim.h"
+#include "frc/system/LinearSystem.h"
+#include "frc/system/plant/DCMotor.h"
+
+namespace frc::sim {
+/**
+ * Represents a simulated DC motor mechanism.
+ */
+class DCMotorSim : public LinearSystemSim<2, 1, 2> {
+ public:
+ /**
+ * Creates a simulated DC motor mechanism.
+ *
+ * @param plant The linear system representing the DC motor.
+ * @param gearbox The type of and number of motors in the DC motor
+ * gearbox.
+ * @param gearing The gearing of the DC motor (numbers greater than
+ * 1 represent reductions).
+ * @param measurementStdDevs The standard deviation of the measurement noise.
+ */
+ DCMotorSim(const LinearSystem<2, 1, 2>& plant, const DCMotor& gearbox,
+ double gearing,
+ const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
+
+ /**
+ * Creates a simulated DC motor mechanism.
+ *
+ * @param gearbox The type of and number of motors in the DC motor
+ * gearbox.
+ * @param gearing The gearing of the DC motor (numbers greater than
+ * 1 represent reductions).
+ * @param moi The moment of inertia of the DC motor.
+ * @param measurementStdDevs The standard deviation of the measurement noise.
+ */
+ DCMotorSim(const DCMotor& gearbox, double gearing,
+ units::kilogram_square_meter_t moi,
+ const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
+
+ /**
+ * Returns the DC motor position.
+ *
+ * @return The DC motor position.
+ */
+ units::radian_t GetAngularPosition() const;
+
+ /**
+ * Returns the DC motor velocity.
+ *
+ * @return The DC motor velocity.
+ */
+ units::radians_per_second_t GetAngularVelocity() const;
+
+ /**
+ * Returns the DC motor current draw.
+ *
+ * @return The DC motor current draw.
+ */
+ units::ampere_t GetCurrentDraw() const override;
+
+ /**
+ * Sets the input voltage for the DC motor.
+ *
+ * @param voltage The input voltage.
+ */
+ void SetInputVoltage(units::volt_t voltage);
+
+ private:
+ DCMotor m_gearbox;
+ double m_gearing;
+};
+} // namespace frc::sim
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
index e64a652..7c53eb7 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
@@ -225,6 +225,12 @@
static constexpr frc::DCMotor SingleMiniCIMPerSide =
frc::DCMotor::MiniCIM(1);
static constexpr frc::DCMotor DualMiniCIMPerSide = frc::DCMotor::MiniCIM(2);
+ static constexpr frc::DCMotor SingleFalcon500PerSide =
+ frc::DCMotor::Falcon500(1);
+ static constexpr frc::DCMotor DualFalcon500PerSide =
+ frc::DCMotor::Falcon500(2);
+ static constexpr frc::DCMotor SingleNEOPerSide = frc::DCMotor::NEO(1);
+ static constexpr frc::DCMotor DualNEOPerSide = frc::DCMotor::NEO(2);
};
class KitbotWheelSize {
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
index 61cbd46..731fad3 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
@@ -45,6 +45,8 @@
m_u = Eigen::Vector<double, Inputs>::Zero();
}
+ virtual ~LinearSystemSim() = default;
+
/**
* Updates the simulation.
*
@@ -136,7 +138,7 @@
* @return The normalized input.
*/
Eigen::Vector<double, Inputs> ClampInput(Eigen::Vector<double, Inputs> u) {
- return frc::NormalizeInputVector<Inputs>(
+ return frc::DesaturateInputVector<Inputs>(
u, frc::RobotController::GetInputVoltage());
}
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/REVPHSim.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/REVPHSim.h
index 97e31bf..e5f4efe 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/REVPHSim.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/simulation/REVPHSim.h
@@ -119,22 +119,22 @@
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]] std::unique_ptr<CallbackStore>
- RegisterClosedLoopEnabledCallback(NotifyCallback callback,
- bool initialNotify);
+ RegisterCompressorConfigTypeCallback(NotifyCallback callback,
+ bool initialNotify);
/**
* Check whether the closed loop compressor control is active.
*
- * @return true if active
+ * @return compressor config type
*/
- bool GetClosedLoopEnabled() const;
+ int GetCompressorConfigType() const;
/**
* Turn on/off the closed loop control of the compressor.
*
- * @param closedLoopEnabled whether the control loop is active
+ * @param compressorConfigType compressor config type
*/
- void SetClosedLoopEnabled(bool closedLoopEnabled);
+ void SetCompressorConfigType(int compressorConfigType);
/**
* Register a callback to be run whenever the pressure switch value changes.
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/smartdashboard/MechanismLigament2d.h b/third_party/allwpilib/wpilibc/src/main/native/include/frc/smartdashboard/MechanismLigament2d.h
index 70abaa6..f1bebb9 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/smartdashboard/MechanismLigament2d.h
+++ b/third_party/allwpilib/wpilibc/src/main/native/include/frc/smartdashboard/MechanismLigament2d.h
@@ -34,7 +34,14 @@
*
* @param color the color of the line
*/
- void SetColor(const frc::Color8Bit& color);
+ void SetColor(const Color8Bit& color);
+
+ /**
+ * Get the ligament color.
+ *
+ * @return the color of the line
+ */
+ Color8Bit GetColor();
/**
* Set the ligament's length.
@@ -71,6 +78,13 @@
*/
void SetLineWeight(double lineWidth);
+ /**
+ * Get the line thickness.
+ *
+ * @return the line thickness
+ */
+ double GetLineWeight();
+
protected:
void UpdateEntries(std::shared_ptr<nt::NetworkTable> table) override;
diff --git a/third_party/allwpilib/wpilibc/src/test/native/cpp/DebouncerTest.cpp b/third_party/allwpilib/wpilibc/src/test/native/cpp/DebouncerTest.cpp
deleted file mode 100644
index 379a6d5..0000000
--- a/third_party/allwpilib/wpilibc/src/test/native/cpp/DebouncerTest.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-// 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/Debouncer.h" // NOLINT(build/include_order)
-
-#include "frc/simulation/SimHooks.h"
-#include "gtest/gtest.h"
-
-using namespace frc;
-
-TEST(DebouncerTest, DebounceRising) {
- Debouncer debouncer{20_ms};
-
- debouncer.Calculate(false);
- EXPECT_FALSE(debouncer.Calculate(true));
-
- frc::sim::StepTiming(100_ms);
-
- EXPECT_TRUE(debouncer.Calculate(true));
-}
-
-TEST(DebouncerTest, DebounceFalling) {
- Debouncer debouncer{20_ms, Debouncer::DebounceType::kFalling};
-
- debouncer.Calculate(true);
- EXPECT_TRUE(debouncer.Calculate(false));
-
- frc::sim::StepTiming(100_ms);
-
- EXPECT_FALSE(debouncer.Calculate(false));
-}
-
-TEST(DebouncerTest, DebounceBoth) {
- Debouncer debouncer{20_ms, Debouncer::DebounceType::kBoth};
-
- debouncer.Calculate(false);
- EXPECT_FALSE(debouncer.Calculate(true));
-
- frc::sim::StepTiming(100_ms);
-
- EXPECT_TRUE(debouncer.Calculate(true));
- EXPECT_TRUE(debouncer.Calculate(false));
-
- frc::sim::StepTiming(100_ms);
-
- EXPECT_FALSE(debouncer.Calculate(false));
-}
diff --git a/third_party/allwpilib/wpilibc/src/test/native/cpp/TestCallbackHelpers.cpp b/third_party/allwpilib/wpilibc/src/test/native/cpp/TestCallbackHelpers.cpp
index d98f539..12ae5d2 100644
--- a/third_party/allwpilib/wpilibc/src/test/native/cpp/TestCallbackHelpers.cpp
+++ b/third_party/allwpilib/wpilibc/src/test/native/cpp/TestCallbackHelpers.cpp
@@ -4,8 +4,6 @@
#include "callback_helpers/TestCallbackHelpers.h"
-#include <iostream>
-
#include <fmt/format.h>
namespace frc::sim {
diff --git a/third_party/allwpilib/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp b/third_party/allwpilib/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
index 1d13a77..b930346 100644
--- a/third_party/allwpilib/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
+++ b/third_party/allwpilib/wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
@@ -6,6 +6,238 @@
#include "frc/drive/DifferentialDrive.h"
#include "gtest/gtest.h"
+TEST(DifferentialDriveTest, ArcadeDriveIK) {
+ // Forward
+ auto speeds = frc::DifferentialDrive::ArcadeDriveIK(1.0, 0.0, false);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+
+ // Forward left turn
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, false);
+ EXPECT_DOUBLE_EQ(0.0, speeds.left);
+ EXPECT_DOUBLE_EQ(0.5, speeds.right);
+
+ // Forward right turn
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, false);
+ EXPECT_DOUBLE_EQ(0.5, speeds.left);
+ EXPECT_DOUBLE_EQ(0.0, speeds.right);
+
+ // Backward
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(-1.0, 0.0, false);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+
+ // Backward left turn
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, false);
+ EXPECT_DOUBLE_EQ(-0.5, speeds.left);
+ EXPECT_DOUBLE_EQ(0.0, speeds.right);
+
+ // Backward right turn
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, false);
+ EXPECT_DOUBLE_EQ(0.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-0.5, speeds.right);
+
+ // Left turn (xSpeed with negative sign)
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+
+ // Left turn (xSpeed with positive sign)
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+
+ // Right turn (xSpeed with negative sign)
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+
+ // Right turn (xSpeed with positive sign)
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+}
+
+TEST(DifferentialDriveTest, ArcadeDriveIKSquared) {
+ // Forward
+ auto speeds = frc::DifferentialDrive::ArcadeDriveIK(1.0, 0.0, true);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+
+ // Forward left turn
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, true);
+ EXPECT_DOUBLE_EQ(0.0, speeds.left);
+ EXPECT_DOUBLE_EQ(0.25, speeds.right);
+
+ // Forward right turn
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, true);
+ EXPECT_DOUBLE_EQ(0.25, speeds.left);
+ EXPECT_DOUBLE_EQ(0.0, speeds.right);
+
+ // Backward
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(-1.0, 0.0, true);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+
+ // Backward left turn
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, true);
+ EXPECT_DOUBLE_EQ(-0.25, speeds.left);
+ EXPECT_DOUBLE_EQ(0.0, speeds.right);
+
+ // Backward right turn
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, true);
+ EXPECT_DOUBLE_EQ(0.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-0.25, speeds.right);
+
+ // Left turn (xSpeed with negative sign)
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+
+ // Left turn (xSpeed with positive sign)
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+
+ // Right turn (xSpeed with negative sign)
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+
+ // Right turn (xSpeed with positive sign)
+ speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+}
+
+TEST(DifferentialDriveTest, CurvatureDriveIK) {
+ // Forward
+ auto speeds = frc::DifferentialDrive::CurvatureDriveIK(1.0, 0.0, false);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+
+ // Forward left turn
+ speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, false);
+ EXPECT_DOUBLE_EQ(0.25, speeds.left);
+ EXPECT_DOUBLE_EQ(0.75, speeds.right);
+
+ // Forward right turn
+ speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, false);
+ EXPECT_DOUBLE_EQ(0.75, speeds.left);
+ EXPECT_DOUBLE_EQ(0.25, speeds.right);
+
+ // Backward
+ speeds = frc::DifferentialDrive::CurvatureDriveIK(-1.0, 0.0, false);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+
+ // Backward left turn
+ speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, false);
+ EXPECT_DOUBLE_EQ(-0.75, speeds.left);
+ EXPECT_DOUBLE_EQ(-0.25, speeds.right);
+
+ // Backward right turn
+ speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, false);
+ EXPECT_DOUBLE_EQ(-0.25, speeds.left);
+ EXPECT_DOUBLE_EQ(-0.75, speeds.right);
+}
+
+TEST(DifferentialDriveTest, CurvatureDriveIKTurnInPlace) {
+ // Forward
+ auto speeds = frc::DifferentialDrive::CurvatureDriveIK(1.0, 0.0, true);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+
+ // Forward left turn
+ speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, true);
+ EXPECT_DOUBLE_EQ(0.0, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+
+ // Forward right turn
+ speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, true);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(0.0, speeds.right);
+
+ // Backward
+ speeds = frc::DifferentialDrive::CurvatureDriveIK(-1.0, 0.0, true);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+
+ // Backward left turn
+ speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, true);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(0.0, speeds.right);
+
+ // Backward right turn
+ speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, true);
+ EXPECT_DOUBLE_EQ(0.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+}
+
+TEST(DifferentialDriveTest, TankDriveIK) {
+ // Forward
+ auto speeds = frc::DifferentialDrive::TankDriveIK(1.0, 1.0, false);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+
+ // Forward left turn
+ speeds = frc::DifferentialDrive::TankDriveIK(0.5, 1.0, false);
+ EXPECT_DOUBLE_EQ(0.5, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+
+ // Forward right turn
+ speeds = frc::DifferentialDrive::TankDriveIK(1.0, 0.5, false);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(0.5, speeds.right);
+
+ // Backward
+ speeds = frc::DifferentialDrive::TankDriveIK(-1.0, -1.0, false);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+
+ // Backward left turn
+ speeds = frc::DifferentialDrive::TankDriveIK(-0.5, -1.0, false);
+ EXPECT_DOUBLE_EQ(-0.5, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+
+ // Backward right turn
+ speeds = frc::DifferentialDrive::TankDriveIK(-0.5, 1.0, false);
+ EXPECT_DOUBLE_EQ(-0.5, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+}
+
+TEST(DifferentialDriveTest, TankDriveIKSquared) {
+ // Forward
+ auto speeds = frc::DifferentialDrive::TankDriveIK(1.0, 1.0, true);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+
+ // Forward left turn
+ speeds = frc::DifferentialDrive::TankDriveIK(0.5, 1.0, true);
+ EXPECT_DOUBLE_EQ(0.25, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+
+ // Forward right turn
+ speeds = frc::DifferentialDrive::TankDriveIK(1.0, 0.5, true);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(0.25, speeds.right);
+
+ // Backward
+ speeds = frc::DifferentialDrive::TankDriveIK(-1.0, -1.0, true);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+
+ // Backward left turn
+ speeds = frc::DifferentialDrive::TankDriveIK(-0.5, -1.0, true);
+ EXPECT_DOUBLE_EQ(-0.25, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+
+ // Backward right turn
+ speeds = frc::DifferentialDrive::TankDriveIK(-1.0, -0.5, true);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-0.25, speeds.right);
+}
+
TEST(DifferentialDriveTest, ArcadeDrive) {
frc::MockMotorController left;
frc::MockMotorController right;
diff --git a/third_party/allwpilib/wpilibc/src/test/native/cpp/drive/KilloughDriveTest.cpp b/third_party/allwpilib/wpilibc/src/test/native/cpp/drive/KilloughDriveTest.cpp
index 510b377..c23c7b0 100644
--- a/third_party/allwpilib/wpilibc/src/test/native/cpp/drive/KilloughDriveTest.cpp
+++ b/third_party/allwpilib/wpilibc/src/test/native/cpp/drive/KilloughDriveTest.cpp
@@ -8,6 +8,80 @@
#include "frc/drive/KilloughDrive.h"
#include "gtest/gtest.h"
+TEST(KilloughDriveTest, CartesianIK) {
+ frc::MockMotorController left;
+ frc::MockMotorController right;
+ frc::MockMotorController back;
+ frc::KilloughDrive drive{left, right, back};
+
+ // Forward
+ auto speeds = drive.DriveCartesianIK(1.0, 0.0, 0.0);
+ EXPECT_DOUBLE_EQ(0.5, speeds.left);
+ EXPECT_DOUBLE_EQ(-0.5, speeds.right);
+ EXPECT_NEAR(0.0, speeds.back, 1e-9);
+
+ // Left
+ speeds = drive.DriveCartesianIK(0.0, -1.0, 0.0);
+ EXPECT_DOUBLE_EQ(-std::sqrt(3) / 2, speeds.left);
+ EXPECT_DOUBLE_EQ(-std::sqrt(3) / 2, speeds.right);
+ EXPECT_DOUBLE_EQ(1.0, speeds.back);
+
+ // Right
+ speeds = drive.DriveCartesianIK(0.0, 1.0, 0.0);
+ EXPECT_DOUBLE_EQ(std::sqrt(3) / 2, speeds.left);
+ EXPECT_DOUBLE_EQ(std::sqrt(3) / 2, speeds.right);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.back);
+
+ // Rotate CCW
+ speeds = drive.DriveCartesianIK(0.0, 0.0, -1.0);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.back);
+
+ // Rotate CW
+ speeds = drive.DriveCartesianIK(0.0, 0.0, 1.0);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+ EXPECT_DOUBLE_EQ(1.0, speeds.back);
+}
+
+TEST(KilloughDriveTest, CartesianIKGyro90CW) {
+ frc::MockMotorController left;
+ frc::MockMotorController right;
+ frc::MockMotorController back;
+ frc::KilloughDrive drive{left, right, back};
+
+ // Forward in global frame; left in robot frame
+ auto speeds = drive.DriveCartesianIK(1.0, 0.0, 0.0, 90.0);
+ EXPECT_DOUBLE_EQ(-std::sqrt(3) / 2, speeds.left);
+ EXPECT_DOUBLE_EQ(-std::sqrt(3) / 2, speeds.right);
+ EXPECT_DOUBLE_EQ(1.0, speeds.back);
+
+ // Left in global frame; backward in robot frame
+ speeds = drive.DriveCartesianIK(0.0, -1.0, 0.0, 90.0);
+ EXPECT_DOUBLE_EQ(-0.5, speeds.left);
+ EXPECT_NEAR(0.5, speeds.right, 1e-9);
+ EXPECT_NEAR(0.0, speeds.back, 1e-9);
+
+ // Right in global frame; forward in robot frame
+ speeds = drive.DriveCartesianIK(0.0, 1.0, 0.0, 90.0);
+ EXPECT_DOUBLE_EQ(0.5, speeds.left);
+ EXPECT_NEAR(-0.5, speeds.right, 1e-9);
+ EXPECT_NEAR(0.0, speeds.back, 1e-9);
+
+ // Rotate CCW
+ speeds = drive.DriveCartesianIK(0.0, 0.0, -1.0, 90.0);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.right);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.back);
+
+ // Rotate CW
+ speeds = drive.DriveCartesianIK(0.0, 0.0, 1.0, 90.0);
+ EXPECT_DOUBLE_EQ(1.0, speeds.left);
+ EXPECT_DOUBLE_EQ(1.0, speeds.right);
+ EXPECT_DOUBLE_EQ(1.0, speeds.back);
+}
+
TEST(KilloughDriveTest, Cartesian) {
frc::MockMotorController left;
frc::MockMotorController right;
diff --git a/third_party/allwpilib/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp b/third_party/allwpilib/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
index fe0a73b..2990848 100644
--- a/third_party/allwpilib/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
+++ b/third_party/allwpilib/wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
@@ -6,12 +6,86 @@
#include "frc/drive/MecanumDrive.h"
#include "gtest/gtest.h"
+TEST(MecanumDriveTest, CartesianIK) {
+ // Forward
+ auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0);
+ EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
+ EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
+ EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
+ EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
+
+ // Left
+ speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
+ EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
+ EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
+
+ // Right
+ speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0);
+ EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
+ EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
+
+ // Rotate CCW
+ speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
+ EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
+ EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
+
+ // Rotate CW
+ speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0);
+ EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
+ EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
+}
+
+TEST(MecanumDriveTest, CartesianIKGyro90CW) {
+ // Forward in global frame; left in robot frame
+ auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0, 90.0);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
+ EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
+ EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
+
+ // Left in global frame; backward in robot frame
+ speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0, 90.0);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
+
+ // Right in global frame; forward in robot frame
+ speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0, 90.0);
+ EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
+ EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
+ EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
+ EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
+
+ // Rotate CCW
+ speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0, 90.0);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
+ EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
+ EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
+
+ // Rotate CW
+ speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0, 90.0);
+ EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
+ EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
+ EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
+}
+
TEST(MecanumDriveTest, Cartesian) {
frc::MockMotorController fl;
- frc::MockMotorController fr;
frc::MockMotorController rl;
+ frc::MockMotorController fr;
frc::MockMotorController rr;
- frc::MecanumDrive drive{fl, fr, rl, rr};
+ frc::MecanumDrive drive{fl, rl, fr, rr};
drive.SetDeadband(0.0);
// Forward
@@ -38,15 +112,15 @@
// Rotate CCW
drive.DriveCartesian(0.0, 0.0, -1.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
- EXPECT_DOUBLE_EQ(-1.0, fr.Get());
- EXPECT_DOUBLE_EQ(1.0, rl.Get());
+ EXPECT_DOUBLE_EQ(1.0, fr.Get());
+ EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CW
drive.DriveCartesian(0.0, 0.0, 1.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
- EXPECT_DOUBLE_EQ(1.0, fr.Get());
- EXPECT_DOUBLE_EQ(-1.0, rl.Get());
+ EXPECT_DOUBLE_EQ(-1.0, fr.Get());
+ EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
}
@@ -55,7 +129,7 @@
frc::MockMotorController fr;
frc::MockMotorController rl;
frc::MockMotorController rr;
- frc::MecanumDrive drive{fl, fr, rl, rr};
+ frc::MecanumDrive drive{fl, rl, fr, rr};
drive.SetDeadband(0.0);
// Forward in global frame; left in robot frame
@@ -82,15 +156,15 @@
// Rotate CCW
drive.DriveCartesian(0.0, 0.0, -1.0, 90.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
- EXPECT_DOUBLE_EQ(-1.0, fr.Get());
- EXPECT_DOUBLE_EQ(1.0, rl.Get());
+ EXPECT_DOUBLE_EQ(1.0, fr.Get());
+ EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CW
drive.DriveCartesian(0.0, 0.0, 1.0, 90.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
- EXPECT_DOUBLE_EQ(1.0, fr.Get());
- EXPECT_DOUBLE_EQ(-1.0, rl.Get());
+ EXPECT_DOUBLE_EQ(-1.0, fr.Get());
+ EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
}
@@ -99,7 +173,7 @@
frc::MockMotorController fr;
frc::MockMotorController rl;
frc::MockMotorController rr;
- frc::MecanumDrive drive{fl, fr, rl, rr};
+ frc::MecanumDrive drive{fl, rl, fr, rr};
drive.SetDeadband(0.0);
// Forward
@@ -126,14 +200,14 @@
// Rotate CCW
drive.DrivePolar(0.0, 0.0, -1.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
- EXPECT_DOUBLE_EQ(-1.0, fr.Get());
- EXPECT_DOUBLE_EQ(1.0, rl.Get());
+ EXPECT_DOUBLE_EQ(1.0, fr.Get());
+ EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CW
drive.DrivePolar(0.0, 0.0, 1.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
- EXPECT_DOUBLE_EQ(1.0, fr.Get());
- EXPECT_DOUBLE_EQ(-1.0, rl.Get());
+ EXPECT_DOUBLE_EQ(-1.0, fr.Get());
+ EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
}
diff --git a/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp b/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp
index a8f95da..8082ed5 100644
--- a/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp
+++ b/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp
@@ -96,7 +96,7 @@
EXPECT_TRUE(callback.GetLastValue());
}
-TEST(CTREPCMSimTest, SetClosedLoopEnabled) {
+TEST(CTREPCMSimTest, SetEnableDigital) {
PneumaticsControlModule pcm;
CTREPCMSim sim(pcm);
sim.ResetData();
@@ -105,12 +105,12 @@
auto cb =
sim.RegisterClosedLoopEnabledCallback(callback.GetCallback(), false);
- pcm.SetClosedLoopControl(false);
- EXPECT_FALSE(pcm.GetClosedLoopControl());
+ pcm.DisableCompressor();
+ EXPECT_EQ(pcm.GetCompressorConfigType(), CompressorConfigType::Disabled);
- pcm.SetClosedLoopControl(true);
+ pcm.EnableCompressorDigital();
EXPECT_TRUE(sim.GetClosedLoopEnabled());
- EXPECT_TRUE(pcm.GetClosedLoopControl());
+ EXPECT_EQ(pcm.GetCompressorConfigType(), CompressorConfigType::Digital);
EXPECT_TRUE(callback.WasTriggered());
EXPECT_TRUE(callback.GetLastValue());
}
@@ -143,7 +143,7 @@
sim.SetCompressorCurrent(35.04);
EXPECT_EQ(35.04, sim.GetCompressorCurrent());
- EXPECT_EQ(35.04, pcm.GetCompressorCurrent());
+ EXPECT_EQ(35.04_A, pcm.GetCompressorCurrent());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(35.04, callback.GetLastValue());
}
diff --git a/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp b/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
new file mode 100644
index 0000000..efed939
--- /dev/null
+++ b/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp
@@ -0,0 +1,90 @@
+// 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/Encoder.h"
+#include "frc/RobotController.h"
+#include "frc/controller/PIDController.h"
+#include "frc/motorcontrol/PWMVictorSPX.h"
+#include "frc/simulation/BatterySim.h"
+#include "frc/simulation/DCMotorSim.h"
+#include "frc/simulation/EncoderSim.h"
+#include "frc/simulation/RoboRioSim.h"
+#include "gtest/gtest.h"
+
+TEST(DCMotorSimTest, VoltageSteadyState) {
+ frc::DCMotor gearbox = frc::DCMotor::NEO(1);
+ frc::sim::DCMotorSim sim{gearbox, 1.0,
+ units::kilogram_square_meter_t{0.0005}};
+
+ frc::Encoder encoder{0, 1};
+ frc::sim::EncoderSim encoderSim{encoder};
+ frc::PWMVictorSPX motor{0};
+
+ frc::sim::RoboRioSim::ResetData();
+ encoderSim.ResetData();
+
+ // Spin-up
+ for (int i = 0; i < 100; i++) {
+ // RobotPeriodic runs first
+ motor.SetVoltage(12_V);
+
+ // Then, SimulationPeriodic runs
+ frc::sim::RoboRioSim::SetVInVoltage(
+ frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
+ sim.SetInputVoltage(motor.Get() *
+ frc::RobotController::GetBatteryVoltage());
+ sim.Update(20_ms);
+ encoderSim.SetRate(sim.GetAngularVelocity().value());
+ }
+
+ EXPECT_NEAR((gearbox.Kv * 12_V).value(), encoder.GetRate(), 0.1);
+
+ // Decay
+ for (int i = 0; i < 100; i++) {
+ // RobotPeriodic runs first
+ motor.SetVoltage(0_V);
+
+ // Then, SimulationPeriodic runs
+ frc::sim::RoboRioSim::SetVInVoltage(
+ frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
+ sim.SetInputVoltage(motor.Get() *
+ frc::RobotController::GetBatteryVoltage());
+ sim.Update(20_ms);
+ encoderSim.SetRate(sim.GetAngularVelocity().value());
+ }
+
+ EXPECT_NEAR(0, encoder.GetRate(), 0.1);
+}
+
+TEST(DCMotorSimTest, PositionFeedbackControl) {
+ frc::DCMotor gearbox = frc::DCMotor::NEO(1);
+ frc::sim::DCMotorSim sim{gearbox, 1.0,
+ units::kilogram_square_meter_t{0.0005}};
+
+ frc2::PIDController controller{0.04, 0.0, 0.001};
+
+ frc::Encoder encoder{0, 1};
+ frc::sim::EncoderSim encoderSim{encoder};
+ frc::PWMVictorSPX motor{0};
+
+ frc::sim::RoboRioSim::ResetData();
+ encoderSim.ResetData();
+
+ for (int i = 0; i < 140; i++) {
+ // RobotPeriodic runs first
+ motor.Set(controller.Calculate(encoder.GetDistance(), 750));
+
+ // Then, SimulationPeriodic runs
+ frc::sim::RoboRioSim::SetVInVoltage(
+ frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
+ sim.SetInputVoltage(motor.Get() *
+ frc::RobotController::GetBatteryVoltage());
+ sim.Update(20_ms);
+ encoderSim.SetDistance(sim.GetAngularPosition().value());
+ encoderSim.SetRate(sim.GetAngularVelocity().value());
+ }
+
+ EXPECT_NEAR(encoder.GetDistance(), 750, 1.0);
+ EXPECT_NEAR(encoder.GetRate(), 0, 0.1);
+}
diff --git a/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp b/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp
similarity index 93%
rename from third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
rename to third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp
index eabbecb..8ccfcd6 100644
--- a/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
+++ b/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/DifferentialDrivetrainSimTest.cpp
@@ -17,7 +17,7 @@
#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
#include "gtest/gtest.h"
-TEST(DifferentialDriveSimTest, Convergence) {
+TEST(DifferentialDrivetrainSimTest, Convergence) {
auto motor = frc::DCMotor::NEO(2);
auto plant = frc::LinearSystemId::DrivetrainVelocitySystem(
motor, 50_kg, 2_in, 12_in, 0.5_kg_sq_m, 1.0);
@@ -42,9 +42,8 @@
auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
frc::Pose2d(), {}, frc::Pose2d(2_m, 2_m, 0_rad), config);
- // NOLINTNEXTLINE
- for (double t = 0; t < trajectory.TotalTime().value(); t += 0.02) {
- auto state = trajectory.Sample(20_ms);
+ for (auto t = 0_s; t < trajectory.TotalTime(); t += 20_ms) {
+ auto state = trajectory.Sample(t);
auto ramseteOut = ramsete.Calculate(sim.GetPose(), state);
auto [l, r] = kinematics.ToWheelSpeeds(ramseteOut);
@@ -70,7 +69,7 @@
EXPECT_NEAR(groundTruthX(2, 0), sim.GetHeading().Radians().value(), 0.01);
}
-TEST(DifferentialDriveSimTest, Current) {
+TEST(DifferentialDrivetrainSimTest, Current) {
auto motor = frc::DCMotor::NEO(2);
auto plant = frc::LinearSystemId::DrivetrainVelocitySystem(
motor, 50_kg, 2_in, 12_in, 0.5_kg_sq_m, 1.0);
@@ -97,7 +96,7 @@
EXPECT_TRUE(sim.GetCurrentDraw() > 0_A);
}
-TEST(DifferentialDriveSimTest, ModelStability) {
+TEST(DifferentialDrivetrainSimTest, ModelStability) {
auto motor = frc::DCMotor::NEO(2);
auto plant = frc::LinearSystemId::DrivetrainVelocitySystem(
motor, 50_kg, 2_in, 12_in, 2_kg_sq_m, 5.0);
diff --git a/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp b/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
index bfc50e1..03022ab 100644
--- a/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
+++ b/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
@@ -2,8 +2,6 @@
// 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 <iostream>
-
#include <units/time.h>
#include "frc/Encoder.h"
diff --git a/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp b/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
index 7786b29..688f37e 100644
--- a/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
+++ b/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
@@ -96,23 +96,67 @@
EXPECT_TRUE(callback.GetLastValue());
}
-TEST(REVPHSimTest, SetClosedLoopEnabled) {
+TEST(REVPHSimTest, SetEnableDigital) {
PneumaticHub ph;
REVPHSim sim(ph);
sim.ResetData();
- BooleanCallback callback;
+ EnumCallback callback;
auto cb =
- sim.RegisterClosedLoopEnabledCallback(callback.GetCallback(), false);
+ sim.RegisterCompressorConfigTypeCallback(callback.GetCallback(), false);
- ph.SetClosedLoopControl(false);
- EXPECT_FALSE(ph.GetClosedLoopControl());
+ ph.DisableCompressor();
+ EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Disabled);
- ph.SetClosedLoopControl(true);
- EXPECT_TRUE(sim.GetClosedLoopEnabled());
- EXPECT_TRUE(ph.GetClosedLoopControl());
+ ph.EnableCompressorDigital();
+ EXPECT_EQ(sim.GetCompressorConfigType(),
+ static_cast<int>(CompressorConfigType::Digital));
+ EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Digital);
EXPECT_TRUE(callback.WasTriggered());
- EXPECT_TRUE(callback.GetLastValue());
+ EXPECT_EQ(callback.GetLastValue(),
+ static_cast<int>(CompressorConfigType::Digital));
+}
+
+TEST(REVPHSimTest, SetEnableAnalog) {
+ PneumaticHub ph;
+ REVPHSim sim(ph);
+ sim.ResetData();
+
+ EnumCallback callback;
+ auto cb =
+ sim.RegisterCompressorConfigTypeCallback(callback.GetCallback(), false);
+
+ ph.DisableCompressor();
+ EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Disabled);
+
+ ph.EnableCompressorAnalog(1_psi, 2_psi);
+ EXPECT_EQ(sim.GetCompressorConfigType(),
+ static_cast<int>(CompressorConfigType::Analog));
+ EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Analog);
+ EXPECT_TRUE(callback.WasTriggered());
+ EXPECT_EQ(callback.GetLastValue(),
+ static_cast<int>(CompressorConfigType::Analog));
+}
+
+TEST(REVPHSimTest, SetEnableHybrid) {
+ PneumaticHub ph;
+ REVPHSim sim(ph);
+ sim.ResetData();
+
+ EnumCallback callback;
+ auto cb =
+ sim.RegisterCompressorConfigTypeCallback(callback.GetCallback(), false);
+
+ ph.DisableCompressor();
+ EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Disabled);
+
+ ph.EnableCompressorHybrid(1_psi, 2_psi);
+ EXPECT_EQ(sim.GetCompressorConfigType(),
+ static_cast<int>(CompressorConfigType::Hybrid));
+ EXPECT_EQ(ph.GetCompressorConfigType(), CompressorConfigType::Hybrid);
+ EXPECT_TRUE(callback.WasTriggered());
+ EXPECT_EQ(callback.GetLastValue(),
+ static_cast<int>(CompressorConfigType::Hybrid));
}
TEST(REVPHSimTest, SetPressureSwitchEnabled) {
@@ -143,7 +187,7 @@
sim.SetCompressorCurrent(35.04);
EXPECT_EQ(35.04, sim.GetCompressorCurrent());
- EXPECT_EQ(35.04, ph.GetCompressorCurrent());
+ EXPECT_EQ(35.04_A, ph.GetCompressorCurrent());
EXPECT_TRUE(callback.WasTriggered());
EXPECT_EQ(35.04, callback.GetLastValue());
}
diff --git a/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp b/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
index e7e0405..23af83d 100644
--- a/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
+++ b/third_party/allwpilib/wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
@@ -2,8 +2,6 @@
// 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 <iostream>
-
#include <units/angular_acceleration.h>
#include <units/angular_velocity.h>
diff --git a/third_party/allwpilib/wpilibcExamples/build.gradle b/third_party/allwpilib/wpilibcExamples/build.gradle
index 975e90a..7561ed5 100644
--- a/third_party/allwpilib/wpilibcExamples/build.gradle
+++ b/third_party/allwpilib/wpilibcExamples/build.gradle
@@ -39,6 +39,12 @@
cppCompiler.args.add('-Werror=deprecated-declarations')
}
+nativeUtils.platformConfigs.named(nativeUtils.wpi.platforms.windowsx64).configure {
+ linker.args.remove('/DEBUG:FULL')
+ cppCompiler.debugArgs.remove('/Zi')
+ cCompiler.debugArgs.remove('/Zi')
+}
+
ext {
sharedCvConfigs = examplesMap + templatesMap + [commands: []]
staticCvConfigs = [:]
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
index abe79f4..e346e41 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
@@ -18,9 +18,16 @@
frc::Joystick m_stick{0};
public:
+ void RobotInit() override {
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_rightMotor.SetInverted(true);
+ }
+
void TeleopPeriodic() override {
// Drive with arcade style
- m_robotDrive.ArcadeDrive(m_stick.GetY(), m_stick.GetX());
+ m_robotDrive.ArcadeDrive(-m_stick.GetY(), m_stick.GetX());
}
};
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
index 644e35f..7f497b3 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
@@ -18,11 +18,18 @@
frc::XboxController m_driverController{0};
public:
+ void RobotInit() override {
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_rightMotor.SetInverted(true);
+ }
+
void TeleopPeriodic() override {
// Drive with split arcade style
// That means that the Y axis of the left stick moves forward
// and backward, and the X of the right stick turns left and right.
- m_robotDrive.ArcadeDrive(m_driverController.GetLeftY(),
+ m_robotDrive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
}
};
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp
index 2803c5c..d3a106b 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
index 48310da..158945e 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
@@ -17,7 +17,7 @@
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
- m_drive.ArcadeDrive(m_driverController.GetLeftY(),
+ m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/ArmSubsystem.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/ArmSubsystem.cpp
index 8618aaa..c5fb3b2 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/ArmSubsystem.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/ArmSubsystem.cpp
@@ -15,7 +15,7 @@
kP, 0, 0, {kMaxVelocity, kMaxAcceleration})),
m_motor(kMotorPort),
m_encoder(kEncoderPorts[0], kEncoderPorts[1]),
- m_feedforward(kS, kCos, kV, kA) {
+ m_feedforward(kS, kG, kV, kA) {
m_encoder.SetDistancePerPulse(kEncoderDistancePerPulse.value());
// Start arm in neutral position
SetGoal(State{kArmOffset, 0_rad_per_s});
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/DriveSubsystem.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/DriveSubsystem.cpp
index 5ba38b8..aeeac3d 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/DriveSubsystem.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/DriveSubsystem.cpp
@@ -16,6 +16,10 @@
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_rightMotors.SetInverted(true);
}
void DriveSubsystem::Periodic() {
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
index 16a4e00..bd432ee 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Constants.h
@@ -46,7 +46,7 @@
// These are fake gains; in actuality these must be determined individually for
// each robot
constexpr auto kS = 1_V;
-constexpr auto kCos = 1_V;
+constexpr auto kG = 1_V;
constexpr auto kV = 0.5_V * 1_s / 1_rad;
constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp
index 8cd7b02..c7eab48 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
index b5a4420..1f6a138 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
@@ -17,7 +17,7 @@
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
- m_drive.ArcadeDrive(m_driverController.GetLeftY(),
+ m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp
index f80970a..7557b5a 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp
@@ -13,7 +13,7 @@
: frc2::TrapezoidProfileSubsystem<units::radians>(
{kMaxVelocity, kMaxAcceleration}, kArmOffset),
m_motor(kMotorPort),
- m_feedforward(kS, kCos, kV, kA) {
+ m_feedforward(kS, kG, kV, kA) {
m_motor.SetPID(kP, 0, 0);
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp
index 03d3415..fac0df9 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp
@@ -16,6 +16,10 @@
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_rightMotors.SetInverted(true);
}
void DriveSubsystem::Periodic() {
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
index 16a4e00..bd432ee 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h
@@ -46,7 +46,7 @@
// These are fake gains; in actuality these must be determined individually for
// each robot
constexpr auto kS = 1_V;
-constexpr auto kCos = 1_V;
+constexpr auto kG = 1_V;
constexpr auto kV = 0.5_V * 1_s / 1_rad;
constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
index b8b8368..330ddc4 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
@@ -4,6 +4,7 @@
#include <frc/Encoder.h>
#include <frc/Joystick.h>
+#include <frc/Preferences.h>
#include <frc/RobotController.h>
#include <frc/TimedRobot.h>
#include <frc/controller/PIDController.h>
@@ -33,8 +34,13 @@
static constexpr int kEncoderBChannel = 1;
static constexpr int kJoystickPort = 0;
+ static constexpr std::string_view kArmPositionKey = "ArmPosition";
+ static constexpr std::string_view kArmPKey = "ArmP";
+
// The P gain for the PID controller that drives this arm.
- static constexpr double kArmKp = 50.0;
+ double kArmKp = 50.0;
+
+ units::degree_t armPosition = 75.0_deg;
// distance per pulse = (angle per revolution) / (pulses per revolution)
// = (2 * PI rads) / (4096 pulses)
@@ -81,6 +87,15 @@
// Put Mechanism 2d to SmartDashboard
frc::SmartDashboard::PutData("Arm Sim", &m_mech2d);
+
+ // Set the Arm position setpoint and P constant to Preferences if the keys
+ // don't already exist
+ if (!frc::Preferences::ContainsKey(kArmPositionKey)) {
+ frc::Preferences::SetDouble(kArmPositionKey, armPosition.value());
+ }
+ if (!frc::Preferences::ContainsKey(kArmPKey)) {
+ frc::Preferences::SetDouble(kArmPKey, kArmKp);
+ }
}
void SimulationPeriodic() override {
@@ -103,12 +118,22 @@
m_arm->SetAngle(m_armSim.GetAngle());
}
+ void TeleopInit() override {
+ // Read Preferences for Arm setpoint and kP on entering Teleop
+ armPosition = units::degree_t(
+ frc::Preferences::GetDouble(kArmPositionKey, armPosition.value()));
+ if (kArmKp != frc::Preferences::GetDouble(kArmPKey, kArmKp)) {
+ kArmKp = frc::Preferences::GetDouble(kArmPKey, kArmKp);
+ m_controller.SetP(kArmKp);
+ }
+ }
+
void TeleopPeriodic() override {
if (m_joystick.GetTrigger()) {
- // Here, we run PID control like normal, with a constant setpoint of 75
- // degrees.
+ // Here, we run PID control like normal, with a setpoint read from
+ // preferences in degrees.
double pidOutput = m_controller.Calculate(
- m_encoder.GetDistance(), (units::radian_t(75_deg)).value());
+ m_encoder.GetDistance(), (units::radian_t(armPosition).value()));
m_motor.SetVoltage(units::volt_t(pidOutput));
} else {
// Otherwise, we disable the motor.
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
index a4caff4..4697938 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
@@ -19,6 +19,6 @@
return frc::Pose2d(estimatedRobotPose.X() + units::meter_t(randVec(0)),
estimatedRobotPose.Y() + units::meter_t(randVec(1)),
estimatedRobotPose.Rotation() +
- frc::Rotation2d(units::radian_t(randVec(3))));
+ frc::Rotation2d(units::radian_t(randVec(2))));
}
};
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp
new file mode 100644
index 0000000..037fb1d
--- /dev/null
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DigitalCommunication/cpp/Robot.cpp
@@ -0,0 +1,46 @@
+// 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/DigitalOutput.h>
+#include <frc/DriverStation.h>
+#include <frc/TimedRobot.h>
+
+/**
+ * This is a sample program demonstrating how to communicate to a light
+ * controller from the robot code using the roboRIO's DIO ports.
+ */
+class Robot : public frc::TimedRobot {
+ public:
+ void RobotPeriodic() override {
+ // pull alliance port high if on red alliance, pull low if on blue alliance
+ m_allianceOutput.Set(frc::DriverStation::GetAlliance() ==
+ frc::DriverStation::kRed);
+
+ // pull enabled port high if enabled, low if disabled
+ m_enabledOutput.Set(frc::DriverStation::IsEnabled());
+
+ // pull auto port high if in autonomous, low if in teleop (or disabled)
+ m_autonomousOutput.Set(frc::DriverStation::IsAutonomous());
+
+ // pull alert port high if match time remaining is between 30 and 25 seconds
+ auto matchTime = frc::DriverStation::GetMatchTime();
+ m_alertOutput.Set(matchTime <= 30 && matchTime >= 25);
+ }
+
+ private:
+ // define ports for communication with light controller
+ static constexpr int kAlliancePort = 0;
+ static constexpr int kEnabledPort = 1;
+ static constexpr int kAutonomousPort = 2;
+ static constexpr int kAlertPort = 3;
+
+ frc::DigitalOutput m_allianceOutput{kAlliancePort};
+ frc::DigitalOutput m_enabledOutput{kEnabledPort};
+ frc::DigitalOutput m_autonomousOutput{kAutonomousPort};
+ frc::DigitalOutput m_alertOutput{kAlertPort};
+};
+
+int main() {
+ return frc::StartRobot<Robot>();
+}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
index 8cd7b02..c7eab48 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
index fb879fe..bc940cd 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
@@ -18,7 +18,7 @@
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
- m_drive.ArcadeDrive(m_driverController.GetLeftY(),
+ m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
index 92f82ba..6644c08 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h
@@ -28,9 +28,8 @@
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
// These characterization values MUST be determined either experimentally or
-// theoretically for *your* robot's drive. The RobotPy Characterization
-// Toolsuite provides a convenient tool for obtaining these values for your
-// robot.
+// theoretically for *your* robot's drive. The SysId tool provides a convenient
+// method for obtaining these values for your robot.
constexpr auto ks = 1_V;
constexpr auto kv = 0.8_V * 1_s / 1_m;
constexpr auto ka = 0.15_V * 1_s * 1_s / 1_m;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/Robot.cpp
index 8cd7b02..c7eab48 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
index b781422..c459739 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
@@ -16,7 +16,7 @@
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
- m_drive.ArcadeDrive(m_driverController.GetLeftY(),
+ m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp
index 8cd7b02..c7eab48 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
index 3ac0f75..37eb460 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
@@ -16,7 +16,7 @@
#include "commands/TankDrive.h"
RobotContainer::RobotContainer()
- : m_autonomousCommand(&m_claw, &m_wrist, &m_elevator, &m_drivetrain) {
+ : m_autonomousCommand(m_claw, m_wrist, m_elevator, m_drivetrain) {
frc::SmartDashboard::PutData(&m_drivetrain);
frc::SmartDashboard::PutData(&m_elevator);
frc::SmartDashboard::PutData(&m_wrist);
@@ -24,7 +24,7 @@
m_drivetrain.SetDefaultCommand(TankDrive([this] { return m_joy.GetLeftY(); },
[this] { return m_joy.GetRightY(); },
- &m_drivetrain));
+ m_drivetrain));
// Configure the button bindings
ConfigureButtonBindings();
@@ -33,19 +33,19 @@
void RobotContainer::ConfigureButtonBindings() {
// Configure your button bindings here
frc2::JoystickButton(&m_joy, 5).WhenPressed(
- SetElevatorSetpoint(0.25, &m_elevator));
- frc2::JoystickButton(&m_joy, 6).WhenPressed(CloseClaw(&m_claw));
+ SetElevatorSetpoint(0.25, m_elevator));
+ frc2::JoystickButton(&m_joy, 6).WhenPressed(CloseClaw(m_claw));
frc2::JoystickButton(&m_joy, 7).WhenPressed(
- SetElevatorSetpoint(0.0, &m_elevator));
- frc2::JoystickButton(&m_joy, 8).WhenPressed(OpenClaw(&m_claw));
+ SetElevatorSetpoint(0.0, m_elevator));
+ frc2::JoystickButton(&m_joy, 8).WhenPressed(OpenClaw(m_claw));
frc2::JoystickButton(&m_joy, 9).WhenPressed(
- Autonomous(&m_claw, &m_wrist, &m_elevator, &m_drivetrain));
+ Autonomous(m_claw, m_wrist, m_elevator, m_drivetrain));
frc2::JoystickButton(&m_joy, 10)
- .WhenPressed(Pickup(&m_claw, &m_wrist, &m_elevator));
+ .WhenPressed(Pickup(m_claw, m_wrist, m_elevator));
frc2::JoystickButton(&m_joy, 11)
- .WhenPressed(Place(&m_claw, &m_wrist, &m_elevator));
+ .WhenPressed(Place(m_claw, m_wrist, m_elevator));
frc2::JoystickButton(&m_joy, 12)
- .WhenPressed(PrepareToPickup(&m_claw, &m_wrist, &m_elevator));
+ .WhenPressed(PrepareToPickup(m_claw, m_wrist, m_elevator));
}
frc2::Command* RobotContainer::GetAutonomousCommand() {
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Autonomous.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Autonomous.cpp
index 23ccfff..d6434d1 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Autonomous.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Autonomous.cpp
@@ -14,8 +14,8 @@
#include "commands/SetDistanceToBox.h"
#include "commands/SetWristSetpoint.h"
-Autonomous::Autonomous(Claw* claw, Wrist* wrist, Elevator* elevator,
- Drivetrain* drivetrain) {
+Autonomous::Autonomous(Claw& claw, Wrist& wrist, Elevator& elevator,
+ Drivetrain& drivetrain) {
SetName("Autonomous");
AddCommands(
// clang-format off
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/CloseClaw.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/CloseClaw.cpp
index d10c310..75884a2 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/CloseClaw.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/CloseClaw.cpp
@@ -6,7 +6,7 @@
#include "Robot.h"
-CloseClaw::CloseClaw(Claw* claw) : m_claw(claw) {
+CloseClaw::CloseClaw(Claw& claw) : m_claw(&claw) {
SetName("CloseClaw");
AddRequirements({m_claw});
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp
index 60408db..d3e85bd 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp
@@ -8,13 +8,13 @@
#include "Robot.h"
-DriveStraight::DriveStraight(double distance, Drivetrain* drivetrain)
+DriveStraight::DriveStraight(double distance, Drivetrain& drivetrain)
: frc2::CommandHelper<frc2::PIDCommand, DriveStraight>(
frc2::PIDController(4, 0, 0),
- [drivetrain] { return drivetrain->GetDistance(); }, distance,
- [drivetrain](double output) { drivetrain->Drive(output, output); },
- {drivetrain}),
- m_drivetrain(drivetrain) {
+ [&drivetrain] { return drivetrain.GetDistance(); }, distance,
+ [&drivetrain](double output) { drivetrain.Drive(output, output); },
+ {&drivetrain}),
+ m_drivetrain(&drivetrain) {
m_controller.SetTolerance(0.01);
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/OpenClaw.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/OpenClaw.cpp
index e05b7bd..e5bab77 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/OpenClaw.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/OpenClaw.cpp
@@ -6,8 +6,8 @@
#include "Robot.h"
-OpenClaw::OpenClaw(Claw* claw)
- : frc2::CommandHelper<frc2::WaitCommand, OpenClaw>(1_s), m_claw(claw) {
+OpenClaw::OpenClaw(Claw& claw)
+ : frc2::CommandHelper<frc2::WaitCommand, OpenClaw>(1_s), m_claw(&claw) {
SetName("OpenClaw");
AddRequirements({m_claw});
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Pickup.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Pickup.cpp
index 7d32ef4..3349f62 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Pickup.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Pickup.cpp
@@ -10,7 +10,7 @@
#include "commands/SetElevatorSetpoint.h"
#include "commands/SetWristSetpoint.h"
-Pickup::Pickup(Claw* claw, Wrist* wrist, Elevator* elevator) {
+Pickup::Pickup(Claw& claw, Wrist& wrist, Elevator& elevator) {
SetName("Pickup");
AddCommands(CloseClaw(claw),
frc2::ParallelCommandGroup(SetWristSetpoint(-45, wrist),
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Place.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Place.cpp
index ff52a8f..2fae0f2 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Place.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Place.cpp
@@ -8,7 +8,7 @@
#include "commands/SetElevatorSetpoint.h"
#include "commands/SetWristSetpoint.h"
-Place::Place(Claw* claw, Wrist* wrist, Elevator* elevator) {
+Place::Place(Claw& claw, Wrist& wrist, Elevator& elevator) {
SetName("Place");
// clang-format off
AddCommands(SetElevatorSetpoint(0.25, elevator),
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/PrepareToPickup.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/PrepareToPickup.cpp
index 2a05e25..6f01c8a 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/PrepareToPickup.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/PrepareToPickup.cpp
@@ -10,7 +10,7 @@
#include "commands/SetElevatorSetpoint.h"
#include "commands/SetWristSetpoint.h"
-PrepareToPickup::PrepareToPickup(Claw* claw, Wrist* wrist, Elevator* elevator) {
+PrepareToPickup::PrepareToPickup(Claw& claw, Wrist& wrist, Elevator& elevator) {
SetName("PrepareToPickup");
AddCommands(OpenClaw(claw),
frc2::ParallelCommandGroup(SetElevatorSetpoint(0, elevator),
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp
index d594797..84bf237 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp
@@ -8,14 +8,14 @@
#include "Robot.h"
-SetDistanceToBox::SetDistanceToBox(double distance, Drivetrain* drivetrain)
+SetDistanceToBox::SetDistanceToBox(double distance, Drivetrain& drivetrain)
: frc2::CommandHelper<frc2::PIDCommand, SetDistanceToBox>(
frc2::PIDController(-2, 0, 0),
- [drivetrain] { return drivetrain->GetDistanceToObstacle(); },
+ [&drivetrain] { return drivetrain.GetDistanceToObstacle(); },
distance,
- [drivetrain](double output) { drivetrain->Drive(output, output); },
- {drivetrain}),
- m_drivetrain(drivetrain) {
+ [&drivetrain](double output) { drivetrain.Drive(output, output); },
+ {&drivetrain}),
+ m_drivetrain(&drivetrain) {
m_controller.SetTolerance(0.01);
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetElevatorSetpoint.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetElevatorSetpoint.cpp
index e539903..08343fe 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetElevatorSetpoint.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetElevatorSetpoint.cpp
@@ -8,8 +8,8 @@
#include "Robot.h"
-SetElevatorSetpoint::SetElevatorSetpoint(double setpoint, Elevator* elevator)
- : m_setpoint(setpoint), m_elevator(elevator) {
+SetElevatorSetpoint::SetElevatorSetpoint(double setpoint, Elevator& elevator)
+ : m_setpoint(setpoint), m_elevator(&elevator) {
SetName("SetElevatorSetpoint");
AddRequirements({m_elevator});
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetWristSetpoint.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetWristSetpoint.cpp
index 5063a99..9697745 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetWristSetpoint.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetWristSetpoint.cpp
@@ -6,8 +6,8 @@
#include "Robot.h"
-SetWristSetpoint::SetWristSetpoint(double setpoint, Wrist* wrist)
- : m_setpoint(setpoint), m_wrist(wrist) {
+SetWristSetpoint::SetWristSetpoint(double setpoint, Wrist& wrist)
+ : m_setpoint(setpoint), m_wrist(&wrist) {
SetName("SetWristSetpoint");
AddRequirements({m_wrist});
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp
index a68edab..cc34e53 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp
@@ -9,10 +9,10 @@
#include "Robot.h"
TankDrive::TankDrive(std::function<double()> left,
- std::function<double()> right, Drivetrain* drivetrain)
+ std::function<double()> right, Drivetrain& drivetrain)
: m_left(std::move(left)),
m_right(std::move(right)),
- m_drivetrain(drivetrain) {
+ m_drivetrain(&drivetrain) {
SetName("TankDrive");
AddRequirements({m_drivetrain});
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Claw.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Claw.cpp
index b1560da..fa0e94d 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Claw.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Claw.cpp
@@ -24,7 +24,7 @@
m_motor.Set(0);
}
-bool Claw::IsGripping() {
+bool Claw::IsGripping() const {
return m_contact.Get();
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp
index f3d41a2..16d6e46 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp
@@ -55,7 +55,7 @@
m_robotDrive.TankDrive(left, right);
}
-double Drivetrain::GetHeading() {
+double Drivetrain::GetHeading() const {
return m_gyro.GetAngle();
}
@@ -65,11 +65,11 @@
m_rightEncoder.Reset();
}
-double Drivetrain::GetDistance() {
+double Drivetrain::GetDistance() const {
return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.0;
}
-double Drivetrain::GetDistanceToObstacle() {
+double Drivetrain::GetDistanceToObstacle() const {
// Really meters in simulation since it's a rangefinder...
return m_rangefinder.GetAverageVoltage();
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp
index fb3ab35..339ccd0 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp
@@ -7,10 +7,7 @@
#include <frc/controller/PIDController.h>
#include <frc/smartdashboard/SmartDashboard.h>
-Wrist::Wrist() : frc2::PIDSubsystem(frc2::PIDController(kP_real, 0, 0)) {
-#ifdef SIMULATION // Check for simulation and update PID values
- GetPIDController()->SetPID(kP_simulation, 0, 0, 0);
-#endif
+Wrist::Wrist() : frc2::PIDSubsystem(frc2::PIDController(kP, 0, 0)) {
m_controller.SetTolerance(2.5);
SetName("Wrist");
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h
index 5dae1c1..a9a5bf4 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h
@@ -18,6 +18,6 @@
class Autonomous
: public frc2::CommandHelper<frc2::SequentialCommandGroup, Autonomous> {
public:
- Autonomous(Claw* claw, Wrist* wrist, Elevator* elevator,
- Drivetrain* drivetrain);
+ Autonomous(Claw& claw, Wrist& wrist, Elevator& elevator,
+ Drivetrain& drivetrain);
};
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h
index fe8133b..0511604 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h
@@ -14,7 +14,7 @@
*/
class CloseClaw : public frc2::CommandHelper<frc2::CommandBase, CloseClaw> {
public:
- explicit CloseClaw(Claw* claw);
+ explicit CloseClaw(Claw& claw);
void Initialize() override;
bool IsFinished() override;
void End(bool interrupted) override;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h
index abc598c..c196232 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h
@@ -18,7 +18,7 @@
class DriveStraight
: public frc2::CommandHelper<frc2::PIDCommand, DriveStraight> {
public:
- explicit DriveStraight(double distance, Drivetrain* drivetrain);
+ explicit DriveStraight(double distance, Drivetrain& drivetrain);
void Initialize() override;
bool IsFinished() override;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/OpenClaw.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/OpenClaw.h
index f7b3d0f..e6fe962 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/OpenClaw.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/OpenClaw.h
@@ -15,7 +15,7 @@
*/
class OpenClaw : public frc2::CommandHelper<frc2::WaitCommand, OpenClaw> {
public:
- explicit OpenClaw(Claw* claw);
+ explicit OpenClaw(Claw& claw);
void Initialize() override;
void End(bool interrupted) override;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Pickup.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Pickup.h
index 33327eb..ba0b02f 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Pickup.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Pickup.h
@@ -18,5 +18,5 @@
class Pickup
: public frc2::CommandHelper<frc2::SequentialCommandGroup, Pickup> {
public:
- Pickup(Claw* claw, Wrist* wrist, Elevator* elevator);
+ Pickup(Claw& claw, Wrist& wrist, Elevator& elevator);
};
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Place.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Place.h
index 353ef1c..02b043f 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Place.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Place.h
@@ -16,5 +16,5 @@
*/
class Place : public frc2::CommandHelper<frc2::SequentialCommandGroup, Place> {
public:
- Place(Claw* claw, Wrist* wrist, Elevator* elevator);
+ Place(Claw& claw, Wrist& wrist, Elevator& elevator);
};
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/PrepareToPickup.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/PrepareToPickup.h
index 0289d4f..b219cf0 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/PrepareToPickup.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/PrepareToPickup.h
@@ -17,5 +17,5 @@
class PrepareToPickup : public frc2::CommandHelper<frc2::SequentialCommandGroup,
PrepareToPickup> {
public:
- PrepareToPickup(Claw* claw, Wrist* wrist, Elevator* elevator);
+ PrepareToPickup(Claw& claw, Wrist& wrist, Elevator& elevator);
};
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h
index 2104a5c..1d2672a 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h
@@ -18,7 +18,7 @@
class SetDistanceToBox
: public frc2::CommandHelper<frc2::PIDCommand, SetDistanceToBox> {
public:
- explicit SetDistanceToBox(double distance, Drivetrain* drivetrain);
+ explicit SetDistanceToBox(double distance, Drivetrain& drivetrain);
void Initialize() override;
bool IsFinished() override;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetElevatorSetpoint.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetElevatorSetpoint.h
index 8df402d..a106d62 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetElevatorSetpoint.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetElevatorSetpoint.h
@@ -19,7 +19,7 @@
class SetElevatorSetpoint
: public frc2::CommandHelper<frc2::CommandBase, SetElevatorSetpoint> {
public:
- explicit SetElevatorSetpoint(double setpoint, Elevator* elevator);
+ explicit SetElevatorSetpoint(double setpoint, Elevator& elevator);
void Initialize() override;
bool IsFinished() override;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetWristSetpoint.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetWristSetpoint.h
index e362b30..2f6ca21 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetWristSetpoint.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetWristSetpoint.h
@@ -17,7 +17,7 @@
class SetWristSetpoint
: public frc2::CommandHelper<frc2::CommandBase, SetWristSetpoint> {
public:
- explicit SetWristSetpoint(double setpoint, Wrist* wrist);
+ explicit SetWristSetpoint(double setpoint, Wrist& wrist);
void Initialize() override;
bool IsFinished() override;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h
index c49fdf3..5a81c11 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h
@@ -15,7 +15,7 @@
class TankDrive : public frc2::CommandHelper<frc2::CommandBase, TankDrive> {
public:
TankDrive(std::function<double()> left, std::function<double()> right,
- Drivetrain* drivetrain);
+ Drivetrain& drivetrain);
void Execute() override;
bool IsFinished() override;
void End(bool interrupted) override;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
index 3b65382..c6f17d8 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
@@ -36,7 +36,7 @@
* Return true when the robot is grabbing an object hard enough
* to trigger the limit switch.
*/
- bool IsGripping();
+ bool IsGripping() const;
/**
* The log method puts interesting information to the SmartDashboard.
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Drivetrain.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Drivetrain.h
index 108a9c0..9e739c4 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Drivetrain.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Drivetrain.h
@@ -40,7 +40,7 @@
/**
* @return The robots heading in degrees.
*/
- double GetHeading();
+ double GetHeading() const;
/**
* Reset the robots sensors to the zero states.
@@ -50,12 +50,12 @@
/**
* @return The distance driven (average of left and right encoders).
*/
- double GetDistance();
+ double GetDistance() const;
/**
* @return The distance to the obstacle detected by the rangefinder.
*/
- double GetDistanceToObstacle();
+ double GetDistanceToObstacle() const;
/**
* Log the data periodically. This method is automatically called
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
index e873c2c..7df08b9 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
@@ -51,6 +51,5 @@
frc::AnalogPotentiometer m_pot{3}; // Defaults to degrees
#endif
- static constexpr double kP_real = 1;
- static constexpr double kP_simulation = 0.05;
+ static constexpr double kP = 1;
};
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
index 6b7d2b6..003a08a 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
@@ -11,7 +11,11 @@
class Robot : public frc::TimedRobot {
public:
Robot() {
+ m_right.SetInverted(true);
m_robotDrive.SetExpiration(100_ms);
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
m_timer.Start();
}
@@ -35,7 +39,7 @@
void TeleopPeriodic() override {
// Drive with arcade style (use right stick)
- m_robotDrive.ArcadeDrive(m_stick.GetY(), m_stick.GetX());
+ m_robotDrive.ArcadeDrive(-m_stick.GetY(), m_stick.GetX());
}
void TestInit() override {}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
index 1dda356..0e1410e 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
@@ -17,7 +17,13 @@
*/
class Robot : public frc::TimedRobot {
public:
- void RobotInit() override { m_gyro.SetSensitivity(kVoltsPerDegreePerSecond); }
+ void RobotInit() override {
+ m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_right.SetInverted(true);
+ }
/**
* The motor speed is set from the joystick while the DifferentialDrive
@@ -28,7 +34,7 @@
double turningValue = (kAngleSetpoint - m_gyro.GetAngle()) * kP;
// Invert the direction of the turn if we are going backwards
turningValue = std::copysign(turningValue, m_joystick.GetY());
- m_robotDrive.ArcadeDrive(m_joystick.GetY(), turningValue);
+ m_robotDrive.ArcadeDrive(-m_joystick.GetY(), turningValue);
}
private:
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp
index 8cd7b02..c7eab48 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
index eb95395..6f5911e 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
@@ -19,7 +19,7 @@
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
- m_drive.ArcadeDrive(m_driverController.GetLeftY(),
+ m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
index 5885873..a4e0457 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
@@ -10,16 +10,16 @@
/**
* This is a sample program that uses mecanum drive with a gyro sensor to
- * maintain rotation vectorsin relation to the starting orientation of the robot
- * (field-oriented controls).
+ * maintain rotation vectors in relation to the starting orientation of the
+ * robot (field-oriented controls).
*/
class Robot : public frc::TimedRobot {
public:
void RobotInit() override {
- // Invert the left side motors. You may need to change or remove this to
+ // Invert the right side motors. You may need to change or remove this to
// match your robot.
- m_frontLeft.SetInverted(true);
- m_rearLeft.SetInverted(true);
+ m_frontRight.SetInverted(true);
+ m_rearRight.SetInverted(true);
m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
}
@@ -28,7 +28,7 @@
* Mecanum drive is used with the gyro angle as an input.
*/
void TeleopPeriodic() override {
- m_robotDrive.DriveCartesian(m_joystick.GetX(), m_joystick.GetY(),
+ m_robotDrive.DriveCartesian(-m_joystick.GetY(), m_joystick.GetX(),
m_joystick.GetZ(), m_gyro.GetAngle());
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
index 8cd7b02..c7eab48 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
index 31a78b5..8fae7d2 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
@@ -23,7 +23,7 @@
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
- m_drive.ArcadeDrive(m_driverController.GetLeftY(),
+ m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
index 8cd7b02..c7eab48 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
index b46efd4..6f8c5a6 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
@@ -27,7 +27,7 @@
// Set up default drive command
m_drive.SetDefaultCommand(DefaultDrive(
- &m_drive, [this] { return m_driverController.GetLeftY(); },
+ &m_drive, [this] { return -m_driverController.GetLeftY(); },
[this] { return m_driverController.GetRightX(); }));
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
new file mode 100644
index 0000000..fad7581
--- /dev/null
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
@@ -0,0 +1,49 @@
+// 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 <fmt/format.h>
+
+#include <frc/DriverStation.h>
+#include <frc/I2C.h>
+#include <frc/TimedRobot.h>
+#include <frc/Timer.h>
+
+/**
+ * This is a sample program demonstrating how to communicate to a light
+ * controller from the robot code using the roboRIO's I2C port.
+ */
+class Robot : public frc::TimedRobot {
+ public:
+ void RobotPeriodic() override {
+ // Creates a string to hold current robot state information, including
+ // alliance, enabled state, operation mode, and match time. The message
+ // is sent in format "AEM###" where A is the alliance color, (R)ed or
+ // (B)lue, E is the enabled state, (E)nabled or (D)isabled, M is the
+ // operation mode, (A)utonomous or (T)eleop, and ### is the zero-padded
+ // time remaining in the match.
+ //
+ // For example, "RET043" would indicate that the robot is on the red
+ // alliance, enabled in teleop mode, with 43 seconds left in the match.
+ auto string = fmt::format(
+ "{}{}{}{:03}",
+ frc::DriverStation::GetAlliance() == frc::DriverStation::Alliance::kRed
+ ? "R"
+ : "B",
+ frc::DriverStation::IsEnabled() ? "E" : "D",
+ frc::DriverStation::IsAutonomous() ? "A" : "T",
+ static_cast<int>(frc::Timer::GetMatchTime().value()));
+
+ arduino.WriteBulk(reinterpret_cast<uint8_t*>(string.data()), string.size());
+ }
+
+ private:
+ static constexpr int deviceAddress = 4;
+ frc::I2C arduino{frc::I2C::Port::kOnboard, deviceAddress};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+ return frc::StartRobot<Robot>();
+}
+#endif
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
index c33450d..4d3aac2 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
@@ -47,7 +47,7 @@
fieldRelative ? frc::ChassisSpeeds::FromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot});
- wheelSpeeds.Normalize(kMaxSpeed);
+ wheelSpeeds.Desaturate(kMaxSpeed);
SetSpeeds(wheelSpeeds);
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
index 0aa3086..9ec5fc5 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
@@ -20,7 +20,14 @@
*/
class Drivetrain {
public:
- Drivetrain() { m_gyro.Reset(); }
+ Drivetrain() {
+ m_gyro.Reset();
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_frontRightMotor.SetInverted(true);
+ m_backRightMotor.SetInverted(true);
+ }
frc::MecanumDriveWheelSpeeds GetCurrentState() const;
void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
index 8cd7b02..c7eab48 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
index 4cc4e47..9e06068 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -34,6 +34,11 @@
m_rearLeftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_frontRightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rearRightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_frontRight.SetInverted(true);
+ m_rearRight.SetInverted(true);
}
void DriveSubsystem::Periodic() {
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
index 592e948..8d59a2c 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
@@ -56,9 +56,8 @@
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
// These characterization values MUST be determined either experimentally or
-// theoretically for *your* robot's drive. The RobotPy Characterization
-// Toolsuite provides a convenient tool for obtaining these values for your
-// robot.
+// theoretically for *your* robot's drive. The SysId tool provides a convenient
+// method for obtaining these values for your robot.
constexpr auto ks = 1_V;
constexpr auto kv = 0.8 * 1_V * 1_s / 1_m;
constexpr auto ka = 0.15 * 1_V * 1_s * 1_s / 1_m;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
index 822e9ee..f8d95ac 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
@@ -14,17 +14,18 @@
class Robot : public frc::TimedRobot {
public:
void RobotInit() override {
- // Invert the left side motors. You may need to change or remove this to
+ // Invert the right side motors. You may need to change or remove this to
// match your robot.
- m_frontLeft.SetInverted(true);
- m_rearLeft.SetInverted(true);
+ m_frontRight.SetInverted(true);
+ m_rearRight.SetInverted(true);
}
void TeleopPeriodic() override {
/* Use the joystick X axis for lateral movement, Y axis for forward
* movement, and Z axis for rotation.
*/
- m_robotDrive.DriveCartesian(m_stick.GetX(), m_stick.GetY(), m_stick.GetZ());
+ m_robotDrive.DriveCartesian(-m_stick.GetY(), m_stick.GetX(),
+ m_stick.GetZ());
}
private:
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
index 149f12e..daa4b42 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -44,7 +44,7 @@
fieldRelative ? frc::ChassisSpeeds::FromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot});
- wheelSpeeds.Normalize(kMaxSpeed);
+ wheelSpeeds.Desaturate(kMaxSpeed);
SetSpeeds(wheelSpeeds);
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
index d084fa5..3eea4a2 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
@@ -21,7 +21,14 @@
*/
class Drivetrain {
public:
- Drivetrain() { m_gyro.Reset(); }
+ Drivetrain() {
+ m_gyro.Reset();
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_frontRightMotor.SetInverted(true);
+ m_backRightMotor.SetInverted(true);
+ }
frc::MecanumDriveWheelSpeeds GetCurrentState() const;
void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/Robot.cpp
index 8cd7b02..c7eab48 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
index 78355a2..a5b853e 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -42,7 +42,7 @@
void DriveSubsystem::TankDriveVolts(units::volt_t left, units::volt_t right) {
m_leftMotors.SetVoltage(left);
- m_rightMotors.SetVoltage(-right);
+ m_rightMotors.SetVoltage(right);
m_drive.Feed();
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
index cdd3a43..174a028 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
@@ -5,6 +5,7 @@
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h>
#include <units/acceleration.h>
+#include <units/angle.h>
#include <units/length.h>
#include <units/time.h>
#include <units/velocity.h>
@@ -62,8 +63,8 @@
// Reasonable baseline values for a RAMSETE follower in units of meters and
// seconds
-constexpr double kRamseteB = 2;
-constexpr double kRamseteZeta = 0.7;
+constexpr auto kRamseteB = 2.0 * 1_rad * 1_rad / (1_m * 1_m);
+constexpr auto kRamseteZeta = 0.7 / 1_rad;
} // namespace AutoConstants
namespace OIConstants {
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
index fa9438d..e39a8fd 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/Robot.cpp
@@ -9,7 +9,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/OnBoardIO.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/OnBoardIO.cpp
index b178ec0..1b76c74 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/OnBoardIO.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/OnBoardIO.cpp
@@ -17,6 +17,7 @@
}
if (dio2 == ChannelMode::INPUT) {
m_buttonC = std::make_unique<frc::DigitalInput>(2);
+ } else {
m_redLed = std::make_unique<frc::DigitalOutput>(2);
}
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/Robot.cpp
index 8cd7b02..c7eab48 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
index 8cd7b02..c7eab48 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
index 05d99f3..098b997 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
@@ -41,9 +41,9 @@
// simulation, and write the simulated positions and velocities to our
// simulated encoder and gyro. We negate the right side so that positive
// voltages make the right side move forward.
- m_drivetrainSimulator.SetInputs(units::volt_t{m_leftLeader.Get()} *
+ m_drivetrainSimulator.SetInputs(units::volt_t{m_leftGroup.Get()} *
frc::RobotController::GetInputVoltage(),
- units::volt_t{-m_rightLeader.Get()} *
+ units::volt_t{m_rightGroup.Get()} *
frc::RobotController::GetInputVoltage());
m_drivetrainSimulator.Update(20_ms);
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/Robot.cpp
index 0920db7..318dc61 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/Robot.cpp
@@ -16,7 +16,7 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
index 554de50..a4245d6 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
@@ -28,7 +28,7 @@
// Set up default drive command
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
- m_drive.ArcadeDrive(m_driverController.GetLeftY(),
+ m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
m_driverController.GetRightX());
},
{&m_drive}));
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
index a94b860..0971549 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
@@ -42,7 +42,7 @@
// voltages make the right side move forward.
m_drivetrainSimulator.SetInputs(units::volt_t{m_leftMotors.Get()} *
frc::RobotController::GetInputVoltage(),
- units::volt_t{-m_rightMotors.Get()} *
+ units::volt_t{m_rightMotors.Get()} *
frc::RobotController::GetInputVoltage());
m_drivetrainSimulator.Update(20_ms);
@@ -64,7 +64,7 @@
void DriveSubsystem::TankDriveVolts(units::volt_t left, units::volt_t right) {
m_leftMotors.SetVoltage(left);
- m_rightMotors.SetVoltage(-right);
+ m_rightMotors.SetVoltage(right);
m_drive.Feed();
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h
index 307d408..b12eef1 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/Constants.h
@@ -74,8 +74,8 @@
// Reasonable baseline values for a RAMSETE follower in units of meters and
// seconds
-constexpr double kRamseteB = 2;
-constexpr double kRamseteZeta = 0.7;
+constexpr auto kRamseteB = 2 * 1_rad * 1_rad / (1_m * 1_m);
+constexpr auto kRamseteZeta = 0.7 / 1_rad;
} // namespace AutoConstants
namespace OIConstants {
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
index 7044fd7..709f403 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
@@ -12,7 +12,7 @@
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot});
- m_kinematics.NormalizeWheelSpeeds(&states, kMaxSpeed);
+ m_kinematics.DesaturateWheelSpeeds(&states, kMaxSpeed);
auto [fl, fr, bl, br] = states;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
index 6ff5b48..2b3cc0e 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
@@ -36,7 +36,7 @@
frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
SwerveModule m_frontLeft{1, 2, 0, 1, 2, 3};
- SwerveModule m_frontRight{2, 3, 4, 5, 6, 7};
+ SwerveModule m_frontRight{3, 4, 4, 5, 6, 7};
SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
SwerveModule m_backRight{7, 8, 12, 13, 14, 15};
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp
index 8cd7b02..c7eab48 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
index 4ee98ae..a35314e 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -30,12 +30,14 @@
ConfigureButtonBindings();
// Set up default drive command
+ // The left stick controls translation of the robot.
+ // Turning is controlled by the X axis of the right stick.
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.Drive(
units::meters_per_second_t(m_driverController.GetLeftY()),
- units::meters_per_second_t(m_driverController.GetRightY()),
- units::radians_per_second_t(m_driverController.GetLeftX()), false);
+ units::meters_per_second_t(m_driverController.GetLeftX()),
+ units::radians_per_second_t(m_driverController.GetRightX()), false);
},
{&m_drive}));
}
@@ -84,7 +86,7 @@
// no auto
return new frc2::SequentialCommandGroup(
- std::move(swerveControllerCommand), std::move(swerveControllerCommand),
+ std::move(swerveControllerCommand),
frc2::InstantCommand(
[this]() {
m_drive.Drive(units::meters_per_second_t(0),
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
index 7ef4af3..fd15100 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -54,7 +54,7 @@
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot});
- kDriveKinematics.NormalizeWheelSpeeds(&states, AutoConstants::kMaxSpeed);
+ kDriveKinematics.DesaturateWheelSpeeds(&states, AutoConstants::kMaxSpeed);
auto [fl, fr, bl, br] = states;
@@ -66,11 +66,11 @@
void DriveSubsystem::SetModuleStates(
wpi::array<frc::SwerveModuleState, 4> desiredStates) {
- kDriveKinematics.NormalizeWheelSpeeds(&desiredStates,
- AutoConstants::kMaxSpeed);
+ kDriveKinematics.DesaturateWheelSpeeds(&desiredStates,
+ AutoConstants::kMaxSpeed);
m_frontLeft.SetDesiredState(desiredStates[0]);
- m_rearLeft.SetDesiredState(desiredStates[1]);
- m_frontRight.SetDesiredState(desiredStates[2]);
+ m_frontRight.SetDesiredState(desiredStates[1]);
+ m_rearLeft.SetDesiredState(desiredStates[2]);
m_rearRight.SetDesiredState(desiredStates[3]);
}
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
index 3a3b75a..e6fa136 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
@@ -58,9 +58,8 @@
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
// These characterization values MUST be determined either experimentally or
-// theoretically for *your* robot's drive. The RobotPy Characterization
-// Toolsuite provides a convenient tool for obtaining these values for your
-// robot.
+// theoretically for *your* robot's drive. The SysId tool provides a convenient
+// method for obtaining these values for your robot.
constexpr auto ks = 1_V;
constexpr auto kv = 0.8 * 1_V * 1_s / 1_m;
constexpr auto ka = 0.15 * 1_V * 1_s * 1_s / 1_m;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
index f132f76..33a3233 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -16,7 +16,7 @@
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot});
- m_kinematics.NormalizeWheelSpeeds(&states, kMaxSpeed);
+ m_kinematics.DesaturateWheelSpeeds(&states, kMaxSpeed);
auto [fl, fr, bl, br] = states;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
index 81f8bb7..f525729 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
@@ -36,7 +36,7 @@
frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
SwerveModule m_frontLeft{1, 2, 0, 1, 2, 3};
- SwerveModule m_frontRight{2, 3, 4, 5, 6, 7};
+ SwerveModule m_frontRight{3, 4, 4, 5, 6, 7};
SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
SwerveModule m_backRight{7, 8, 12, 13, 14, 15};
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
index 466fdcd..b8cff32 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
@@ -27,8 +27,8 @@
void TeleopPeriodic() override {
// Drive with tank style
- m_robotDrive.TankDrive(m_driverController.GetLeftY(),
- m_driverController.GetRightY());
+ m_robotDrive.TankDrive(-m_driverController.GetLeftY(),
+ -m_driverController.GetRightY());
}
};
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/examples.json b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/examples.json
index b639188..9eb5b6b 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/examples.json
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/examples/examples.json
@@ -261,6 +261,27 @@
"commandversion": 2
},
{
+ "name": "I2C Communication",
+ "description": "An example program that communicates with external devices (such as an Arduino) using the roboRIO's I2C port",
+ "tags": [
+ "I2C"
+ ],
+ "foldername": "I2CCommunication",
+ "gradlebase": "cpp",
+ "commandversion": 2
+ },
+ {
+ "name": "Digital Communication Sample",
+ "description": "An example program that communicates with external devices (such as an Arduino) using the roboRIO's DIO",
+ "tags": [
+ "Digital"
+ ],
+ "foldername": "DigitalCommunication",
+ "gradlebase": "cpp",
+ "commandversion": 2
+ },
+
+ {
"name": "Axis Camera Sample",
"description": "An example program that acquires images from an Axis network camera and adds some annotation to the image as you might do for showing operators the result of some image recognition, and sends it to the dashboard for display. This demonstrates the use of the AxisCamera class.",
"tags": [
@@ -692,7 +713,8 @@
"Sensors",
"Simulation",
"Physics",
- "Mechanism2d"
+ "Mechanism2d",
+ "Preferences"
],
"foldername": "ArmSimulation",
"gradlebase": "cpp",
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
index 8cd7b02..426b989 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
@@ -10,7 +10,7 @@
void Robot::RobotInit() {}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
@@ -65,6 +65,16 @@
*/
void Robot::TestPeriodic() {}
+/**
+ * This function is called once when the robot is first started up.
+ */
+void Robot::SimulationInit() {}
+
+/**
+ * This function is called periodically whilst in simulation.
+ */
+void Robot::SimulationPeriodic() {}
+
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
index a82f2ac..25e3229 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
@@ -20,6 +20,8 @@
void TeleopInit() override;
void TeleopPeriodic() override;
void TestPeriodic() override;
+ void SimulationInit() override;
+ void SimulationPeriodic() override;
private:
// Have it null by default so that if testing teleop it
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/templates.json b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/templates.json
index 59d4084..83260a0 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/templates.json
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/templates.json
@@ -1,5 +1,15 @@
[
{
+ "name": "Command Robot",
+ "description": "Command style",
+ "tags": [
+ "Command"
+ ],
+ "foldername": "commandbased",
+ "gradlebase": "cpp",
+ "commandversion": 2
+ },
+ {
"name": "Timed Robot",
"description": "Timed style",
"tags": [
@@ -30,13 +40,13 @@
"commandversion": 2
},
{
- "name": "Command Robot",
- "description": "Command style",
+ "name": "Romi - Command Robot",
+ "description": "Romi - Command style",
"tags": [
- "Command"
+ "Command", "Romi"
],
"foldername": "commandbased",
- "gradlebase": "cpp",
+ "gradlebase": "cppromi",
"commandversion": 2
},
{
@@ -48,15 +58,5 @@
"foldername": "timed",
"gradlebase": "cppromi",
"commandversion": 2
- },
- {
- "name": "Romi - Command Robot",
- "description": "Romi - Command style",
- "tags": [
- "Command", "Romi"
- ],
- "foldername": "commandbased",
- "gradlebase": "cppromi",
- "commandversion": 2
}
]
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
index 577de89..2fcc80b 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp
@@ -15,7 +15,7 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use
+ * This function is called every 20 ms, no matter the mode. Use
* this for items like diagnostics that you want ran during disabled,
* autonomous, teleoperated and test.
*
@@ -68,6 +68,10 @@
void Robot::TestPeriodic() {}
+void Robot::SimulationInit() {}
+
+void Robot::SimulationPeriodic() {}
+
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h
index b887605..5677a88 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timed/include/Robot.h
@@ -21,6 +21,8 @@
void DisabledPeriodic() override;
void TestInit() override;
void TestPeriodic() override;
+ void SimulationInit() override;
+ void SimulationPeriodic() override;
private:
frc::SendableChooser<std::string> m_chooser;
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
index 92f5df1..d5b57c2 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp
@@ -19,6 +19,9 @@
void Robot::TestInit() {}
void Robot::TestPeriodic() {}
+void Robot::SimulationInit() {}
+void Robot::SimulationPeriodic() {}
+
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
diff --git a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.h b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.h
index 99f84f7..062a198 100644
--- a/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.h
+++ b/third_party/allwpilib/wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.h
@@ -22,4 +22,7 @@
void TestInit() override;
void TestPeriodic() override;
+
+ void SimulationInit() override;
+ void SimulationPeriodic() override;
};
diff --git a/third_party/allwpilib/wpilibcIntegrationTests/src/main/native/cpp/PCMTest.cpp b/third_party/allwpilib/wpilibcIntegrationTests/src/main/native/cpp/PCMTest.cpp
index 1cc70b7..ea271a5 100644
--- a/third_party/allwpilib/wpilibcIntegrationTests/src/main/native/cpp/PCMTest.cpp
+++ b/third_party/allwpilib/wpilibcIntegrationTests/src/main/native/cpp/PCMTest.cpp
@@ -35,7 +35,7 @@
frc::DigitalInput m_fakeSolenoid2{TestBench::kFakeSolenoid2Channel};
void Reset() {
- m_pneumaticsModule.SetClosedLoopControl(false);
+ m_pneumaticsModule.DisableCompressor();
m_fakePressureSwitch.Set(false);
}
};
@@ -46,7 +46,7 @@
TEST_F(PCMTest, PressureSwitch) {
Reset();
- m_pneumaticsModule.SetClosedLoopControl(true);
+ m_pneumaticsModule.EnableCompressorDigital();
// Turn on the compressor
m_fakePressureSwitch.Set(true);
diff --git a/third_party/allwpilib/wpilibj/build.gradle b/third_party/allwpilib/wpilibj/build.gradle
index 1004c20..665560c 100644
--- a/third_party/allwpilib/wpilibj/build.gradle
+++ b/third_party/allwpilib/wpilibj/build.gradle
@@ -66,8 +66,7 @@
implementation project(':ntcore')
implementation project(':cscore')
implementation project(':cameraserver')
- testImplementation 'com.google.guava:guava:19.0'
- testImplementation 'org.mockito:mockito-core:2.27.0'
+ testImplementation 'org.mockito:mockito-core:4.1.0'
devImplementation project(':hal')
devImplementation project(':wpiutil')
devImplementation project(':wpimath')
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
new file mode 100644
index 0000000..4ac4b4f
--- /dev/null
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
@@ -0,0 +1,1114 @@
+// 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.
+
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2020 Analog Devices Inc. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/* */
+/* Modified by Juan Chong - frcsupport@analog.com */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.networktables.NTSendable;
+import edu.wpi.first.networktables.NTSendableBuilder;
+
+// CHECKSTYLE.OFF: TypeName
+// CHECKSTYLE.OFF: MemberName
+// CHECKSTYLE.OFF: SummaryJavadoc
+// CHECKSTYLE.OFF: UnnecessaryParentheses
+// CHECKSTYLE.OFF: OverloadMethodsDeclarationOrder
+// CHECKSTYLE.OFF: NonEmptyAtclauseDescription
+// CHECKSTYLE.OFF: MissingOverride
+// CHECKSTYLE.OFF: AtclauseOrder
+// CHECKSTYLE.OFF: LocalVariableName
+// CHECKSTYLE.OFF: RedundantModifier
+// CHECKSTYLE.OFF: AbbreviationAsWordInName
+// CHECKSTYLE.OFF: ParameterName
+// CHECKSTYLE.OFF: EmptyCatchBlock
+// CHECKSTYLE.OFF: MissingJavadocMethod
+// CHECKSTYLE.OFF: MissingSwitchDefault
+// CHECKSTYLE.OFF: VariableDeclarationUsageDistance
+// CHECKSTYLE.OFF: ArrayTypeStyle
+
+/** This class is for the ADIS16448 IMU that connects to the RoboRIO MXP port. */
+@SuppressWarnings({
+ "unused",
+ "PMD.RedundantFieldInitializer",
+ "PMD.ImmutableField",
+ "PMD.SingularField",
+ "PMD.CollapsibleIfStatements",
+ "PMD.MissingOverride",
+ "PMD.EmptyIfStmt",
+ "PMD.EmptyStatementNotInLoop"
+})
+public class ADIS16448_IMU implements AutoCloseable, NTSendable {
+ /** ADIS16448 Register Map Declaration */
+ private static final int FLASH_CNT = 0x00; // Flash memory write count
+
+ private static final int XGYRO_OUT = 0x04; // X-axis gyroscope output
+ private static final int YGYRO_OUT = 0x06; // Y-axis gyroscope output
+ private static final int ZGYRO_OUT = 0x08; // Z-axis gyroscope output
+ private static final int XACCL_OUT = 0x0A; // X-axis accelerometer output
+ private static final int YACCL_OUT = 0x0C; // Y-axis accelerometer output
+ private static final int ZACCL_OUT = 0x0E; // Z-axis accelerometer output
+ private static final int XMAGN_OUT = 0x10; // X-axis magnetometer output
+ private static final int YMAGN_OUT = 0x12; // Y-axis magnetometer output
+ private static final int ZMAGN_OUT = 0x14; // Z-axis magnetometer output
+ private static final int BARO_OUT = 0x16; // Barometer pressure measurement, high word
+ private static final int TEMP_OUT = 0x18; // Temperature output
+ private static final int XGYRO_OFF = 0x1A; // X-axis gyroscope bias offset factor
+ private static final int YGYRO_OFF = 0x1C; // Y-axis gyroscope bias offset factor
+ private static final int ZGYRO_OFF = 0x1E; // Z-axis gyroscope bias offset factor
+ private static final int XACCL_OFF = 0x20; // X-axis acceleration bias offset factor
+ private static final int YACCL_OFF = 0x22; // Y-axis acceleration bias offset factor
+ private static final int ZACCL_OFF = 0x24; // Z-axis acceleration bias offset factor
+ private static final int XMAGN_HIC = 0x26; // X-axis magnetometer, hard iron factor
+ private static final int YMAGN_HIC = 0x28; // Y-axis magnetometer, hard iron factor
+ private static final int ZMAGN_HIC = 0x2A; // Z-axis magnetometer, hard iron factor
+ private static final int XMAGN_SIC = 0x2C; // X-axis magnetometer, soft iron factor
+ private static final int YMAGN_SIC = 0x2E; // Y-axis magnetometer, soft iron factor
+ private static final int ZMAGN_SIC = 0x30; // Z-axis magnetometer, soft iron factor
+ private static final int GPIO_CTRL = 0x32; // GPIO control
+ private static final int MSC_CTRL = 0x34; // MISC control
+ private static final int SMPL_PRD = 0x36; // Sample clock/Decimation filter control
+ private static final int SENS_AVG = 0x38; // Digital filter control
+ private static final int SEQ_CNT = 0x3A; // MAGN_OUT and BARO_OUT counter
+ private static final int DIAG_STAT = 0x3C; // System status
+ private static final int GLOB_CMD = 0x3E; // System command
+ private static final int ALM_MAG1 = 0x40; // Alarm 1 amplitude threshold
+ private static final int ALM_MAG2 = 0x42; // Alarm 2 amplitude threshold
+ private static final int ALM_SMPL1 = 0x44; // Alarm 1 sample size
+ private static final int ALM_SMPL2 = 0x46; // Alarm 2 sample size
+ private static final int ALM_CTRL = 0x48; // Alarm control
+ private static final int LOT_ID1 = 0x52; // Lot identification number
+ private static final int LOT_ID2 = 0x54; // Lot identification number
+ private static final int PROD_ID = 0x56; // Product identifier
+ private static final int SERIAL_NUM = 0x58; // Lot-specific serial number
+
+ public enum CalibrationTime {
+ _32ms(0),
+ _64ms(1),
+ _128ms(2),
+ _256ms(3),
+ _512ms(4),
+ _1s(5),
+ _2s(6),
+ _4s(7),
+ _8s(8),
+ _16s(9),
+ _32s(10),
+ _64s(11);
+
+ private int value;
+
+ private CalibrationTime(int value) {
+ this.value = value;
+ }
+ }
+
+ public enum IMUAxis {
+ kX,
+ kY,
+ kZ
+ }
+
+ // * Static Constants */
+ private static final double rad_to_deg = 57.2957795;
+ private static final double deg_to_rad = 0.0174532;
+ private static final double grav = 9.81;
+
+ /* User-specified yaw axis */
+ private IMUAxis m_yaw_axis;
+
+ /* Offset data storage */
+ private double m_offset_data_gyro_rate_x[];
+ private double m_offset_data_gyro_rate_y[];
+ private double m_offset_data_gyro_rate_z[];
+
+ /* Instant raw output variables */
+ private double m_gyro_rate_x = 0.0;
+ private double m_gyro_rate_y = 0.0;
+ private double m_gyro_rate_z = 0.0;
+ private double m_accel_x = 0.0;
+ private double m_accel_y = 0.0;
+ private double m_accel_z = 0.0;
+ private double m_mag_x = 0.0;
+ private double m_mag_y = 0.0;
+ private double m_mag_z = 0.0;
+ private double m_baro = 0.0;
+ private double m_temp = 0.0;
+
+ /* IMU gyro offset variables */
+ private double m_gyro_rate_offset_x = 0.0;
+ private double m_gyro_rate_offset_y = 0.0;
+ private double m_gyro_rate_offset_z = 0.0;
+ private int m_avg_size = 0;
+ private int m_accum_count = 0;
+
+ /* Integrated gyro angle variables */
+ private double m_integ_gyro_angle_x = 0.0;
+ private double m_integ_gyro_angle_y = 0.0;
+ private double m_integ_gyro_angle_z = 0.0;
+
+ /* Complementary filter variables */
+ private double m_dt = 0.0;
+ private double m_alpha = 0.0;
+ private double m_tau = 1.0;
+ private double m_compAngleX = 0.0;
+ private double m_compAngleY = 0.0;
+ private double m_accelAngleX = 0.0;
+ private double m_accelAngleY = 0.0;
+
+ /* State variables */
+ private volatile boolean m_thread_active = false;
+ private CalibrationTime m_calibration_time = CalibrationTime._32ms;
+ private volatile boolean m_first_run = true;
+ private volatile boolean m_thread_idle = false;
+ private boolean m_auto_configured = false;
+ private boolean m_start_up_mode = true;
+
+ /* Resources */
+ private SPI m_spi;
+ private SPI.Port m_spi_port;
+ private DigitalInput m_auto_interrupt;
+ private DigitalOutput m_reset_out;
+ private DigitalInput m_reset_in;
+ private DigitalOutput m_status_led;
+ private Thread m_acquire_task;
+
+ private SimDevice m_simDevice;
+ private SimDouble m_simGyroAngleX;
+ private SimDouble m_simGyroAngleY;
+ private SimDouble m_simGyroAngleZ;
+ private SimDouble m_simGyroRateX;
+ private SimDouble m_simGyroRateY;
+ private SimDouble m_simGyroRateZ;
+ private SimDouble m_simAccelX;
+ private SimDouble m_simAccelY;
+ private SimDouble m_simAccelZ;
+
+ /* CRC-16 Look-Up Table */
+ int adiscrc[] =
+ new int[] {
+ 0x0000, 0x17CE, 0x0FDF, 0x1811, 0x1FBE, 0x0870, 0x1061, 0x07AF,
+ 0x1F3F, 0x08F1, 0x10E0, 0x072E, 0x0081, 0x174F, 0x0F5E, 0x1890,
+ 0x1E3D, 0x09F3, 0x11E2, 0x062C, 0x0183, 0x164D, 0x0E5C, 0x1992,
+ 0x0102, 0x16CC, 0x0EDD, 0x1913, 0x1EBC, 0x0972, 0x1163, 0x06AD,
+ 0x1C39, 0x0BF7, 0x13E6, 0x0428, 0x0387, 0x1449, 0x0C58, 0x1B96,
+ 0x0306, 0x14C8, 0x0CD9, 0x1B17, 0x1CB8, 0x0B76, 0x1367, 0x04A9,
+ 0x0204, 0x15CA, 0x0DDB, 0x1A15, 0x1DBA, 0x0A74, 0x1265, 0x05AB,
+ 0x1D3B, 0x0AF5, 0x12E4, 0x052A, 0x0285, 0x154B, 0x0D5A, 0x1A94,
+ 0x1831, 0x0FFF, 0x17EE, 0x0020, 0x078F, 0x1041, 0x0850, 0x1F9E,
+ 0x070E, 0x10C0, 0x08D1, 0x1F1F, 0x18B0, 0x0F7E, 0x176F, 0x00A1,
+ 0x060C, 0x11C2, 0x09D3, 0x1E1D, 0x19B2, 0x0E7C, 0x166D, 0x01A3,
+ 0x1933, 0x0EFD, 0x16EC, 0x0122, 0x068D, 0x1143, 0x0952, 0x1E9C,
+ 0x0408, 0x13C6, 0x0BD7, 0x1C19, 0x1BB6, 0x0C78, 0x1469, 0x03A7,
+ 0x1B37, 0x0CF9, 0x14E8, 0x0326, 0x0489, 0x1347, 0x0B56, 0x1C98,
+ 0x1A35, 0x0DFB, 0x15EA, 0x0224, 0x058B, 0x1245, 0x0A54, 0x1D9A,
+ 0x050A, 0x12C4, 0x0AD5, 0x1D1B, 0x1AB4, 0x0D7A, 0x156B, 0x02A5,
+ 0x1021, 0x07EF, 0x1FFE, 0x0830, 0x0F9F, 0x1851, 0x0040, 0x178E,
+ 0x0F1E, 0x18D0, 0x00C1, 0x170F, 0x10A0, 0x076E, 0x1F7F, 0x08B1,
+ 0x0E1C, 0x19D2, 0x01C3, 0x160D, 0x11A2, 0x066C, 0x1E7D, 0x09B3,
+ 0x1123, 0x06ED, 0x1EFC, 0x0932, 0x0E9D, 0x1953, 0x0142, 0x168C,
+ 0x0C18, 0x1BD6, 0x03C7, 0x1409, 0x13A6, 0x0468, 0x1C79, 0x0BB7,
+ 0x1327, 0x04E9, 0x1CF8, 0x0B36, 0x0C99, 0x1B57, 0x0346, 0x1488,
+ 0x1225, 0x05EB, 0x1DFA, 0x0A34, 0x0D9B, 0x1A55, 0x0244, 0x158A,
+ 0x0D1A, 0x1AD4, 0x02C5, 0x150B, 0x12A4, 0x056A, 0x1D7B, 0x0AB5,
+ 0x0810, 0x1FDE, 0x07CF, 0x1001, 0x17AE, 0x0060, 0x1871, 0x0FBF,
+ 0x172F, 0x00E1, 0x18F0, 0x0F3E, 0x0891, 0x1F5F, 0x074E, 0x1080,
+ 0x162D, 0x01E3, 0x19F2, 0x0E3C, 0x0993, 0x1E5D, 0x064C, 0x1182,
+ 0x0912, 0x1EDC, 0x06CD, 0x1103, 0x16AC, 0x0162, 0x1973, 0x0EBD,
+ 0x1429, 0x03E7, 0x1BF6, 0x0C38, 0x0B97, 0x1C59, 0x0448, 0x1386,
+ 0x0B16, 0x1CD8, 0x04C9, 0x1307, 0x14A8, 0x0366, 0x1B77, 0x0CB9,
+ 0x0A14, 0x1DDA, 0x05CB, 0x1205, 0x15AA, 0x0264, 0x1A75, 0x0DBB,
+ 0x152B, 0x02E5, 0x1AF4, 0x0D3A, 0x0A95, 0x1D5B, 0x054A, 0x1284
+ };
+
+ private static class AcquireTask implements Runnable {
+ private final ADIS16448_IMU imu;
+
+ public AcquireTask(final ADIS16448_IMU imu) {
+ this.imu = imu;
+ }
+
+ @Override
+ public void run() {
+ imu.acquire();
+ }
+ }
+
+ public ADIS16448_IMU() {
+ this(IMUAxis.kZ, SPI.Port.kMXP, CalibrationTime._512ms);
+ }
+
+ /**
+ * @param yaw_axis The axis that measures the yaw
+ * @param port The SPI Port the gyro is plugged into
+ * @param cal_time Calibration time
+ */
+ public ADIS16448_IMU(final IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_time) {
+ m_yaw_axis = yaw_axis;
+ m_spi_port = port;
+
+ m_acquire_task = new Thread(new AcquireTask(this));
+
+ m_simDevice = SimDevice.create("Gyro:ADIS16448", port.value);
+ if (m_simDevice != null) {
+ m_simGyroAngleX = m_simDevice.createDouble("gyro_angle_x", SimDevice.Direction.kInput, 0.0);
+ m_simGyroAngleY = m_simDevice.createDouble("gyro_angle_y", SimDevice.Direction.kInput, 0.0);
+ m_simGyroAngleZ = m_simDevice.createDouble("gyro_angle_z", SimDevice.Direction.kInput, 0.0);
+ m_simGyroRateX = m_simDevice.createDouble("gyro_rate_x", SimDevice.Direction.kInput, 0.0);
+ m_simGyroRateY = m_simDevice.createDouble("gyro_rate_y", SimDevice.Direction.kInput, 0.0);
+ m_simGyroRateZ = m_simDevice.createDouble("gyro_rate_z", SimDevice.Direction.kInput, 0.0);
+ m_simAccelX = m_simDevice.createDouble("accel_x", SimDevice.Direction.kInput, 0.0);
+ m_simAccelY = m_simDevice.createDouble("accel_y", SimDevice.Direction.kInput, 0.0);
+ m_simAccelZ = m_simDevice.createDouble("accel_z", SimDevice.Direction.kInput, 0.0);
+ }
+
+ if (m_simDevice == null) {
+ // Force the IMU reset pin to toggle on startup (doesn't require DS enable)
+ m_reset_out = new DigitalOutput(18); // Drive MXP DIO8 low
+ Timer.delay(0.01); // Wait 10ms
+ m_reset_out.close();
+ m_reset_in = new DigitalInput(18); // Set MXP DIO8 high
+ Timer.delay(0.25); // Wait 250ms
+
+ configCalTime(cal_time);
+
+ if (!switchToStandardSPI()) {
+ return;
+ }
+
+ // Set IMU internal decimation to 819.2 SPS
+ writeRegister(SMPL_PRD, 0x0001);
+ // Enable Data Ready (LOW = Good Data) on DIO1 (PWM0 on MXP)
+ writeRegister(MSC_CTRL, 0x0016);
+ // Disable IMU internal Bartlett filter
+ writeRegister(SENS_AVG, 0x0400);
+ // Clear offset registers
+ writeRegister(XGYRO_OFF, 0x0000);
+ writeRegister(YGYRO_OFF, 0x0000);
+ writeRegister(ZGYRO_OFF, 0x0000);
+
+ // Configure standard SPI
+ if (!switchToAutoSPI()) {
+ return;
+ }
+ // Notify DS that IMU calibration delay is active
+ DriverStation.reportWarning(
+ "ADIS16448 IMU Detected. Starting initial calibration delay.", false);
+ // Wait for whatever time the user set as the start-up delay
+ try {
+ Thread.sleep((long) (m_calibration_time.value * 1.2 * 1000));
+ } catch (InterruptedException e) {
+ }
+ // Execute calibration routine
+ calibrate();
+ // Reset accumulated offsets
+ reset();
+ // Tell the acquire loop that we're done starting up
+ m_start_up_mode = false;
+ // Let the user know the IMU was initiallized successfully
+ DriverStation.reportWarning("ADIS16448 IMU Successfully Initialized!", false);
+ // Drive MXP PWM5 (IMU ready LED) low (active low)
+ m_status_led = new DigitalOutput(19);
+ }
+
+ // Report usage and post data to DS
+ HAL.report(tResourceType.kResourceType_ADIS16448, 0);
+ }
+
+ /** */
+ private static int toUShort(byte[] buf) {
+ return (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF) << 0));
+ }
+
+ private static int toUByte(int... buf) {
+ return (buf[0] & 0xFF);
+ }
+
+ public static int toUShort(int... buf) {
+ return (((buf[0] & 0xFF) << 8) + (buf[1] & 0xFF));
+ }
+
+ /** */
+ private static long toULong(int sint) {
+ return sint & 0x00000000FFFFFFFFL;
+ }
+
+ /** */
+ private static int toShort(int... buf) {
+ return (short) (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF) << 0));
+ }
+
+ /** */
+ private static int toInt(int... buf) {
+ return (int)
+ ((buf[0] & 0xFF) << 24 | (buf[1] & 0xFF) << 16 | (buf[2] & 0xFF) << 8 | (buf[3] & 0xFF));
+ }
+
+ /** */
+ private boolean switchToStandardSPI() {
+ // Check to see whether the acquire thread is active. If so, wait for it to stop
+ // producing data.
+ if (m_thread_active) {
+ m_thread_active = false;
+ while (!m_thread_idle) {
+ try {
+ Thread.sleep(10);
+ } catch (InterruptedException e) {
+ }
+ }
+ System.out.println("Paused the IMU processing thread successfully!");
+ // Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
+ if (m_spi != null && m_auto_configured) {
+ m_spi.stopAuto();
+ // We need to get rid of all the garbage left in the auto SPI buffer after
+ // stopping it.
+ // Sometimes data magically reappears, so we have to check the buffer size a
+ // couple of times
+ // to be sure we got it all. Yuck.
+ int[] trashBuffer = new int[200];
+ try {
+ Thread.sleep(100);
+ } catch (InterruptedException e) {
+ }
+ int data_count = m_spi.readAutoReceivedData(trashBuffer, 0, 0);
+ while (data_count > 0) {
+ /* Dequeue 200 at a time, or the remainder of the buffer if less than 200 */
+ m_spi.readAutoReceivedData(trashBuffer, Math.min(200, data_count), 0);
+ /* Update remaining buffer count */
+ data_count = m_spi.readAutoReceivedData(trashBuffer, 0, 0);
+ }
+ System.out.println("Paused auto SPI successfully.");
+ }
+ }
+ // There doesn't seem to be a SPI port active. Let's try to set one up
+ if (m_spi == null) {
+ System.out.println("Setting up a new SPI port.");
+ m_spi = new SPI(m_spi_port);
+ m_spi.setClockRate(1000000);
+ m_spi.setMSBFirst();
+ m_spi.setSampleDataOnTrailingEdge();
+ m_spi.setClockActiveLow();
+ m_spi.setChipSelectActiveLow();
+ readRegister(PROD_ID); // Dummy read
+
+ // Validate the product ID
+ if (readRegister(PROD_ID) != 16448) {
+ DriverStation.reportError("Could not find ADIS16448", false);
+ close();
+ return false;
+ }
+ return true;
+ } else {
+ // Maybe the SPI port is active, but not in auto SPI mode? Try to read the
+ // product ID.
+ readRegister(PROD_ID); // dummy read
+ if (readRegister(PROD_ID) != 16448) {
+ DriverStation.reportError("Could not find an ADIS16448", false);
+ close();
+ return false;
+ } else {
+ return true;
+ }
+ }
+ }
+
+ /** */
+ boolean switchToAutoSPI() {
+ // No SPI port has been set up. Go set one up first.
+ if (m_spi == null) {
+ if (!switchToStandardSPI()) {
+ DriverStation.reportError("Failed to start/restart auto SPI", false);
+ return false;
+ }
+ }
+ // Only set up the interrupt if needed.
+ if (m_auto_interrupt == null) {
+ m_auto_interrupt = new DigitalInput(10); // MXP DIO0
+ }
+ // The auto SPI controller gets angry if you try to set up two instances on one
+ // bus.
+ if (!m_auto_configured) {
+ m_spi.initAuto(8200);
+ m_auto_configured = true;
+ }
+ // Set auto SPI packet data and size
+ m_spi.setAutoTransmitData(new byte[] {GLOB_CMD}, 27);
+ // Configure auto stall time
+ m_spi.configureAutoStall(100, 1000, 255);
+ // Kick off auto SPI (Note: Device configration impossible after auto SPI is
+ // activated)
+ m_spi.startAutoTrigger(m_auto_interrupt, true, false);
+
+ // Check to see if the acquire thread is running. If not, kick one off.
+ if (!m_acquire_task.isAlive()) {
+ m_first_run = true;
+ m_thread_active = true;
+ m_acquire_task.start();
+ System.out.println("New IMU Processing thread activated!");
+ } else {
+ // The thread was running, re-init run variables and start it up again.
+ m_first_run = true;
+ m_thread_active = true;
+ System.out.println("Old IMU Processing thread re-activated!");
+ }
+ // Looks like the thread didn't start for some reason. Abort.
+ if (!m_acquire_task.isAlive()) {
+ DriverStation.reportError("Failed to start/restart the acquire() thread.", false);
+ close();
+ return false;
+ }
+ return true;
+ }
+
+ public int configDecRate(int m_decRate) {
+ int writeValue = m_decRate;
+ int readbackValue;
+ if (!switchToStandardSPI()) {
+ DriverStation.reportError("Failed to configure/reconfigure standard SPI.", false);
+ return 2;
+ }
+
+ /* Check max */
+ if (m_decRate > 9) {
+ DriverStation.reportError(
+ "Attemted to write an invalid decimation value. Capping at 9", false);
+ m_decRate = 9;
+ }
+ if (m_decRate < 0) {
+ DriverStation.reportError(
+ "Attemted to write an invalid decimation value. Capping at 0", false);
+ m_decRate = 0;
+ }
+
+ /* Shift decimation setting to correct position and select internal sync */
+ writeValue = (m_decRate << 8) | 0x1;
+
+ /* Apply to IMU */
+ writeRegister(SMPL_PRD, writeValue);
+
+ /* Perform read back to verify write */
+ readbackValue = readRegister(SMPL_PRD);
+
+ /* Throw error for invalid write */
+ if (readbackValue != writeValue) {
+ DriverStation.reportError("ADIS16448 SMPL_PRD write failed.", false);
+ }
+
+ if (!switchToAutoSPI()) {
+ DriverStation.reportError("Failed to configure/reconfigure auto SPI.", false);
+ return 2;
+ }
+ return 0;
+ }
+
+ /**
+ * Configures calibration time
+ *
+ * @param new_cal_time New calibration time
+ * @return 1 if the new calibration time is the same as the current one else 0
+ */
+ public int configCalTime(CalibrationTime new_cal_time) {
+ if (m_calibration_time == new_cal_time) {
+ return 1;
+ } else {
+ m_calibration_time = new_cal_time;
+ m_avg_size = m_calibration_time.value * 819;
+ initOffsetBuffer(m_avg_size);
+ return 0;
+ }
+ }
+
+ private void initOffsetBuffer(int size) {
+ // Avoid exceptions in the case of bad arguments
+ if (size < 1) {
+ size = 1;
+ }
+ // Set average size to size (correct bad values)
+ m_avg_size = size;
+ synchronized (this) {
+ // Resize vector
+ m_offset_data_gyro_rate_x = new double[size];
+ m_offset_data_gyro_rate_y = new double[size];
+ m_offset_data_gyro_rate_z = new double[size];
+ // Set acculumate count to 0
+ m_accum_count = 0;
+ }
+ }
+
+ /**
+ * Calibrate the gyro. It's important to make sure that the robot is not moving while the
+ * calibration is in progress, this is typically done when the robot is first turned on while it's
+ * sitting at rest before the match starts.
+ */
+ public void calibrate() {
+ synchronized (this) {
+ int gyroAverageSize = Math.min(m_accum_count, m_avg_size);
+ double accum_gyro_rate_x = 0.0;
+ double accum_gyro_rate_y = 0.0;
+ double accum_gyro_rate_z = 0.0;
+ for (int i = 0; i < gyroAverageSize; i++) {
+ accum_gyro_rate_x += m_offset_data_gyro_rate_x[i];
+ accum_gyro_rate_y += m_offset_data_gyro_rate_y[i];
+ accum_gyro_rate_z += m_offset_data_gyro_rate_z[i];
+ }
+ m_gyro_rate_offset_x = accum_gyro_rate_x / gyroAverageSize;
+ m_gyro_rate_offset_y = accum_gyro_rate_y / gyroAverageSize;
+ m_gyro_rate_offset_z = accum_gyro_rate_z / gyroAverageSize;
+ m_integ_gyro_angle_x = 0.0;
+ m_integ_gyro_angle_y = 0.0;
+ m_integ_gyro_angle_z = 0.0;
+ // System.out.println("Avg Size: " + gyroAverageSize + "X Off: " +
+ // m_gyro_rate_offset_x + "Y Off: " + m_gyro_rate_offset_y + "Z Off: " +
+ // m_gyro_rate_offset_z);
+ }
+ }
+
+ /**
+ * Sets the yaw axis
+ *
+ * @param yaw_axis The new yaw axis to use
+ * @return 1 if the new yaw axis is the same as the current one else 0.
+ */
+ public int setYawAxis(IMUAxis yaw_axis) {
+ if (m_yaw_axis == yaw_axis) {
+ return 1;
+ }
+ m_yaw_axis = yaw_axis;
+ reset();
+ return 0;
+ }
+
+ private int readRegister(final int reg) {
+ // ByteBuffer buf = ByteBuffer.allocateDirect(2);
+ final byte[] buf = new byte[2];
+ // buf.order(ByteOrder.BIG_ENDIAN);
+ buf[0] = (byte) (reg & 0x7f);
+ buf[1] = (byte) 0;
+
+ m_spi.write(buf, 2);
+ m_spi.read(false, buf, 2);
+
+ return toUShort(buf);
+ }
+
+ private void writeRegister(final int reg, final int val) {
+ final byte[] buf = new byte[2];
+ // low byte
+ buf[0] = (byte) (0x80 | reg);
+ buf[1] = (byte) (val & 0xff);
+ m_spi.write(buf, 2);
+ // high byte
+ buf[0] = (byte) (0x81 | reg);
+ buf[1] = (byte) (val >> 8);
+ m_spi.write(buf, 2);
+ }
+
+ /** {@inheritDoc} */
+ public void reset() {
+ synchronized (this) {
+ m_integ_gyro_angle_x = 0.0;
+ m_integ_gyro_angle_y = 0.0;
+ m_integ_gyro_angle_z = 0.0;
+ }
+ }
+
+ /** Delete (free) the spi port used for the IMU. */
+ @Override
+ public void close() {
+ if (m_thread_active) {
+ m_thread_active = false;
+ try {
+ if (m_acquire_task != null) {
+ m_acquire_task.join();
+ m_acquire_task = null;
+ }
+ } catch (InterruptedException e) {
+ }
+ if (m_spi != null) {
+ if (m_auto_configured) {
+ m_spi.stopAuto();
+ }
+ m_spi.close();
+ m_auto_configured = false;
+ if (m_auto_interrupt != null) {
+ m_auto_interrupt.close();
+ m_auto_interrupt = null;
+ }
+ m_spi = null;
+ }
+ }
+ System.out.println("Finished cleaning up after the IMU driver.");
+ }
+
+ /** */
+ private void acquire() {
+ // Set data packet length
+ final int dataset_len = 29; // 18 data points + timestamp
+ final int BUFFER_SIZE = 4000;
+
+ // Set up buffers and variables
+ int[] buffer = new int[BUFFER_SIZE];
+ int data_count = 0;
+ int data_remainder = 0;
+ int data_to_read = 0;
+ int bufferAvgIndex = 0;
+ double previous_timestamp = 0.0;
+ double delta_angle = 0.0;
+ double gyro_rate_x = 0.0;
+ double gyro_rate_y = 0.0;
+ double gyro_rate_z = 0.0;
+ double accel_x = 0.0;
+ double accel_y = 0.0;
+ double accel_z = 0.0;
+ double mag_x = 0.0;
+ double mag_y = 0.0;
+ double mag_z = 0.0;
+ double baro = 0.0;
+ double temp = 0.0;
+ double gyro_rate_x_si = 0.0;
+ double gyro_rate_y_si = 0.0;
+ double gyro_rate_z_si = 0.0;
+ double accel_x_si = 0.0;
+ double accel_y_si = 0.0;
+ double accel_z_si = 0.0;
+ double compAngleX = 0.0;
+ double compAngleY = 0.0;
+ double accelAngleX = 0.0;
+ double accelAngleY = 0.0;
+
+ while (true) {
+ // Sleep loop for 5ms
+ try {
+ Thread.sleep(5);
+ } catch (InterruptedException e) {
+ }
+
+ if (m_thread_active) {
+ m_thread_idle = false;
+
+ data_count =
+ m_spi.readAutoReceivedData(
+ buffer, 0, 0); // Read number of bytes currently stored in the buffer
+ data_remainder =
+ data_count % dataset_len; // Check if frame is incomplete. Add 1 because of timestamp
+ data_to_read = data_count - data_remainder; // Remove incomplete data from read count
+ if (data_to_read > BUFFER_SIZE) {
+ DriverStation.reportWarning(
+ "ADIS16448 data processing thread overrun has occurred!", false);
+ data_to_read = BUFFER_SIZE - (BUFFER_SIZE % dataset_len);
+ }
+ m_spi.readAutoReceivedData(
+ buffer, data_to_read, 0); // Read data from DMA buffer (only complete sets)
+
+ // Could be multiple data sets in the buffer. Handle each one.
+ for (int i = 0; i < data_to_read; i += dataset_len) {
+ // Calculate CRC-16 on each data packet
+ int calc_crc = 0x0000FFFF; // Starting word
+ int read_byte = 0;
+ int imu_crc = 0;
+ for (int k = 5;
+ k < 27;
+ k += 2) { // Cycle through XYZ GYRO, XYZ ACCEL, XYZ MAG, BARO, TEMP (Ignore Status &
+ // CRC)
+ read_byte = buffer[i + k + 1]; // Process LSB
+ calc_crc = (calc_crc >>> 8) ^ adiscrc[(calc_crc & 0x000000FF) ^ read_byte];
+ read_byte = buffer[i + k]; // Process MSB
+ calc_crc = (calc_crc >>> 8) ^ adiscrc[(calc_crc & 0x000000FF) ^ read_byte];
+ }
+ calc_crc = ~calc_crc & 0xFFFF; // Complement
+ calc_crc = ((calc_crc << 8) | (calc_crc >> 8)) & 0xFFFF; // Flip LSB & MSB
+ imu_crc = toUShort(buffer[i + 27], buffer[i + 28]); // Extract DUT CRC from data buffer
+
+ if (calc_crc == imu_crc) {
+ // Timestamp is at buffer[i]
+ m_dt = ((double) buffer[i] - previous_timestamp) / 1000000.0;
+
+ // Scale sensor data
+ gyro_rate_x = (toShort(buffer[i + 5], buffer[i + 6]) * 0.04);
+ gyro_rate_y = (toShort(buffer[i + 7], buffer[i + 8]) * 0.04);
+ gyro_rate_z = (toShort(buffer[i + 9], buffer[i + 10]) * 0.04);
+ accel_x = (toShort(buffer[i + 11], buffer[i + 12]) * 0.833);
+ accel_y = (toShort(buffer[i + 13], buffer[i + 14]) * 0.833);
+ accel_z = (toShort(buffer[i + 15], buffer[i + 16]) * 0.833);
+ mag_x = (toShort(buffer[i + 17], buffer[i + 18]) * 0.1429);
+ mag_y = (toShort(buffer[i + 19], buffer[i + 20]) * 0.1429);
+ mag_z = (toShort(buffer[i + 21], buffer[i + 22]) * 0.1429);
+ baro = (toShort(buffer[i + 23], buffer[i + 24]) * 0.02);
+ temp = (toShort(buffer[i + 25], buffer[i + 26]) * 0.07386 + 31.0);
+
+ // Convert scaled sensor data to SI units (for tilt calculations)
+ // TODO: Should the unit outputs be selectable?
+ gyro_rate_x_si = gyro_rate_x * deg_to_rad;
+ gyro_rate_y_si = gyro_rate_y * deg_to_rad;
+ gyro_rate_z_si = gyro_rate_z * deg_to_rad;
+ accel_x_si = accel_x * grav;
+ accel_y_si = accel_y * grav;
+ accel_z_si = accel_z * grav;
+ // Store timestamp for next iteration
+ previous_timestamp = buffer[i];
+ // Calculate alpha for use with the complementary filter
+ m_alpha = m_tau / (m_tau + m_dt);
+ // Calculate complementary filter
+ if (m_first_run) {
+ // Set up inclinometer calculations for first run
+ accelAngleX =
+ Math.atan2(
+ -accel_x_si,
+ Math.sqrt((accel_y_si * accel_y_si) + (-accel_z_si * -accel_z_si)));
+ accelAngleY =
+ Math.atan2(
+ accel_y_si,
+ Math.sqrt((-accel_x_si * -accel_x_si) + (-accel_z_si * -accel_z_si)));
+ compAngleX = accelAngleX;
+ compAngleY = accelAngleY;
+ } else {
+ // Run inclinometer calculations
+ accelAngleX =
+ Math.atan2(
+ -accel_x_si,
+ Math.sqrt((accel_y_si * accel_y_si) + (-accel_z_si * -accel_z_si)));
+ accelAngleY =
+ Math.atan2(
+ accel_y_si,
+ Math.sqrt((-accel_x_si * -accel_x_si) + (-accel_z_si * -accel_z_si)));
+ accelAngleX = formatAccelRange(accelAngleX, -accel_z_si);
+ accelAngleY = formatAccelRange(accelAngleY, -accel_z_si);
+ compAngleX = compFilterProcess(compAngleX, accelAngleX, -gyro_rate_y_si);
+ compAngleY = compFilterProcess(compAngleY, accelAngleY, -gyro_rate_x_si);
+ }
+
+ // Update global variables and state
+ synchronized (this) {
+ // Ignore first, integrated sample
+ if (m_first_run) {
+ m_integ_gyro_angle_x = 0.0;
+ m_integ_gyro_angle_y = 0.0;
+ m_integ_gyro_angle_z = 0.0;
+ } else {
+ // Accumulate gyro for offset calibration
+ // Add to buffer
+ bufferAvgIndex = m_accum_count % m_avg_size;
+ m_offset_data_gyro_rate_x[bufferAvgIndex] = gyro_rate_x;
+ m_offset_data_gyro_rate_y[bufferAvgIndex] = gyro_rate_y;
+ m_offset_data_gyro_rate_z[bufferAvgIndex] = gyro_rate_z;
+ // Increment counter
+ m_accum_count++;
+ }
+ if (!m_start_up_mode) {
+ m_gyro_rate_x = gyro_rate_x;
+ m_gyro_rate_y = gyro_rate_y;
+ m_gyro_rate_z = gyro_rate_z;
+ m_accel_x = accel_x;
+ m_accel_y = accel_y;
+ m_accel_z = accel_z;
+ m_mag_x = mag_x;
+ m_mag_y = mag_y;
+ m_mag_z = mag_z;
+ m_baro = baro;
+ m_temp = temp;
+ m_compAngleX = compAngleX * rad_to_deg;
+ m_compAngleY = compAngleY * rad_to_deg;
+ m_accelAngleX = accelAngleX * rad_to_deg;
+ m_accelAngleY = accelAngleY * rad_to_deg;
+ // Accumulate gyro for angle integration and publish to global variables
+ m_integ_gyro_angle_x += (gyro_rate_x - m_gyro_rate_offset_x) * m_dt;
+ m_integ_gyro_angle_y += (gyro_rate_y - m_gyro_rate_offset_y) * m_dt;
+ m_integ_gyro_angle_z += (gyro_rate_z - m_gyro_rate_offset_z) * m_dt;
+ }
+ // System.out.println("Good CRC");
+ }
+ m_first_run = false;
+ } else {
+ // System.out.println("Bad CRC");
+ /*
+ * System.out.println("Calc CRC: " + calc_crc);
+ * System.out.println("IMU CRC: " + imu_crc);
+ * System.out.println(
+ * buffer[i] + " " +
+ * (buffer[i + 1]) + " " + (buffer[i + 2]) + " " +
+ * (buffer[i + 3]) + " " + (buffer[i + 4]) + " " +
+ * (buffer[i + 5]) + " " + (buffer[i + 6]) + " " +
+ * (buffer[i + 7]) + " " + (buffer[i + 8]) + " " +
+ * (buffer[i + 9]) + " " + (buffer[i + 10]) + " " +
+ * (buffer[i + 11]) + " " + (buffer[i + 12]) + " " +
+ * (buffer[i + 13]) + " " + (buffer[i + 14]) + " " +
+ * (buffer[i + 15]) + " " + (buffer[i + 16]) + " " +
+ * (buffer[i + 17]) + " " + (buffer[i + 18]) + " " +
+ * (buffer[i + 19]) + " " + (buffer[i + 20]) + " " +
+ * (buffer[i + 21]) + " " + (buffer[i + 22]) + " " +
+ * (buffer[i + 23]) + " " + (buffer[i + 24]) + " " +
+ * (buffer[i + 25]) + " " + (buffer[i + 26]) + " " +
+ * (buffer[i + 27]) + " " + (buffer[i + 28]));
+ */
+ }
+ }
+ } else {
+ m_thread_idle = true;
+ data_count = 0;
+ data_remainder = 0;
+ data_to_read = 0;
+ previous_timestamp = 0.0;
+ delta_angle = 0.0;
+ gyro_rate_x = 0.0;
+ gyro_rate_y = 0.0;
+ gyro_rate_z = 0.0;
+ accel_x = 0.0;
+ accel_y = 0.0;
+ accel_z = 0.0;
+ mag_x = 0.0;
+ mag_y = 0.0;
+ mag_z = 0.0;
+ baro = 0.0;
+ temp = 0.0;
+ gyro_rate_x_si = 0.0;
+ gyro_rate_y_si = 0.0;
+ gyro_rate_z_si = 0.0;
+ accel_x_si = 0.0;
+ accel_y_si = 0.0;
+ accel_z_si = 0.0;
+ compAngleX = 0.0;
+ compAngleY = 0.0;
+ accelAngleX = 0.0;
+ accelAngleY = 0.0;
+ }
+ }
+ }
+
+ /**
+ * @param compAngle
+ * @param accAngle
+ * @return
+ */
+ private double formatFastConverge(double compAngle, double accAngle) {
+ if (compAngle > accAngle + Math.PI) {
+ compAngle = compAngle - 2.0 * Math.PI;
+ } else if (accAngle > compAngle + Math.PI) {
+ compAngle = compAngle + 2.0 * Math.PI;
+ }
+ return compAngle;
+ }
+
+ /**
+ * @param compAngle
+ * @return
+ */
+ private double formatRange0to2PI(double compAngle) {
+ while (compAngle >= 2 * Math.PI) {
+ compAngle = compAngle - 2.0 * Math.PI;
+ }
+ while (compAngle < 0.0) {
+ compAngle = compAngle + 2.0 * Math.PI;
+ }
+ return compAngle;
+ }
+
+ /**
+ * @param accelAngle
+ * @param accelZ
+ * @return
+ */
+ private double formatAccelRange(double accelAngle, double accelZ) {
+ if (accelZ < 0.0) {
+ accelAngle = Math.PI - accelAngle;
+ } else if (accelZ > 0.0 && accelAngle < 0.0) {
+ accelAngle = 2.0 * Math.PI + accelAngle;
+ }
+ return accelAngle;
+ }
+
+ /**
+ * @param compAngle
+ * @param accelAngle
+ * @param omega
+ * @return
+ */
+ private double compFilterProcess(double compAngle, double accelAngle, double omega) {
+ compAngle = formatFastConverge(compAngle, accelAngle);
+ compAngle = m_alpha * (compAngle + omega * m_dt) + (1.0 - m_alpha) * accelAngle;
+ compAngle = formatRange0to2PI(compAngle);
+ if (compAngle > Math.PI) {
+ compAngle = compAngle - 2.0 * Math.PI;
+ }
+ return compAngle;
+ }
+
+ /** @return Yaw axis angle in degrees (CCW positive) */
+ public synchronized double getAngle() {
+ switch (m_yaw_axis) {
+ case kX:
+ return getGyroAngleX();
+ case kY:
+ return getGyroAngleY();
+ case kZ:
+ return getGyroAngleZ();
+ default:
+ return 0.0;
+ }
+ }
+
+ /** @return Yaw axis angular rate in degrees per second (CCW positive) */
+ public synchronized double getRate() {
+ switch (m_yaw_axis) {
+ case kX:
+ return getGyroRateX();
+ case kY:
+ return getGyroRateY();
+ case kZ:
+ return getGyroRateZ();
+ default:
+ return 0.0;
+ }
+ }
+
+ /** @return Yaw Axis */
+ public IMUAxis getYawAxis() {
+ return m_yaw_axis;
+ }
+
+ /** @return accumulated gyro angle in the X axis in degrees */
+ public synchronized double getGyroAngleX() {
+ if (m_simGyroAngleX != null) {
+ return m_simGyroAngleX.get();
+ }
+ return m_integ_gyro_angle_x;
+ }
+
+ /** @return accumulated gyro angle in the Y axis in degrees */
+ public synchronized double getGyroAngleY() {
+ if (m_simGyroAngleY != null) {
+ return m_simGyroAngleY.get();
+ }
+ return m_integ_gyro_angle_y;
+ }
+
+ /** @return accumulated gyro angle in the Z axis in degrees */
+ public synchronized double getGyroAngleZ() {
+ if (m_simGyroAngleZ != null) {
+ return m_simGyroAngleZ.get();
+ }
+ return m_integ_gyro_angle_z;
+ }
+
+ /** @return gyro angular rate in the X axis in degrees per second */
+ public synchronized double getGyroRateX() {
+ if (m_simGyroRateX != null) {
+ return m_simGyroRateX.get();
+ }
+ return m_gyro_rate_x;
+ }
+
+ /** @return gyro angular rate in the Y axis in degrees per second */
+ public synchronized double getGyroRateY() {
+ if (m_simGyroRateY != null) {
+ return m_simGyroRateY.get();
+ }
+ return m_gyro_rate_y;
+ }
+
+ /** @return gyro angular rate in the Z axis in degrees per second */
+ public synchronized double getGyroRateZ() {
+ if (m_simGyroRateZ != null) {
+ return m_simGyroRateZ.get();
+ }
+ return m_gyro_rate_z;
+ }
+
+ /** @return urrent acceleration in the X axis in meters per second squared */
+ public synchronized double getAccelX() {
+ if (m_simAccelX != null) {
+ return m_simAccelX.get();
+ }
+ return m_accel_x * 9.81;
+ }
+
+ /** @return current acceleration in the Y axis in meters per second squared */
+ public synchronized double getAccelY() {
+ if (m_simAccelY != null) {
+ return m_simAccelY.get();
+ }
+ return m_accel_y * 9.81;
+ }
+
+ /** @return current acceleration in the Z axis in meters per second squared */
+ public synchronized double getAccelZ() {
+ if (m_simAccelZ != null) {
+ return m_simAccelZ.get();
+ }
+ return m_accel_z * 9.81;
+ }
+
+ /** @return Magnetic field strength in the X axis in Tesla */
+ public synchronized double getMagneticFieldX() {
+ // mG to T
+ return m_mag_x * 1e-7;
+ }
+
+ /** @return Magnetic field strength in the Y axis in Tesla */
+ public synchronized double getMagneticFieldY() {
+ // mG to T
+ return m_mag_y * 1e-7;
+ }
+
+ /** @return Magnetic field strength in the Z axis in Tesla */
+ public synchronized double getMagneticFieldZ() {
+ // mG to T
+ return m_mag_z * 1e-7;
+ }
+
+ /** @return X axis complementary angle in degrees */
+ public synchronized double getXComplementaryAngle() {
+ return m_compAngleX;
+ }
+
+ /** @return Y axis complementary angle in degrees */
+ public synchronized double getYComplementaryAngle() {
+ return m_compAngleY;
+ }
+
+ /** @return X axis filtered acceleration angle in degrees */
+ public synchronized double getXFilteredAccelAngle() {
+ return m_accelAngleX;
+ }
+
+ /** @return Y axis filtered acceleration angle in degrees */
+ public synchronized double getYFilteredAccelAngle() {
+ return m_accelAngleY;
+ }
+
+ /** @return Barometric Pressure in PSI */
+ public synchronized double getBarometricPressure() {
+ // mbar to PSI
+ return m_baro * 0.0145;
+ }
+
+ /** @return Temperature in degrees Celsius */
+ public synchronized double getTemperature() {
+ return m_temp;
+ }
+
+ /**
+ * Get the SPI port number.
+ *
+ * @return The SPI port number.
+ */
+ public int getPort() {
+ return m_spi_port.value;
+ }
+
+ @Override
+ public void initSendable(NTSendableBuilder builder) {
+ builder.setSmartDashboardType("Gyro");
+ builder.addDoubleProperty("Value", this::getAngle, null);
+ }
+}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
new file mode 100644
index 0000000..8bafa1a
--- /dev/null
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -0,0 +1,1019 @@
+// 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.
+
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+// import java.lang.FdLibm.Pow;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.networktables.NTSendable;
+import edu.wpi.first.networktables.NTSendableBuilder;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+
+// CHECKSTYLE.OFF: TypeName
+// CHECKSTYLE.OFF: MemberName
+// CHECKSTYLE.OFF: SummaryJavadoc
+// CHECKSTYLE.OFF: UnnecessaryParentheses
+// CHECKSTYLE.OFF: OverloadMethodsDeclarationOrder
+// CHECKSTYLE.OFF: NonEmptyAtclauseDescription
+// CHECKSTYLE.OFF: MissingOverride
+// CHECKSTYLE.OFF: AtclauseOrder
+// CHECKSTYLE.OFF: LocalVariableName
+// CHECKSTYLE.OFF: RedundantModifier
+// CHECKSTYLE.OFF: AbbreviationAsWordInName
+// CHECKSTYLE.OFF: ParameterName
+// CHECKSTYLE.OFF: EmptyCatchBlock
+// CHECKSTYLE.OFF: MissingJavadocMethod
+// CHECKSTYLE.OFF: MissingSwitchDefault
+// CHECKSTYLE.OFF: VariableDeclarationUsageDistance
+// CHECKSTYLE.OFF: ArrayTypeStyle
+
+/** This class is for the ADIS16470 IMU that connects to the RoboRIO SPI port. */
+@SuppressWarnings({
+ "unused",
+ "PMD.RedundantFieldInitializer",
+ "PMD.ImmutableField",
+ "PMD.SingularField",
+ "PMD.CollapsibleIfStatements",
+ "PMD.MissingOverride",
+ "PMD.EmptyIfStmt",
+ "PMD.EmptyStatementNotInLoop"
+})
+public class ADIS16470_IMU implements AutoCloseable, NTSendable {
+ /* ADIS16470 Register Map Declaration */
+ private static final int FLASH_CNT = 0x00; // Flash memory write count
+ private static final int DIAG_STAT = 0x02; // Diagnostic and operational status
+ private static final int X_GYRO_LOW = 0x04; // X-axis gyroscope output, lower word
+ private static final int X_GYRO_OUT = 0x06; // X-axis gyroscope output, upper word
+ private static final int Y_GYRO_LOW = 0x08; // Y-axis gyroscope output, lower word
+ private static final int Y_GYRO_OUT = 0x0A; // Y-axis gyroscope output, upper word
+ private static final int Z_GYRO_LOW = 0x0C; // Z-axis gyroscope output, lower word
+ private static final int Z_GYRO_OUT = 0x0E; // Z-axis gyroscope output, upper word
+ private static final int X_ACCL_LOW = 0x10; // X-axis accelerometer output, lower word
+ private static final int X_ACCL_OUT = 0x12; // X-axis accelerometer output, upper word
+ private static final int Y_ACCL_LOW = 0x14; // Y-axis accelerometer output, lower word
+ private static final int Y_ACCL_OUT = 0x16; // Y-axis accelerometer output, upper word
+ private static final int Z_ACCL_LOW = 0x18; // Z-axis accelerometer output, lower word
+ private static final int Z_ACCL_OUT = 0x1A; // Z-axis accelerometer output, upper word
+ private static final int TEMP_OUT = 0x1C; // Temperature output (internal, not calibrated)
+ private static final int TIME_STAMP = 0x1E; // PPS mode time stamp
+ private static final int X_DELTANG_LOW = 0x24; // X-axis delta angle output, lower word
+ private static final int X_DELTANG_OUT = 0x26; // X-axis delta angle output, upper word
+ private static final int Y_DELTANG_LOW = 0x28; // Y-axis delta angle output, lower word
+ private static final int Y_DELTANG_OUT = 0x2A; // Y-axis delta angle output, upper word
+ private static final int Z_DELTANG_LOW = 0x2C; // Z-axis delta angle output, lower word
+ private static final int Z_DELTANG_OUT = 0x2E; // Z-axis delta angle output, upper word
+ private static final int X_DELTVEL_LOW = 0x30; // X-axis delta velocity output, lower word
+ private static final int X_DELTVEL_OUT = 0x32; // X-axis delta velocity output, upper word
+ private static final int Y_DELTVEL_LOW = 0x34; // Y-axis delta velocity output, lower word
+ private static final int Y_DELTVEL_OUT = 0x36; // Y-axis delta velocity output, upper word
+ private static final int Z_DELTVEL_LOW = 0x38; // Z-axis delta velocity output, lower word
+ private static final int Z_DELTVEL_OUT = 0x3A; // Z-axis delta velocity output, upper word
+ private static final int XG_BIAS_LOW =
+ 0x40; // X-axis gyroscope bias offset correction, lower word
+ private static final int XG_BIAS_HIGH =
+ 0x42; // X-axis gyroscope bias offset correction, upper word
+ private static final int YG_BIAS_LOW =
+ 0x44; // Y-axis gyroscope bias offset correction, lower word
+ private static final int YG_BIAS_HIGH =
+ 0x46; // Y-axis gyroscope bias offset correction, upper word
+ private static final int ZG_BIAS_LOW =
+ 0x48; // Z-axis gyroscope bias offset correction, lower word
+ private static final int ZG_BIAS_HIGH =
+ 0x4A; // Z-axis gyroscope bias offset correction, upper word
+ private static final int XA_BIAS_LOW =
+ 0x4C; // X-axis accelerometer bias offset correction, lower word
+ private static final int XA_BIAS_HIGH =
+ 0x4E; // X-axis accelerometer bias offset correction, upper word
+ private static final int YA_BIAS_LOW =
+ 0x50; // Y-axis accelerometer bias offset correction, lower word
+ private static final int YA_BIAS_HIGH =
+ 0x52; // Y-axis accelerometer bias offset correction, upper word
+ private static final int ZA_BIAS_LOW =
+ 0x54; // Z-axis accelerometer bias offset correction, lower word
+ private static final int ZA_BIAS_HIGH =
+ 0x56; // Z-axis accelerometer bias offset correction, upper word
+ private static final int FILT_CTRL = 0x5C; // Filter control
+ private static final int MSC_CTRL = 0x60; // Miscellaneous control
+ private static final int UP_SCALE = 0x62; // Clock scale factor, PPS mode
+ private static final int DEC_RATE = 0x64; // Decimation rate control (output data rate)
+ private static final int NULL_CNFG = 0x66; // Auto-null configuration control
+ private static final int GLOB_CMD = 0x68; // Global commands
+ private static final int FIRM_REV = 0x6C; // Firmware revision
+ private static final int FIRM_DM = 0x6E; // Firmware revision date, month and day
+ private static final int FIRM_Y = 0x70; // Firmware revision date, year
+ private static final int PROD_ID = 0x72; // Product identification
+ private static final int SERIAL_NUM = 0x74; // Serial number (relative to assembly lot)
+ private static final int USER_SCR1 = 0x76; // User scratch register 1
+ private static final int USER_SCR2 = 0x78; // User scratch register 2
+ private static final int USER_SCR3 = 0x7A; // User scratch register 3
+ private static final int FLSHCNT_LOW = 0x7C; // Flash update count, lower word
+ private static final int FLSHCNT_HIGH = 0x7E; // Flash update count, upper word
+
+ private static final byte[] m_autospi_x_packet = {
+ X_DELTANG_OUT,
+ FLASH_CNT,
+ X_DELTANG_LOW,
+ FLASH_CNT,
+ X_GYRO_OUT,
+ FLASH_CNT,
+ Y_GYRO_OUT,
+ FLASH_CNT,
+ Z_GYRO_OUT,
+ FLASH_CNT,
+ X_ACCL_OUT,
+ FLASH_CNT,
+ Y_ACCL_OUT,
+ FLASH_CNT,
+ Z_ACCL_OUT,
+ FLASH_CNT
+ };
+
+ private static final byte[] m_autospi_y_packet = {
+ Y_DELTANG_OUT,
+ FLASH_CNT,
+ Y_DELTANG_LOW,
+ FLASH_CNT,
+ X_GYRO_OUT,
+ FLASH_CNT,
+ Y_GYRO_OUT,
+ FLASH_CNT,
+ Z_GYRO_OUT,
+ FLASH_CNT,
+ X_ACCL_OUT,
+ FLASH_CNT,
+ Y_ACCL_OUT,
+ FLASH_CNT,
+ Z_ACCL_OUT,
+ FLASH_CNT
+ };
+
+ private static final byte[] m_autospi_z_packet = {
+ Z_DELTANG_OUT,
+ FLASH_CNT,
+ Z_DELTANG_LOW,
+ FLASH_CNT,
+ X_GYRO_OUT,
+ FLASH_CNT,
+ Y_GYRO_OUT,
+ FLASH_CNT,
+ Z_GYRO_OUT,
+ FLASH_CNT,
+ X_ACCL_OUT,
+ FLASH_CNT,
+ Y_ACCL_OUT,
+ FLASH_CNT,
+ Z_ACCL_OUT,
+ FLASH_CNT
+ };
+
+ public enum CalibrationTime {
+ _32ms(0),
+ _64ms(1),
+ _128ms(2),
+ _256ms(3),
+ _512ms(4),
+ _1s(5),
+ _2s(6),
+ _4s(7),
+ _8s(8),
+ _16s(9),
+ _32s(10),
+ _64s(11);
+
+ private int value;
+
+ private CalibrationTime(int value) {
+ this.value = value;
+ }
+ }
+
+ public enum IMUAxis {
+ kX,
+ kY,
+ kZ
+ }
+
+ // Static Constants
+ private static final double delta_angle_sf = 2160.0 / 2147483648.0; /* 2160 / (2^31) */
+ private static final double rad_to_deg = 57.2957795;
+ private static final double deg_to_rad = 0.0174532;
+ private static final double grav = 9.81;
+
+ // User-specified yaw axis
+ private IMUAxis m_yaw_axis;
+
+ // Instant raw outputs
+ private double m_gyro_rate_x = 0.0;
+ private double m_gyro_rate_y = 0.0;
+ private double m_gyro_rate_z = 0.0;
+ private double m_accel_x = 0.0;
+ private double m_accel_y = 0.0;
+ private double m_accel_z = 0.0;
+
+ // Integrated gyro angle
+ private double m_integ_angle = 0.0;
+
+ // Complementary filter variables
+ private double m_dt = 0.0;
+ private double m_alpha = 0.0;
+ private double m_tau = 1.0;
+ private double m_compAngleX = 0.0;
+ private double m_compAngleY = 0.0;
+ private double m_accelAngleX = 0.0;
+ private double m_accelAngleY = 0.0;
+
+ // State variables
+ private volatile boolean m_thread_active = false;
+ private int m_calibration_time = 0;
+ private volatile boolean m_first_run = true;
+ private volatile boolean m_thread_idle = false;
+ private boolean m_auto_configured = false;
+ private double m_scaled_sample_rate = 2500.0;
+
+ // Resources
+ private SPI m_spi;
+ private SPI.Port m_spi_port;
+ private DigitalInput m_auto_interrupt;
+ private DigitalOutput m_reset_out;
+ private DigitalInput m_reset_in;
+ private DigitalOutput m_status_led;
+ private Thread m_acquire_task;
+
+ private SimDevice m_simDevice;
+ private SimDouble m_simGyroAngleX;
+ private SimDouble m_simGyroAngleY;
+ private SimDouble m_simGyroAngleZ;
+ private SimDouble m_simGyroRateX;
+ private SimDouble m_simGyroRateY;
+ private SimDouble m_simGyroRateZ;
+ private SimDouble m_simAccelX;
+ private SimDouble m_simAccelY;
+ private SimDouble m_simAccelZ;
+
+ private static class AcquireTask implements Runnable {
+ private ADIS16470_IMU imu;
+
+ public AcquireTask(ADIS16470_IMU imu) {
+ this.imu = imu;
+ }
+
+ @Override
+ public void run() {
+ imu.acquire();
+ }
+ }
+
+ public ADIS16470_IMU() {
+ this(IMUAxis.kZ, SPI.Port.kOnboardCS0, CalibrationTime._4s);
+ }
+
+ /**
+ * @param yaw_axis The axis that measures the yaw
+ * @param port The SPI Port the gyro is plugged into
+ * @param cal_time Calibration time
+ */
+ public ADIS16470_IMU(IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_time) {
+ m_yaw_axis = yaw_axis;
+ m_calibration_time = cal_time.value;
+ m_spi_port = port;
+
+ m_acquire_task = new Thread(new AcquireTask(this));
+
+ m_simDevice = SimDevice.create("Gyro:ADIS16470", port.value);
+ if (m_simDevice != null) {
+ m_simGyroAngleX = m_simDevice.createDouble("gyro_angle_x", SimDevice.Direction.kInput, 0.0);
+ m_simGyroAngleY = m_simDevice.createDouble("gyro_angle_y", SimDevice.Direction.kInput, 0.0);
+ m_simGyroAngleZ = m_simDevice.createDouble("gyro_angle_z", SimDevice.Direction.kInput, 0.0);
+ m_simGyroRateX = m_simDevice.createDouble("gyro_rate_x", SimDevice.Direction.kInput, 0.0);
+ m_simGyroRateY = m_simDevice.createDouble("gyro_rate_y", SimDevice.Direction.kInput, 0.0);
+ m_simGyroRateZ = m_simDevice.createDouble("gyro_rate_z", SimDevice.Direction.kInput, 0.0);
+ m_simAccelX = m_simDevice.createDouble("accel_x", SimDevice.Direction.kInput, 0.0);
+ m_simAccelY = m_simDevice.createDouble("accel_y", SimDevice.Direction.kInput, 0.0);
+ m_simAccelZ = m_simDevice.createDouble("accel_z", SimDevice.Direction.kInput, 0.0);
+ }
+
+ if (m_simDevice == null) {
+ // Force the IMU reset pin to toggle on startup (doesn't require DS enable)
+ // Relies on the RIO hardware by default configuring an output as low
+ // and configuring an input as high Z. The 10k pull-up resistor internal to the
+ // IMU then forces the reset line high for normal operation.
+ m_reset_out = new DigitalOutput(27); // Drive SPI CS2 (IMU RST) low
+ Timer.delay(0.01); // Wait 10ms
+ m_reset_out.close();
+ m_reset_in = new DigitalInput(27); // Set SPI CS2 (IMU RST) high
+ Timer.delay(0.25); // Wait 250ms for reset to complete
+
+ if (!switchToStandardSPI()) {
+ return;
+ }
+
+ // Set IMU internal decimation to 4 (output data rate of 2000 SPS / (4 + 1) =
+ // 400Hz)
+ writeRegister(DEC_RATE, 4);
+
+ // Set data ready polarity (HIGH = Good Data), Disable gSense Compensation and
+ // PoP
+ writeRegister(MSC_CTRL, 1);
+
+ // Configure IMU internal Bartlett filter
+ writeRegister(FILT_CTRL, 0);
+
+ // Configure continuous bias calibration time based on user setting
+ writeRegister(NULL_CNFG, (m_calibration_time | 0x0700));
+
+ // Notify DS that IMU calibration delay is active
+ DriverStation.reportWarning(
+ "ADIS16470 IMU Detected. Starting initial calibration delay.", false);
+
+ // Wait for samples to accumulate internal to the IMU (110% of user-defined
+ // time)
+ try {
+ Thread.sleep((long) (Math.pow(2.0, m_calibration_time) / 2000 * 64 * 1.1 * 1000));
+ } catch (InterruptedException e) {
+ }
+
+ // Write offset calibration command to IMU
+ writeRegister(GLOB_CMD, 0x0001);
+
+ // Configure and enable auto SPI
+ if (!switchToAutoSPI()) {
+ return;
+ }
+
+ // Let the user know the IMU was initiallized successfully
+ DriverStation.reportWarning("ADIS16470 IMU Successfully Initialized!", false);
+
+ // Drive "Ready" LED low
+ m_status_led = new DigitalOutput(28); // Set SPI CS3 (IMU Ready LED) low
+ }
+
+ // Report usage and post data to DS
+ HAL.report(tResourceType.kResourceType_ADIS16470, 0);
+ }
+
+ /**
+ * @param buf
+ * @return
+ */
+ private static int toUShort(ByteBuffer buf) {
+ return (buf.getShort(0)) & 0xFFFF;
+ }
+
+ /**
+ * @param sint
+ * @return
+ */
+ private static long toULong(int sint) {
+ return sint & 0x00000000FFFFFFFFL;
+ }
+
+ /**
+ * @param buf
+ * @return
+ */
+ private static int toShort(int... buf) {
+ return (short) (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF) << 0));
+ }
+
+ /**
+ * @param buf
+ * @return
+ */
+ private static int toInt(int... buf) {
+ return (int)
+ ((buf[0] & 0xFF) << 24 | (buf[1] & 0xFF) << 16 | (buf[2] & 0xFF) << 8 | (buf[3] & 0xFF));
+ }
+
+ /**
+ * Switch to standard SPI mode.
+ *
+ * @return
+ */
+ private boolean switchToStandardSPI() {
+ // Check to see whether the acquire thread is active. If so, wait for it to stop
+ // producing data.
+ if (m_thread_active) {
+ m_thread_active = false;
+ while (!m_thread_idle) {
+ try {
+ Thread.sleep(10);
+ } catch (InterruptedException e) {
+ }
+ }
+ System.out.println("Paused the IMU processing thread successfully!");
+ // Maybe we're in auto SPI mode? If so, kill auto SPI, and then SPI.
+ if (m_spi != null && m_auto_configured) {
+ m_spi.stopAuto();
+ // We need to get rid of all the garbage left in the auto SPI buffer after
+ // stopping it.
+ // Sometimes data magically reappears, so we have to check the buffer size a
+ // couple of times
+ // to be sure we got it all. Yuck.
+ int[] trashBuffer = new int[200];
+ try {
+ Thread.sleep(100);
+ } catch (InterruptedException e) {
+ }
+ int data_count = m_spi.readAutoReceivedData(trashBuffer, 0, 0);
+ while (data_count > 0) {
+ m_spi.readAutoReceivedData(trashBuffer, Math.min(data_count, 200), 0);
+ data_count = m_spi.readAutoReceivedData(trashBuffer, 0, 0);
+ }
+ System.out.println("Paused auto SPI successfully.");
+ }
+ }
+ // There doesn't seem to be a SPI port active. Let's try to set one up
+ if (m_spi == null) {
+ System.out.println("Setting up a new SPI port.");
+ m_spi = new SPI(m_spi_port);
+ m_spi.setClockRate(2000000);
+ m_spi.setMSBFirst();
+ m_spi.setSampleDataOnTrailingEdge();
+ m_spi.setClockActiveLow();
+ m_spi.setChipSelectActiveLow();
+ readRegister(PROD_ID); // Dummy read
+
+ // Validate the product ID
+ if (readRegister(PROD_ID) != 16982) {
+ DriverStation.reportError("Could not find ADIS16470", false);
+ close();
+ return false;
+ }
+ return true;
+ } else {
+ // Maybe the SPI port is active, but not in auto SPI mode? Try to read the
+ // product ID.
+ readRegister(PROD_ID); // dummy read
+ if (readRegister(PROD_ID) != 16982) {
+ DriverStation.reportError("Could not find an ADIS16470", false);
+ close();
+ return false;
+ } else {
+ return true;
+ }
+ }
+ }
+
+ /** @return */
+ boolean switchToAutoSPI() {
+ // No SPI port has been set up. Go set one up first.
+ if (m_spi == null) {
+ if (!switchToStandardSPI()) {
+ DriverStation.reportError("Failed to start/restart auto SPI", false);
+ return false;
+ }
+ }
+ // Only set up the interrupt if needed.
+ if (m_auto_interrupt == null) {
+ // Configure interrupt on SPI CS1
+ m_auto_interrupt = new DigitalInput(26);
+ }
+ // The auto SPI controller gets angry if you try to set up two instances on one
+ // bus.
+ if (!m_auto_configured) {
+ m_spi.initAuto(8200);
+ m_auto_configured = true;
+ }
+ // Do we need to change auto SPI settings?
+ switch (m_yaw_axis) {
+ case kX:
+ m_spi.setAutoTransmitData(m_autospi_x_packet, 2);
+ break;
+ case kY:
+ m_spi.setAutoTransmitData(m_autospi_y_packet, 2);
+ break;
+ default:
+ m_spi.setAutoTransmitData(m_autospi_z_packet, 2);
+ break;
+ }
+ // Configure auto stall time
+ m_spi.configureAutoStall(5, 1000, 1);
+ // Kick off auto SPI (Note: Device configration impossible after auto SPI is
+ // activated)
+ // DR High = Data good (data capture should be triggered on the rising edge)
+ m_spi.startAutoTrigger(m_auto_interrupt, true, false);
+
+ // Check to see if the acquire thread is running. If not, kick one off.
+ if (!m_acquire_task.isAlive()) {
+ m_first_run = true;
+ m_thread_active = true;
+ m_acquire_task.start();
+ System.out.println("Processing thread activated!");
+ } else {
+ // The thread was running, re-init run variables and start it up again.
+ m_first_run = true;
+ m_thread_active = true;
+ System.out.println("Processing thread activated!");
+ }
+ // Looks like the thread didn't start for some reason. Abort.
+ if (!m_acquire_task.isAlive()) {
+ DriverStation.reportError("Failed to start/restart the acquire() thread.", false);
+ close();
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * Configures calibration time
+ *
+ * @param new_cal_time New calibration time
+ * @return 1 if the new calibration time is the same as the current one else 0
+ */
+ public int configCalTime(CalibrationTime new_cal_time) {
+ if (m_calibration_time == new_cal_time.value) {
+ return 1;
+ }
+ if (!switchToStandardSPI()) {
+ DriverStation.reportError("Failed to configure/reconfigure standard SPI.", false);
+ return 2;
+ }
+ m_calibration_time = new_cal_time.value;
+ writeRegister(NULL_CNFG, (m_calibration_time | 0x700));
+ if (!switchToAutoSPI()) {
+ DriverStation.reportError("Failed to configure/reconfigure auto SPI.", false);
+ return 2;
+ }
+ return 0;
+ }
+
+ public int configDecRate(int reg) {
+ int m_reg = reg;
+ if (!switchToStandardSPI()) {
+ DriverStation.reportError("Failed to configure/reconfigure standard SPI.", false);
+ return 2;
+ }
+ if (m_reg > 1999) {
+ DriverStation.reportError("Attemted to write an invalid deimation value.", false);
+ m_reg = 1999;
+ }
+ m_scaled_sample_rate = (((m_reg + 1.0) / 2000.0) * 1000000.0);
+ writeRegister(DEC_RATE, m_reg);
+ System.out.println("Decimation register: " + readRegister(DEC_RATE));
+ if (!switchToAutoSPI()) {
+ DriverStation.reportError("Failed to configure/reconfigure auto SPI.", false);
+ return 2;
+ }
+ return 0;
+ }
+
+ /**
+ * Calibrate the gyro. It's important to make sure that the robot is not moving while the
+ * calibration is in progress, this is typically done when the robot is first turned on while it's
+ * sitting at rest before the match starts.
+ */
+ public void calibrate() {
+ if (!switchToStandardSPI()) {
+ DriverStation.reportError("Failed to configure/reconfigure standard SPI.", false);
+ }
+ writeRegister(GLOB_CMD, 0x0001);
+ if (!switchToAutoSPI()) {
+ DriverStation.reportError("Failed to configure/reconfigure auto SPI.", false);
+ }
+ ;
+ }
+
+ /**
+ * Sets the yaw axis
+ *
+ * @param yaw_axis The new yaw axis to use
+ * @return 1 if the new yaw axis is the same as the current one, 2 if the switch to Standard SPI
+ * failed, else 0.
+ */
+ public int setYawAxis(IMUAxis yaw_axis) {
+ if (m_yaw_axis == yaw_axis) {
+ return 1;
+ }
+ if (!switchToStandardSPI()) {
+ DriverStation.reportError("Failed to configure/reconfigure standard SPI.", false);
+ return 2;
+ }
+ m_yaw_axis = yaw_axis;
+ if (!switchToAutoSPI()) {
+ DriverStation.reportError("Failed to configure/reconfigure auto SPI.", false);
+ }
+ return 0;
+ }
+
+ /**
+ * @param reg
+ * @return
+ */
+ private int readRegister(int reg) {
+ ByteBuffer buf = ByteBuffer.allocateDirect(2);
+ buf.order(ByteOrder.BIG_ENDIAN);
+ buf.put(0, (byte) (reg & 0x7f));
+ buf.put(1, (byte) 0);
+
+ m_spi.write(buf, 2);
+ m_spi.read(false, buf, 2);
+
+ return toUShort(buf);
+ }
+
+ /**
+ * @param reg
+ * @param val
+ */
+ private void writeRegister(int reg, int val) {
+ ByteBuffer buf = ByteBuffer.allocateDirect(2);
+ // low byte
+ buf.put(0, (byte) ((0x80 | reg)));
+ buf.put(1, (byte) (val & 0xff));
+ m_spi.write(buf, 2);
+ // high byte
+ buf.put(0, (byte) (0x81 | reg));
+ buf.put(1, (byte) (val >> 8));
+ m_spi.write(buf, 2);
+ }
+
+ /** {@inheritDoc} */
+ public void reset() {
+ synchronized (this) {
+ m_integ_angle = 0.0;
+ }
+ }
+
+ /** Delete (free) the spi port used for the IMU. */
+ @Override
+ public void close() {
+ if (m_thread_active) {
+ m_thread_active = false;
+ try {
+ if (m_acquire_task != null) {
+ m_acquire_task.join();
+ m_acquire_task = null;
+ }
+ } catch (InterruptedException e) {
+ }
+ if (m_spi != null) {
+ if (m_auto_configured) {
+ m_spi.stopAuto();
+ }
+ m_spi.close();
+ m_auto_configured = false;
+ if (m_auto_interrupt != null) {
+ m_auto_interrupt.close();
+ m_auto_interrupt = null;
+ }
+ m_spi = null;
+ }
+ }
+ System.out.println("Finished cleaning up after the IMU driver.");
+ }
+
+ /** */
+ private void acquire() {
+ // Set data packet length
+ final int dataset_len = 19; // 18 data points + timestamp
+ final int BUFFER_SIZE = 4000;
+
+ // Set up buffers and variables
+ int[] buffer = new int[BUFFER_SIZE];
+ int data_count = 0;
+ int data_remainder = 0;
+ int data_to_read = 0;
+ double previous_timestamp = 0.0;
+ double delta_angle = 0.0;
+ double gyro_rate_x = 0.0;
+ double gyro_rate_y = 0.0;
+ double gyro_rate_z = 0.0;
+ double accel_x = 0.0;
+ double accel_y = 0.0;
+ double accel_z = 0.0;
+ double gyro_rate_x_si = 0.0;
+ double gyro_rate_y_si = 0.0;
+ double gyro_rate_z_si = 0.0;
+ double accel_x_si = 0.0;
+ double accel_y_si = 0.0;
+ double accel_z_si = 0.0;
+ double compAngleX = 0.0;
+ double compAngleY = 0.0;
+ double accelAngleX = 0.0;
+ double accelAngleY = 0.0;
+
+ while (true) {
+ // Sleep loop for 10ms
+ try {
+ Thread.sleep(10);
+ } catch (InterruptedException e) {
+ }
+
+ if (m_thread_active) {
+ m_thread_idle = false;
+
+ data_count =
+ m_spi.readAutoReceivedData(
+ buffer, 0, 0); // Read number of bytes currently stored in the
+ // buffer
+ data_remainder =
+ data_count % dataset_len; // Check if frame is incomplete. Add 1 because of timestamp
+ data_to_read = data_count - data_remainder; // Remove incomplete data from read count
+ /* Want to cap the data to read in a single read at the buffer size */
+ if (data_to_read > BUFFER_SIZE) {
+ DriverStation.reportWarning(
+ "ADIS16470 data processing thread overrun has occurred!", false);
+ data_to_read = BUFFER_SIZE - (BUFFER_SIZE % dataset_len);
+ }
+ m_spi.readAutoReceivedData(
+ buffer, data_to_read, 0); // Read data from DMA buffer (only complete sets)
+
+ // Could be multiple data sets in the buffer. Handle each one.
+ for (int i = 0; i < data_to_read; i += dataset_len) {
+ // Timestamp is at buffer[i]
+ m_dt = ((double) buffer[i] - previous_timestamp) / 1000000.0;
+
+ /*
+ * System.out.println(((toInt(buffer[i + 3], buffer[i + 4], buffer[i + 5],
+ * buffer[i + 6]))*delta_angle_sf) / ((10000.0 / (buffer[i] -
+ * previous_timestamp)) / 100.0));
+ * // DEBUG: Plot Sub-Array Data in Terminal
+ * for (int j = 0; j < data_to_read; j++) {
+ * System.out.print(buffer[j]);
+ * System.out.print(" ,");
+ * }
+ * System.out.println(" ");
+ * //System.out.println(((toInt(buffer[i + 3], buffer[i + 4], buffer[i + 5],
+ * buffer[i + 6]))*delta_angle_sf) / ((10000.0 / (buffer[i] -
+ * previous_timestamp)) / 100.0) + "," + buffer[3] + "," + buffer[4] + "," +
+ * buffer[5] + "," + buffer[6]
+ * /*toShort(buffer[7], buffer[8]) + "," +
+ * toShort(buffer[9], buffer[10]) + "," +
+ * toShort(buffer[11], buffer[12]) + "," +
+ * toShort(buffer[13], buffer[14]) + "," +
+ * toShort(buffer[15], buffer[16]) + ","
+ * + toShort(buffer[17], buffer[18]));
+ */
+
+ /*
+ * Get delta angle value for selected yaw axis and scale by the elapsed time
+ * (based on timestamp)
+ */
+ delta_angle =
+ (toInt(buffer[i + 3], buffer[i + 4], buffer[i + 5], buffer[i + 6]) * delta_angle_sf)
+ / (m_scaled_sample_rate / (buffer[i] - previous_timestamp));
+ gyro_rate_x = (toShort(buffer[i + 7], buffer[i + 8]) / 10.0);
+ gyro_rate_y = (toShort(buffer[i + 9], buffer[i + 10]) / 10.0);
+ gyro_rate_z = (toShort(buffer[i + 11], buffer[i + 12]) / 10.0);
+ accel_x = (toShort(buffer[i + 13], buffer[i + 14]) / 800.0);
+ accel_y = (toShort(buffer[i + 15], buffer[i + 16]) / 800.0);
+ accel_z = (toShort(buffer[i + 17], buffer[i + 18]) / 800.0);
+
+ // Convert scaled sensor data to SI units (for tilt calculations)
+ // TODO: Should the unit outputs be selectable?
+ gyro_rate_x_si = gyro_rate_x * deg_to_rad;
+ gyro_rate_y_si = gyro_rate_y * deg_to_rad;
+ gyro_rate_z_si = gyro_rate_z * deg_to_rad;
+ accel_x_si = accel_x * grav;
+ accel_y_si = accel_y * grav;
+ accel_z_si = accel_z * grav;
+
+ // Store timestamp for next iteration
+ previous_timestamp = buffer[i];
+
+ m_alpha = m_tau / (m_tau + m_dt);
+
+ if (m_first_run) {
+ // Set up inclinometer calculations for first run
+ accelAngleX =
+ Math.atan2(
+ accel_x_si, Math.sqrt((accel_y_si * accel_y_si) + (accel_z_si * accel_z_si)));
+ accelAngleY =
+ Math.atan2(
+ accel_y_si, Math.sqrt((accel_x_si * accel_x_si) + (accel_z_si * accel_z_si)));
+ compAngleX = accelAngleX;
+ compAngleY = accelAngleY;
+ } else {
+ // Run inclinometer calculations
+ accelAngleX =
+ Math.atan2(
+ accel_x_si, Math.sqrt((accel_y_si * accel_y_si) + (accel_z_si * accel_z_si)));
+ accelAngleY =
+ Math.atan2(
+ accel_y_si, Math.sqrt((accel_x_si * accel_x_si) + (accel_z_si * accel_z_si)));
+ accelAngleX = formatAccelRange(accelAngleX, accel_z_si);
+ accelAngleY = formatAccelRange(accelAngleY, accel_z_si);
+ compAngleX = compFilterProcess(compAngleX, accelAngleX, -gyro_rate_y_si);
+ compAngleY = compFilterProcess(compAngleY, accelAngleY, gyro_rate_x_si);
+ }
+
+ synchronized (this) {
+ /* Push data to global variables */
+ if (m_first_run) {
+ /*
+ * Don't accumulate first run. previous_timestamp will be "very" old and the
+ * integration will end up way off
+ */
+ m_integ_angle = 0.0;
+ } else {
+ m_integ_angle += delta_angle;
+ }
+ m_gyro_rate_x = gyro_rate_x;
+ m_gyro_rate_y = gyro_rate_y;
+ m_gyro_rate_z = gyro_rate_z;
+ m_accel_x = accel_x;
+ m_accel_y = accel_y;
+ m_accel_z = accel_z;
+ m_compAngleX = compAngleX * rad_to_deg;
+ m_compAngleY = compAngleY * rad_to_deg;
+ m_accelAngleX = accelAngleX * rad_to_deg;
+ m_accelAngleY = accelAngleY * rad_to_deg;
+ }
+ m_first_run = false;
+ }
+ } else {
+ m_thread_idle = true;
+ data_count = 0;
+ data_remainder = 0;
+ data_to_read = 0;
+ previous_timestamp = 0.0;
+ delta_angle = 0.0;
+ gyro_rate_x = 0.0;
+ gyro_rate_y = 0.0;
+ gyro_rate_z = 0.0;
+ accel_x = 0.0;
+ accel_y = 0.0;
+ accel_z = 0.0;
+ gyro_rate_x_si = 0.0;
+ gyro_rate_y_si = 0.0;
+ gyro_rate_z_si = 0.0;
+ accel_x_si = 0.0;
+ accel_y_si = 0.0;
+ accel_z_si = 0.0;
+ compAngleX = 0.0;
+ compAngleY = 0.0;
+ accelAngleX = 0.0;
+ accelAngleY = 0.0;
+ }
+ }
+ }
+
+ /**
+ * @param compAngle
+ * @param accAngle
+ * @return
+ */
+ private double formatFastConverge(double compAngle, double accAngle) {
+ if (compAngle > accAngle + Math.PI) {
+ compAngle = compAngle - 2.0 * Math.PI;
+ } else if (accAngle > compAngle + Math.PI) {
+ compAngle = compAngle + 2.0 * Math.PI;
+ }
+ return compAngle;
+ }
+
+ /**
+ * @param compAngle
+ * @return
+ */
+ private double formatRange0to2PI(double compAngle) {
+ while (compAngle >= 2 * Math.PI) {
+ compAngle = compAngle - 2.0 * Math.PI;
+ }
+ while (compAngle < 0.0) {
+ compAngle = compAngle + 2.0 * Math.PI;
+ }
+ return compAngle;
+ }
+
+ /**
+ * @param accelAngle
+ * @param accelZ
+ * @return
+ */
+ private double formatAccelRange(double accelAngle, double accelZ) {
+ if (accelZ < 0.0) {
+ accelAngle = Math.PI - accelAngle;
+ } else if (accelZ > 0.0 && accelAngle < 0.0) {
+ accelAngle = 2.0 * Math.PI + accelAngle;
+ }
+ return accelAngle;
+ }
+
+ /**
+ * @param compAngle
+ * @param accelAngle
+ * @param omega
+ * @return
+ */
+ private double compFilterProcess(double compAngle, double accelAngle, double omega) {
+ compAngle = formatFastConverge(compAngle, accelAngle);
+ compAngle = m_alpha * (compAngle + omega * m_dt) + (1.0 - m_alpha) * accelAngle;
+ compAngle = formatRange0to2PI(compAngle);
+ if (compAngle > Math.PI) {
+ compAngle = compAngle - 2.0 * Math.PI;
+ }
+ return compAngle;
+ }
+
+ /** @return Yaw axis angle in degrees (CCW positive) */
+ public synchronized double getAngle() {
+ switch (m_yaw_axis) {
+ case kX:
+ if (m_simGyroAngleX != null) {
+ return m_simGyroAngleX.get();
+ }
+ break;
+ case kY:
+ if (m_simGyroAngleY != null) {
+ return m_simGyroAngleY.get();
+ }
+ break;
+ case kZ:
+ if (m_simGyroAngleZ != null) {
+ return m_simGyroAngleZ.get();
+ }
+ break;
+ }
+ return m_integ_angle;
+ }
+
+ /** @return Yaw axis angular rate in degrees per second (CCW positive) */
+ public synchronized double getRate() {
+ if (m_yaw_axis == IMUAxis.kX) {
+ if (m_simGyroRateX != null) {
+ return m_simGyroRateX.get();
+ }
+ return m_gyro_rate_x;
+ } else if (m_yaw_axis == IMUAxis.kY) {
+ if (m_simGyroRateY != null) {
+ return m_simGyroRateY.get();
+ }
+ return m_gyro_rate_y;
+ } else if (m_yaw_axis == IMUAxis.kZ) {
+ if (m_simGyroRateZ != null) {
+ return m_simGyroRateZ.get();
+ }
+ return m_gyro_rate_z;
+ } else {
+ return 0.0;
+ }
+ }
+
+ /** @return Yaw Axis */
+ public IMUAxis getYawAxis() {
+ return m_yaw_axis;
+ }
+
+ /** @return current acceleration in the X axis */
+ public synchronized double getAccelX() {
+ return m_accel_x * 9.81;
+ }
+
+ /** @return current acceleration in the Y axis */
+ public synchronized double getAccelY() {
+ return m_accel_y * 9.81;
+ }
+
+ /** @return current acceleration in the Z axis */
+ public synchronized double getAccelZ() {
+ return m_accel_z * 9.81;
+ }
+
+ /** @return X axis complementary angle */
+ public synchronized double getXComplementaryAngle() {
+ return m_compAngleX;
+ }
+
+ /** @return Y axis complementary angle */
+ public synchronized double getYComplementaryAngle() {
+ return m_compAngleY;
+ }
+
+ /** @return X axis filtered acceleration angle */
+ public synchronized double getXFilteredAccelAngle() {
+ return m_accelAngleX;
+ }
+
+ /** @return Y axis filtered acceleration angle */
+ public synchronized double getYFilteredAccelAngle() {
+ return m_accelAngleY;
+ }
+
+ /**
+ * Get the SPI port number.
+ *
+ * @return The SPI port number.
+ */
+ public int getPort() {
+ return m_spi_port.value;
+ }
+
+ @Override
+ public void initSendable(NTSendableBuilder builder) {
+ builder.setSmartDashboardType("Gyro");
+ builder.addDoubleProperty("Value", this::getAngle, null);
+ }
+}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
index f48fb63..a7d079b 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
@@ -33,30 +33,16 @@
*/
public Compressor(int module, PneumaticsModuleType moduleType) {
m_module = PneumaticsBase.getForType(module, moduleType);
- boolean allocatedCompressor = false;
- boolean successfulCompletion = false;
- try {
- if (!m_module.reserveCompressor()) {
- throw new AllocationException("Compressor already allocated");
- }
-
- allocatedCompressor = true;
-
- m_module.setClosedLoopControl(true);
-
- HAL.report(tResourceType.kResourceType_Compressor, module + 1);
- SendableRegistry.addLW(this, "Compressor", module);
- successfulCompletion = true;
-
- } finally {
- if (!successfulCompletion) {
- if (allocatedCompressor) {
- m_module.unreserveCompressor();
- }
- m_module.close();
- }
+ if (!m_module.reserveCompressor()) {
+ m_module.close();
+ throw new AllocationException("Compressor already allocated");
}
+
+ m_module.enableCompressorDigital();
+
+ HAL.report(tResourceType.kResourceType_Compressor, module + 1);
+ SendableRegistry.addLW(this, "Compressor", module);
}
/**
@@ -82,9 +68,12 @@
* <p>Use the method in cases where you would like to manually stop and start the compressor for
* applications such as conserving battery or making sure that the compressor motor doesn't start
* during critical operations.
+ *
+ * @deprecated Use enableDigital() instead.
*/
+ @Deprecated(since = "2022", forRemoval = true)
public void start() {
- setClosedLoopControl(true);
+ enableDigital();
}
/**
@@ -93,9 +82,12 @@
* <p>Use the method in cases where you would like to manually stop and start the compressor for
* applications such as conserving battery or making sure that the compressor motor doesn't start
* during critical operations.
+ *
+ * @deprecated Use disable() instead.
*/
+ @Deprecated(since = "2022", forRemoval = true)
public void stop() {
- setClosedLoopControl(false);
+ disable();
}
/**
@@ -121,33 +113,77 @@
*
* @return current consumed by the compressor in amps
*/
- public double getCompressorCurrent() {
+ public double getCurrent() {
return m_module.getCompressorCurrent();
}
/**
- * Set the PCM in closed loop control mode.
+ * Query the analog input voltage (on channel 0) (if supported).
*
- * @param on if true sets the compressor to be in closed loop control mode (default)
+ * @return The analog input voltage, in volts
*/
- public void setClosedLoopControl(boolean on) {
- m_module.setClosedLoopControl(on);
+ public double getAnalogVoltage() {
+ return m_module.getAnalogVoltage(0);
}
/**
- * Gets the current operating mode of the PCM.
+ * Query the analog sensor pressure (on channel 0) (if supported). Note this is only for use with
+ * the REV Analog Pressure Sensor.
+ *
+ * @return The analog sensor pressure, in PSI
+ */
+ public double getPressure() {
+ return m_module.getPressure(0);
+ }
+
+ /** Disable the compressor. */
+ public void disable() {
+ m_module.disableCompressor();
+ }
+
+ /** Enable compressor closed loop control using digital input. */
+ public void enableDigital() {
+ m_module.enableCompressorDigital();
+ }
+
+ /**
+ * Enable compressor closed loop control using analog input. Note this is only for use with the
+ * REV Analog Pressure Sensor.
+ *
+ * <p>On CTRE PCM, this will enable digital control.
+ *
+ * @param minPressure The minimum pressure in PSI to enable compressor
+ * @param maxPressure The maximum pressure in PSI to disable compressor
+ */
+ public void enableAnalog(double minPressure, double maxPressure) {
+ m_module.enableCompressorAnalog(minPressure, maxPressure);
+ }
+
+ /**
+ * Enable compressor closed loop control using hybrid input. Note this is only for use with the
+ * REV Analog Pressure Sensor.
+ *
+ * <p>On CTRE PCM, this will enable digital control.
+ *
+ * @param minPressure The minimum pressure in PSI to enable compressor
+ * @param maxPressure The maximum pressure in PSI to disable compressor
+ */
+ public void enableHybrid(double minPressure, double maxPressure) {
+ m_module.enableCompressorHybrid(minPressure, maxPressure);
+ }
+
+ /**
+ * Gets the current operating mode of the Compressor.
*
* @return true if compressor is operating on closed-loop mode
*/
- public boolean getClosedLoopControl() {
- return m_module.getClosedLoopControl();
+ public CompressorConfigType getConfigType() {
+ return m_module.getCompressorConfigType();
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Compressor");
- builder.addBooleanProperty(
- "Closed Loop Control", this::getClosedLoopControl, this::setClosedLoopControl);
builder.addBooleanProperty("Enabled", this::enabled, null);
builder.addBooleanProperty("Pressure switch", this::getPressureSwitchValue, null);
}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/CompressorConfigType.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/CompressorConfigType.java
new file mode 100644
index 0000000..48bb81f
--- /dev/null
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/CompressorConfigType.java
@@ -0,0 +1,43 @@
+// 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.
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.hal.REVPHJNI;
+
+public enum CompressorConfigType {
+ Disabled(REVPHJNI.COMPRESSOR_CONFIG_TYPE_DISABLED),
+ Digital(REVPHJNI.COMPRESSOR_CONFIG_TYPE_DIGITAL),
+ Analog(REVPHJNI.COMPRESSOR_CONFIG_TYPE_ANALOG),
+ Hybrid(REVPHJNI.COMPRESSOR_CONFIG_TYPE_HYBRID);
+
+ public final int value;
+
+ CompressorConfigType(int value) {
+ this.value = value;
+ }
+
+ /**
+ * Gets a type from an int value.
+ *
+ * @param value int value
+ * @return type
+ */
+ public static CompressorConfigType fromValue(int value) {
+ switch (value) {
+ case REVPHJNI.COMPRESSOR_CONFIG_TYPE_HYBRID:
+ return Hybrid;
+ case REVPHJNI.COMPRESSOR_CONFIG_TYPE_ANALOG:
+ return Analog;
+ case REVPHJNI.COMPRESSOR_CONFIG_TYPE_DIGITAL:
+ return Digital;
+ default:
+ return Disabled;
+ }
+ }
+
+ public int getValue() {
+ return value;
+ }
+}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DSControlWord.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DSControlWord.java
index 016abc7..37e046d 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DSControlWord.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DSControlWord.java
@@ -5,7 +5,6 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.ControlWord;
-import edu.wpi.first.hal.HAL;
/** A wrapper around Driver Station control word. */
public class DSControlWord {
@@ -22,7 +21,7 @@
/** Update internal Driver Station control word. */
public void update() {
- HAL.getControlWord(m_controlWord);
+ DriverStation.updateControlWordFromCache(m_controlWord);
}
/**
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
index 68a1bca..d749ccc 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
@@ -53,6 +53,7 @@
* @param forwardChannel The forward channel on the module to control.
* @param reverseChannel The reverse channel on the module to control.
*/
+ @SuppressWarnings("PMD.UseTryWithResources")
public DoubleSolenoid(
final int module,
final PneumaticsModuleType moduleType,
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index c450c5e..8eeb284 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -280,7 +280,7 @@
private static boolean m_userInTest;
// Control word variables
- private static final Object m_controlWordMutex;
+ private static final ReentrantLock m_controlWordMutex = new ReentrantLock();
private static final ControlWord m_controlWordCache;
private static long m_lastControlWordUpdate;
@@ -319,7 +319,6 @@
m_joystickPOVsCache[i] = new HALJoystickPOVs(HAL.kMaxJoystickPOVs);
}
- m_controlWordMutex = new Object();
m_controlWordCache = new ControlWord();
m_lastControlWordUpdate = 0;
@@ -431,7 +430,7 @@
*/
public static boolean getStickButton(final int stick, final int button) {
if (stick < 0 || stick >= kJoystickPorts) {
- throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
+ throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (button <= 0) {
reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n");
@@ -469,7 +468,7 @@
return false;
}
if (stick < 0 || stick >= kJoystickPorts) {
- throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
+ throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
m_cacheDataMutex.lock();
@@ -509,7 +508,7 @@
return false;
}
if (stick < 0 || stick >= kJoystickPorts) {
- throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
+ throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
m_cacheDataMutex.lock();
@@ -611,7 +610,7 @@
*/
public static int getStickButtons(final int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
- throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
+ throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
m_cacheDataMutex.lock();
@@ -757,9 +756,12 @@
* @return True if the robot is enabled, false otherwise.
*/
public static boolean isEnabled() {
- synchronized (m_controlWordMutex) {
+ m_controlWordMutex.lock();
+ try {
updateControlWord(false);
return m_controlWordCache.getEnabled() && m_controlWordCache.getDSAttached();
+ } finally {
+ m_controlWordMutex.unlock();
}
}
@@ -778,9 +780,12 @@
* @return True if the robot is e-stopped, false otherwise.
*/
public static boolean isEStopped() {
- synchronized (m_controlWordMutex) {
+ m_controlWordMutex.lock();
+ try {
updateControlWord(false);
return m_controlWordCache.getEStop();
+ } finally {
+ m_controlWordMutex.unlock();
}
}
@@ -791,9 +796,12 @@
* @return True if autonomous mode should be enabled, false otherwise.
*/
public static boolean isAutonomous() {
- synchronized (m_controlWordMutex) {
+ m_controlWordMutex.lock();
+ try {
updateControlWord(false);
return m_controlWordCache.getAutonomous();
+ } finally {
+ m_controlWordMutex.unlock();
}
}
@@ -804,9 +812,12 @@
* @return True if autonomous should be set and the robot should be enabled.
*/
public static boolean isAutonomousEnabled() {
- synchronized (m_controlWordMutex) {
+ m_controlWordMutex.lock();
+ try {
updateControlWord(false);
return m_controlWordCache.getAutonomous() && m_controlWordCache.getEnabled();
+ } finally {
+ m_controlWordMutex.unlock();
}
}
@@ -851,11 +862,14 @@
* @return True if operator-controlled mode should be set and the robot should be enabled.
*/
public static boolean isTeleopEnabled() {
- synchronized (m_controlWordMutex) {
+ m_controlWordMutex.lock();
+ try {
updateControlWord(false);
return !m_controlWordCache.getAutonomous()
&& !m_controlWordCache.getTest()
&& m_controlWordCache.getEnabled();
+ } finally {
+ m_controlWordMutex.unlock();
}
}
@@ -866,9 +880,12 @@
* @return True if test mode should be enabled, false otherwise.
*/
public static boolean isTest() {
- synchronized (m_controlWordMutex) {
+ m_controlWordMutex.lock();
+ try {
updateControlWord(false);
return m_controlWordCache.getTest();
+ } finally {
+ m_controlWordMutex.unlock();
}
}
@@ -878,9 +895,12 @@
* @return True if Driver Station is attached, false otherwise.
*/
public static boolean isDSAttached() {
- synchronized (m_controlWordMutex) {
+ m_controlWordMutex.lock();
+ try {
updateControlWord(false);
return m_controlWordCache.getDSAttached();
+ } finally {
+ m_controlWordMutex.unlock();
}
}
@@ -910,9 +930,12 @@
* @return true if the robot is competing on a field being controlled by a Field Management System
*/
public static boolean isFMSAttached() {
- synchronized (m_controlWordMutex) {
+ m_controlWordMutex.lock();
+ try {
updateControlWord(false);
return m_controlWordCache.getFMSAttached();
+ } finally {
+ m_controlWordMutex.unlock();
}
}
@@ -1107,6 +1130,7 @@
return true;
} catch (InterruptedException ex) {
// return false on a thread interrupt
+ Thread.currentThread().interrupt();
return false;
} finally {
m_waitForDataMutex.unlock();
@@ -1227,8 +1251,13 @@
HAL.getMatchInfo(m_matchInfoCache);
- // Force a control word update, to make sure the data is the newest.
- updateControlWord(true);
+ m_controlWordMutex.lock();
+ try {
+ // Force a control word update, to make sure the data is the newest.
+ updateControlWord(true);
+ } finally {
+ m_controlWordMutex.unlock();
+ }
// lock joystick mutex to swap cache data
m_cacheDataMutex.lock();
@@ -1325,18 +1354,33 @@
}
/**
+ * Forces a control word cache update, and update the passed in control word.
+ *
+ * @param word Word to update.
+ */
+ public static void updateControlWordFromCache(ControlWord word) {
+ m_controlWordMutex.lock();
+ try {
+ updateControlWord(true);
+ word.update(m_controlWordCache);
+ } finally {
+ m_controlWordMutex.unlock();
+ }
+ }
+
+ /**
* Updates the data in the control word cache. Updates if the force parameter is set, or if 50ms
* have passed since the last update.
*
+ * <p>Must be called with m_controlWordMutex lock held.
+ *
* @param force True to force an update to the cache, otherwise update if 50ms have passed.
*/
private static void updateControlWord(boolean force) {
long now = System.currentTimeMillis();
- synchronized (m_controlWordMutex) {
- if (now - m_lastControlWordUpdate > 50 || force) {
- HAL.getControlWord(m_controlWordCache);
- m_lastControlWordUpdate = now;
- }
+ if (now - m_lastControlWordUpdate > 50 || force) {
+ HAL.getControlWord(m_controlWordCache);
+ m_lastControlWordUpdate = now;
}
}
}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java
index 3332f49..c700bca 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java
@@ -48,6 +48,7 @@
/** Close the DutyCycle and free all resources. */
@Override
public void close() {
+ SendableRegistry.remove(this);
DutyCycleJNI.free(m_handle);
}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
index ce5b684..c8d5bc9 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
@@ -7,6 +7,7 @@
import edu.wpi.first.hal.SimBoolean;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.math.MathUtil;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
@@ -26,6 +27,8 @@
private double m_positionOffset;
private double m_distancePerRotation = 1.0;
private double m_lastPosition;
+ private double m_sensorMin;
+ private double m_sensorMax = 1.0;
protected SimDevice m_simDevice;
protected SimDouble m_simPosition;
@@ -105,6 +108,14 @@
double counter2 = m_counter.get();
double pos2 = m_dutyCycle.getOutput();
if (counter == counter2 && pos == pos2) {
+ // map sensor range
+ if (pos < m_sensorMin) {
+ pos = m_sensorMin;
+ }
+ if (pos > m_sensorMax) {
+ pos = m_sensorMax;
+ }
+ pos = (pos - m_sensorMin) / (m_sensorMax - m_sensorMin);
double position = counter + pos - m_positionOffset;
m_lastPosition = position;
return position;
@@ -130,6 +141,22 @@
}
/**
+ * Set the encoder duty cycle range. As the encoder needs to maintain a duty cycle, the duty cycle
+ * cannot go all the way to 0% or all the way to 100%. For example, an encoder with a 4096 us
+ * period might have a minimum duty cycle of 1 us / 4096 us and a maximum duty cycle of 4095 /
+ * 4096 us. Setting the range will result in an encoder duty cycle less than or equal to the
+ * minimum being output as 0 rotation, the duty cycle greater than or equal to the maximum being
+ * output as 1 rotation, and values in between linearly scaled from 0 to 1.
+ *
+ * @param min minimum duty cycle (0-1 range)
+ * @param max maximum duty cycle (0-1 range)
+ */
+ public void setDutyCycleRange(double min, double max) {
+ m_sensorMin = MathUtil.clamp(min, 0.0, 1.0);
+ m_sensorMax = MathUtil.clamp(max, 0.0, 1.0);
+ }
+
+ /**
* Set the distance per rotation of the encoder. This sets the multiplier used to determine the
* distance driven based on the rotation value from the encoder. Set this value based on the how
* far the mechanism travels in 1 rotation of the encoder, and factor in gearing reductions
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
index 1d148a7..03a00cc 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
@@ -43,6 +43,12 @@
m_port = port.value;
m_deviceAddress = deviceAddress;
+ if (port == I2C.Port.kOnboard) {
+ DriverStation.reportWarning(
+ "Onboard I2C port is subject to system lockups. See Known Issues page for details",
+ false);
+ }
+
I2CJNI.i2CInitialize((byte) port.value);
HAL.report(tResourceType.kResourceType_I2C, deviceAddress);
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
index 40384ba..9355b4d 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
@@ -99,7 +99,7 @@
break;
}
- Runnable handler = null;
+ Runnable handler;
m_processLock.lock();
try {
handler = m_handler;
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java
index 546c7c0..7b077a8 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java
@@ -4,7 +4,16 @@
package edu.wpi.first.wpilibj;
+import edu.wpi.first.hal.PortsJNI;
+import edu.wpi.first.hal.REVPHFaults;
import edu.wpi.first.hal.REVPHJNI;
+import edu.wpi.first.hal.REVPHStickyFaults;
+import edu.wpi.first.hal.REVPHVersion;
+import java.io.File;
+import java.io.IOException;
+import java.io.OutputStream;
+import java.nio.charset.StandardCharsets;
+import java.nio.file.Files;
import java.util.HashMap;
import java.util.Map;
@@ -16,12 +25,53 @@
private int m_refCount;
private int m_reservedMask;
private boolean m_compressorReserved;
+ public int[] m_oneShotDurMs = new int[PortsJNI.getNumREVPHChannels()];
private final Object m_reserveLock = new Object();
DataStore(int module) {
m_handle = REVPHJNI.initialize(module);
m_module = module;
m_handleMap.put(module, this);
+
+ final REVPHVersion version = REVPHJNI.getVersion(m_handle);
+ final String fwVersion =
+ version.firmwareMajor + "." + version.firmwareMinor + "." + version.firmwareFix;
+
+ if (version.firmwareMajor > 0 && RobotBase.isReal()) {
+ // Write PH firmware version to roboRIO
+ final String fileName = "REV_PH_" + String.format("%02d", module) + "_WPILib_Version.ini";
+ final File file = new File("/tmp/frc_versions/" + fileName);
+ try {
+ if (file.exists() && !file.delete()) {
+ throw new IOException("Failed to delete " + fileName);
+ }
+
+ if (!file.createNewFile()) {
+ throw new IOException("Failed to create new " + fileName);
+ }
+
+ try (OutputStream output = Files.newOutputStream(file.toPath())) {
+ output.write("[Version]\n".getBytes(StandardCharsets.UTF_8));
+ output.write("model=REV PH\n".getBytes(StandardCharsets.UTF_8));
+ output.write(
+ ("deviceID=" + Integer.toHexString(0x9052600 | module) + "\n")
+ .getBytes(StandardCharsets.UTF_8));
+ output.write(("currentVersion=" + fwVersion).getBytes(StandardCharsets.UTF_8));
+ }
+ } catch (IOException ex) {
+ DriverStation.reportError(
+ "Could not write " + fileName + ": " + ex.toString(), ex.getStackTrace());
+ }
+ }
+
+ // Check PH firmware version
+ if (version.firmwareMajor > 0 && version.firmwareMajor < 22) {
+ throw new IllegalStateException(
+ "The Pneumatic Hub has firmware version "
+ + fwVersion
+ + ", and must be updated to version 2022.0.0 or later "
+ + "using the REV Hardware Client.");
+ }
}
@Override
@@ -63,6 +113,18 @@
}
}
+ /** Converts volts to PSI per the REV Analog Pressure Sensor datasheet. */
+ private static double voltsToPsi(double sensorVoltage, double supplyVoltage) {
+ double pressure = 250 * (sensorVoltage / supplyVoltage) - 25;
+ return pressure;
+ }
+
+ /** Converts PSI to volts per the REV Analog Pressure Sensor datasheet. */
+ private static double psiToVolts(double pressure, double supplyVoltage) {
+ double voltage = supplyVoltage * (0.004 * pressure + 0.1);
+ return voltage;
+ }
+
private final DataStore m_dataStore;
private final int m_handle;
@@ -92,13 +154,8 @@
}
@Override
- public void setClosedLoopControl(boolean enabled) {
- REVPHJNI.setClosedLoopControl(m_handle, enabled);
- }
-
- @Override
- public boolean getClosedLoopControl() {
- return REVPHJNI.getClosedLoopControl(m_handle);
+ public CompressorConfigType getCompressorConfigType() {
+ return CompressorConfigType.fromValue(REVPHJNI.getCompressorConfig(m_handle));
}
@Override
@@ -128,14 +185,12 @@
@Override
public void fireOneShot(int index) {
- // TODO Combine APIs
- // REVPHJNI.fireOneShot(m_handle, index, durMs);
+ REVPHJNI.fireOneShot(m_handle, index, m_dataStore.m_oneShotDurMs[index]);
}
@Override
public void setOneShotDuration(int index, int durMs) {
- // TODO Combine APIs
- // REVPHJNI.setOneShotDuration(m_handle, index, durMs);
+ m_dataStore.m_oneShotDurMs[index] = durMs;
}
@Override
@@ -197,7 +252,97 @@
@Override
public int getSolenoidDisabledList() {
- // TODO Get this working
- return 0;
+ int raw = REVPHJNI.getStickyFaultsNative(m_handle);
+ return raw & 0xFFFF;
+ }
+
+ @Override
+ public void disableCompressor() {
+ REVPHJNI.setClosedLoopControlDisabled(m_handle);
+ }
+
+ @Override
+ public void enableCompressorDigital() {
+ REVPHJNI.setClosedLoopControlDigital(m_handle);
+ }
+
+ @Override
+ public void enableCompressorAnalog(double minPressure, double maxPressure) {
+ if (minPressure >= maxPressure) {
+ throw new IllegalArgumentException("maxPressure must be greater than minPressure");
+ }
+ if (minPressure < 0 || minPressure > 120) {
+ throw new IllegalArgumentException(
+ "minPressure must be between 0 and 120 PSI, got " + minPressure);
+ }
+ if (maxPressure < 0 || maxPressure > 120) {
+ throw new IllegalArgumentException(
+ "maxPressure must be between 0 and 120 PSI, got " + maxPressure);
+ }
+ double minAnalogVoltage = psiToVolts(minPressure, 5);
+ double maxAnalogVoltage = psiToVolts(maxPressure, 5);
+ REVPHJNI.setClosedLoopControlAnalog(m_handle, minAnalogVoltage, maxAnalogVoltage);
+ }
+
+ @Override
+ public void enableCompressorHybrid(double minPressure, double maxPressure) {
+ if (minPressure >= maxPressure) {
+ throw new IllegalArgumentException("maxPressure must be greater than minPressure");
+ }
+ if (minPressure < 0 || minPressure > 120) {
+ throw new IllegalArgumentException(
+ "minPressure must be between 0 and 120 PSI, got " + minPressure);
+ }
+ if (maxPressure < 0 || maxPressure > 120) {
+ throw new IllegalArgumentException(
+ "maxPressure must be between 0 and 120 PSI, got " + maxPressure);
+ }
+ double minAnalogVoltage = psiToVolts(minPressure, 5);
+ double maxAnalogVoltage = psiToVolts(maxPressure, 5);
+ REVPHJNI.setClosedLoopControlHybrid(m_handle, minAnalogVoltage, maxAnalogVoltage);
+ }
+
+ @Override
+ public double getAnalogVoltage(int channel) {
+ return REVPHJNI.getAnalogVoltage(m_handle, channel);
+ }
+
+ @Override
+ public double getPressure(int channel) {
+ double sensorVoltage = REVPHJNI.getAnalogVoltage(m_handle, channel);
+ double supplyVoltage = REVPHJNI.get5VVoltage(m_handle);
+ return voltsToPsi(sensorVoltage, supplyVoltage);
+ }
+
+ public void clearStickyFaults() {
+ REVPHJNI.clearStickyFaults(m_handle);
+ }
+
+ public REVPHVersion getVersion() {
+ return REVPHJNI.getVersion(m_handle);
+ }
+
+ public REVPHFaults getFaults() {
+ return REVPHJNI.getFaults(m_handle);
+ }
+
+ public REVPHStickyFaults getStickyFaults() {
+ return REVPHJNI.getStickyFaults(m_handle);
+ }
+
+ public double getInputVoltage() {
+ return REVPHJNI.getInputVoltage(m_handle);
+ }
+
+ public double get5VRegulatedVoltage() {
+ return REVPHJNI.get5VVoltage(m_handle);
+ }
+
+ public double getSolenoidsTotalCurrent() {
+ return REVPHJNI.getSolenoidCurrent(m_handle);
+ }
+
+ public double getSolenoidsVoltage() {
+ return REVPHJNI.getSolenoidVoltage(m_handle);
}
}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsBase.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsBase.java
index 67c0f25..1261eac 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsBase.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsBase.java
@@ -86,9 +86,19 @@
double getCompressorCurrent();
- void setClosedLoopControl(boolean on);
+ void disableCompressor();
- boolean getClosedLoopControl();
+ void enableCompressorDigital();
+
+ void enableCompressorAnalog(double minPressure, double maxPressure);
+
+ void enableCompressorHybrid(double minPressure, double maxPressure);
+
+ double getAnalogVoltage(int channel);
+
+ double getPressure(int channel);
+
+ CompressorConfigType getCompressorConfigType();
/**
* Check if a solenoid channel is valid.
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsControlModule.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsControlModule.java
index 79f245b..9ea6a3f 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsControlModule.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsControlModule.java
@@ -92,16 +92,6 @@
}
@Override
- public void setClosedLoopControl(boolean enabled) {
- CTREPCMJNI.setClosedLoopControl(m_handle, enabled);
- }
-
- @Override
- public boolean getClosedLoopControl() {
- return CTREPCMJNI.getClosedLoopControl(m_handle);
- }
-
- @Override
public boolean getPressureSwitch() {
return CTREPCMJNI.getPressureSwitch(m_handle);
}
@@ -233,4 +223,41 @@
m_dataStore.m_compressorReserved = false;
}
}
+
+ @Override
+ public void disableCompressor() {
+ CTREPCMJNI.setClosedLoopControl(m_handle, false);
+ }
+
+ @Override
+ public void enableCompressorDigital() {
+ CTREPCMJNI.setClosedLoopControl(m_handle, true);
+ }
+
+ @Override
+ public void enableCompressorAnalog(double minPressure, double maxPressure) {
+ CTREPCMJNI.setClosedLoopControl(m_handle, false);
+ }
+
+ @Override
+ public void enableCompressorHybrid(double minPressure, double maxPressure) {
+ CTREPCMJNI.setClosedLoopControl(m_handle, false);
+ }
+
+ @Override
+ public CompressorConfigType getCompressorConfigType() {
+ return CTREPCMJNI.getClosedLoopControl(m_handle)
+ ? CompressorConfigType.Digital
+ : CompressorConfigType.Disabled;
+ }
+
+ @Override
+ public double getAnalogVoltage(int channel) {
+ return 0;
+ }
+
+ @Override
+ public double getPressure(int channel) {
+ return 0;
+ }
}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java
index dd97efa..a0c2104 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java
@@ -6,14 +6,17 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.PowerDistributionFaults;
import edu.wpi.first.hal.PowerDistributionJNI;
+import edu.wpi.first.hal.PowerDistributionStickyFaults;
+import edu.wpi.first.hal.PowerDistributionVersion;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
/**
- * Class for getting voltage, current, temperature, power and energy from the Power Distribution
- * Panel over CAN.
+ * Class for getting voltage, current, temperature, power and energy from the CTRE Power
+ * Distribution Panel (PDP) or REV Power Distribution Hub (PDH) over CAN.
*/
public class PowerDistribution implements Sendable, AutoCloseable {
private final int m_handle;
@@ -22,7 +25,6 @@
public static final int kDefaultModule = PowerDistributionJNI.DEFAULT_MODULE;
public enum ModuleType {
- kAutomatic(PowerDistributionJNI.AUTOMATIC_TYPE),
kCTRE(PowerDistributionJNI.CTRE_TYPE),
kRev(PowerDistributionJNI.REV_TYPE);
@@ -34,10 +36,10 @@
}
/**
- * Constructs a PowerDistribution.
+ * Constructs a PowerDistribution object.
*
- * @param module The CAN ID of the PDP.
- * @param moduleType Module type (automatic, CTRE, or REV).
+ * @param module The CAN ID of the PDP/PDH.
+ * @param moduleType Module type (CTRE or REV).
*/
public PowerDistribution(int module, ModuleType moduleType) {
m_handle = PowerDistributionJNI.initialize(module, moduleType.value);
@@ -48,12 +50,16 @@
}
/**
- * Constructs a PowerDistribution.
+ * Constructs a PowerDistribution object.
*
- * <p>Uses the default CAN ID.
+ * <p>Detects the connected PDP/PDH using the default CAN ID (0 for CTRE and 1 for REV).
*/
public PowerDistribution() {
- this(kDefaultModule, ModuleType.kAutomatic);
+ m_handle = PowerDistributionJNI.initialize(kDefaultModule, PowerDistributionJNI.AUTOMATIC_TYPE);
+ m_module = PowerDistributionJNI.getModuleNumber(m_handle);
+
+ HAL.report(tResourceType.kResourceType_PDP, m_module + 1);
+ SendableRegistry.addLW(this, "PowerDistribution", m_module);
}
@Override
@@ -62,37 +68,37 @@
}
/**
- * Gets the number of channel for this power distribution.
+ * Gets the number of channels for this power distribution object.
*
- * @return Number of output channels.
+ * @return Number of output channels (16 for PDP, 24 for PDH).
*/
public int getNumChannels() {
return PowerDistributionJNI.getNumChannels(m_handle);
}
/**
- * Query the input voltage of the PDP.
+ * Query the input voltage of the PDP/PDH.
*
- * @return The voltage of the PDP in volts
+ * @return The voltage in volts
*/
public double getVoltage() {
return PowerDistributionJNI.getVoltage(m_handle);
}
/**
- * Query the temperature of the PDP.
+ * Query the temperature of the PDP/PDH.
*
- * @return The temperature of the PDP in degrees Celsius
+ * @return The temperature in degrees Celsius
*/
public double getTemperature() {
return PowerDistributionJNI.getTemperature(m_handle);
}
/**
- * Query the current of a single channel of the PDP.
+ * Query the current of a single channel of the PDP/PDH.
*
- * @param channel The PDP channel to query.
- * @return The current of one of the PDP channels (channels 0-15) in Amperes
+ * @param channel The channel (0-15 for PDP, 0-23 for PDH) to query
+ * @return The current of the channel in Amperes
*/
public double getCurrent(int channel) {
double current = PowerDistributionJNI.getChannelCurrent(m_handle, channel);
@@ -101,7 +107,7 @@
}
/**
- * Query the current of all monitored PDP channels (0-15).
+ * Query the current of all monitored channels.
*
* @return The current of all the channels in Amperes
*/
@@ -110,7 +116,7 @@
}
/**
- * Query the total power drawn from the monitored PDP channels.
+ * Query the total power drawn from the monitored channels.
*
* @return the total power in Watts
*/
@@ -119,7 +125,7 @@
}
/**
- * Query the total energy drawn from the monitored PDP channels.
+ * Query the total energy drawn from the monitored channels.
*
* @return the total energy in Joules
*/
@@ -132,7 +138,7 @@
PowerDistributionJNI.resetTotalEnergy(m_handle);
}
- /** Clear all PDP sticky faults. */
+ /** Clear all PDP/PDH sticky faults. */
public void clearStickyFaults() {
PowerDistributionJNI.clearStickyFaults(m_handle);
}
@@ -146,25 +152,66 @@
return m_module;
}
+ /**
+ * Gets the module type for this power distribution object.
+ *
+ * @return The module type
+ */
+ public ModuleType getType() {
+ int type = PowerDistributionJNI.getType(m_handle);
+ if (type == PowerDistributionJNI.REV_TYPE) {
+ return ModuleType.kRev;
+ } else {
+ return ModuleType.kCTRE;
+ }
+ }
+
+ /**
+ * Gets whether the PDH switchable channel is turned on or off. Returns false with the CTRE PDP.
+ *
+ * @return The output state of the PDH switchable channel
+ */
public boolean getSwitchableChannel() {
return PowerDistributionJNI.getSwitchableChannel(m_handle);
}
+ /**
+ * Sets the PDH switchable channel on or off. Does nothing with the CTRE PDP.
+ *
+ * @param enabled Whether to turn the PDH switchable channel on or off
+ */
public void setSwitchableChannel(boolean enabled) {
PowerDistributionJNI.setSwitchableChannel(m_handle, enabled);
}
+ public PowerDistributionVersion getVersion() {
+ return PowerDistributionJNI.getVersion(m_handle);
+ }
+
+ public PowerDistributionFaults getFaults() {
+ return PowerDistributionJNI.getFaults(m_handle);
+ }
+
+ public PowerDistributionStickyFaults getStickyFaults() {
+ return PowerDistributionJNI.getStickyFaults(m_handle);
+ }
+
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("PowerDistribution");
int numChannels = getNumChannels();
for (int i = 0; i < numChannels; ++i) {
final int chan = i;
- builder.addDoubleProperty("Chan" + i, () -> getCurrent(chan), null);
+ builder.addDoubleProperty(
+ "Chan" + i, () -> PowerDistributionJNI.getChannelCurrentNoError(m_handle, chan), null);
}
- builder.addDoubleProperty("Voltage", this::getVoltage, null);
- builder.addDoubleProperty("TotalCurrent", this::getTotalCurrent, null);
+ builder.addDoubleProperty(
+ "Voltage", () -> PowerDistributionJNI.getVoltageNoError(m_handle), null);
+ builder.addDoubleProperty(
+ "TotalCurrent", () -> PowerDistributionJNI.getTotalCurrent(m_handle), null);
builder.addBooleanProperty(
- "SwitchableChannel", this::getSwitchableChannel, this::setSwitchableChannel);
+ "SwitchableChannel",
+ () -> PowerDistributionJNI.getSwitchableChannelNoError(m_handle),
+ value -> PowerDistributionJNI.setSwitchableChannel(m_handle, value));
}
}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
index a15fb70..cf7b9ec 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
@@ -109,6 +109,7 @@
public static void initString(String key, String value) {
NetworkTableEntry entry = m_table.getEntry(key);
entry.setDefaultString(value);
+ entry.setPersistent();
}
/**
@@ -144,6 +145,7 @@
public static void initInt(String key, int value) {
NetworkTableEntry entry = m_table.getEntry(key);
entry.setDefaultDouble(value);
+ entry.setPersistent();
}
/**
@@ -179,6 +181,7 @@
public static void initDouble(String key, double value) {
NetworkTableEntry entry = m_table.getEntry(key);
entry.setDefaultDouble(value);
+ entry.setPersistent();
}
/**
@@ -214,6 +217,7 @@
public static void initFloat(String key, float value) {
NetworkTableEntry entry = m_table.getEntry(key);
entry.setDefaultDouble(value);
+ entry.setPersistent();
}
/**
@@ -249,6 +253,7 @@
public static void initBoolean(String key, boolean value) {
NetworkTableEntry entry = m_table.getEntry(key);
entry.setDefaultBoolean(value);
+ entry.setPersistent();
}
/**
@@ -284,6 +289,7 @@
public static void initLong(String key, long value) {
NetworkTableEntry entry = m_table.getEntry(key);
entry.setDefaultDouble(value);
+ entry.setPersistent();
}
/**
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
index 8d1fb07..5480f9b 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -313,7 +313,7 @@
private static boolean m_suppressExitWarning;
/** Run the robot main loop. */
- @SuppressWarnings("PMD.AvoidCatchingThrowable")
+ @SuppressWarnings({"PMD.AvoidCatchingThrowable", "PMD.AvoidReassigningCatchVariables"})
private static <T extends RobotBase> void runRobot(Supplier<T> robotSupplier) {
System.out.println("********** Robot program starting **********");
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
index f11f8f9..f45eec5 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
@@ -55,6 +55,8 @@
* Get the servo position.
*
* <p>Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.
+ * This returns the commanded position, not the position that the servo is actually at, as the
+ * servo does not report its own position.
*
* @return Position from 0.0 to 1.0.
*/
@@ -65,8 +67,7 @@
/**
* Set the servo angle.
*
- * <p>Assume that the servo angle is linear with respect to the PWM value (big assumption, need to
- * test).
+ * <p>The angles are based on the HS-322HD Servo, and have a range of 0 to 180 degrees.
*
* <p>Servo angles that are out of the supported range of the servo simply "saturate" in that
* direction In other words, if the servo has a range of (X degrees to Y degrees) than angles of
@@ -88,8 +89,8 @@
/**
* Get the servo angle.
*
- * <p>Assume that the servo angle is linear with respect to the PWM value (big assumption, need to
- * test).
+ * <p>This returns the commanded angle, not the angle that the servo is actually at, as the servo
+ * does not report its own angle.
*
* @return The angle in degrees to which the servo is set.
*/
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
index e86042b..bb9be1a 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
@@ -41,35 +41,22 @@
*/
public Solenoid(final int module, final PneumaticsModuleType moduleType, final int channel) {
m_module = PneumaticsBase.getForType(module, moduleType);
- boolean allocatedSolenoids = false;
- boolean successfulCompletion = false;
m_mask = 1 << channel;
m_channel = channel;
- try {
- if (!m_module.checkSolenoidChannel(channel)) {
- throw new IllegalArgumentException("Channel " + channel + " out of range");
- }
-
- if (m_module.checkAndReserveSolenoids(m_mask) != 0) {
- throw new AllocationException("Solenoid already allocated");
- }
-
- allocatedSolenoids = true;
-
- HAL.report(tResourceType.kResourceType_Solenoid, channel + 1, m_module.getModuleNumber() + 1);
- SendableRegistry.addLW(this, "Solenoid", m_module.getModuleNumber(), channel);
- successfulCompletion = true;
-
- } finally {
- if (!successfulCompletion) {
- if (allocatedSolenoids) {
- m_module.unreserveSolenoids(m_mask);
- }
- m_module.close();
- }
+ if (!m_module.checkSolenoidChannel(channel)) {
+ m_module.close();
+ throw new IllegalArgumentException("Channel " + channel + " out of range");
}
+
+ if (m_module.checkAndReserveSolenoids(m_mask) != 0) {
+ m_module.close();
+ throw new AllocationException("Solenoid already allocated");
+ }
+
+ HAL.report(tResourceType.kResourceType_Solenoid, channel + 1, m_module.getModuleNumber() + 1);
+ SendableRegistry.addLW(this, "Solenoid", m_module.getModuleNumber(), channel);
}
@Override
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/EdgeConfiguration.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/EdgeConfiguration.java
new file mode 100644
index 0000000..9d58fbf
--- /dev/null
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/EdgeConfiguration.java
@@ -0,0 +1,23 @@
+// 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.
+
+package edu.wpi.first.wpilibj.counter;
+
+public enum EdgeConfiguration {
+ kNone(false, false),
+ kRisingEdge(true, false),
+ kFallingEdge(false, true),
+ kBoth(true, true);
+
+ @SuppressWarnings("MemberName")
+ public final boolean rising;
+
+ @SuppressWarnings("MemberName")
+ public final boolean falling;
+
+ EdgeConfiguration(boolean rising, boolean falling) {
+ this.rising = rising;
+ this.falling = falling;
+ }
+}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/ExternalDirectionCounter.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/ExternalDirectionCounter.java
new file mode 100644
index 0000000..e10274b
--- /dev/null
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/ExternalDirectionCounter.java
@@ -0,0 +1,110 @@
+// 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.
+
+package edu.wpi.first.wpilibj.counter;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.hal.CounterJNI;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
+import edu.wpi.first.wpilibj.DigitalSource;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+
+/**
+ * Counter using external direction.
+ *
+ * <p>This counts on an edge from one digital input and the whether it counts up or down based on
+ * the state of a second digital input.
+ */
+public class ExternalDirectionCounter implements Sendable, AutoCloseable {
+ private final DigitalSource m_countSource;
+ private final DigitalSource m_directionSource;
+
+ private final int m_handle;
+
+ /**
+ * Constructs a new ExternalDirectionCounter.
+ *
+ * @param countSource The source for counting.
+ * @param directionSource The source for selecting count direction.
+ */
+ public ExternalDirectionCounter(DigitalSource countSource, DigitalSource directionSource) {
+ m_countSource = requireNonNullParam(countSource, "countSource", "ExternalDirectionCounter");
+ m_directionSource =
+ requireNonNullParam(directionSource, "directionSource", "ExternalDirectionCounter");
+
+ ByteBuffer index = ByteBuffer.allocateDirect(4);
+ // set the byte order
+ index.order(ByteOrder.LITTLE_ENDIAN);
+ m_handle = CounterJNI.initializeCounter(CounterJNI.EXTERNAL_DIRECTION, index.asIntBuffer());
+
+ CounterJNI.setCounterUpSource(
+ m_handle,
+ countSource.getPortHandleForRouting(),
+ countSource.getAnalogTriggerTypeForRouting());
+ CounterJNI.setCounterUpSourceEdge(m_handle, true, false);
+
+ CounterJNI.setCounterDownSource(
+ m_handle,
+ directionSource.getPortHandleForRouting(),
+ directionSource.getAnalogTriggerTypeForRouting());
+ CounterJNI.setCounterDownSourceEdge(m_handle, false, true);
+ CounterJNI.resetCounter(m_handle);
+
+ int intIndex = index.getInt();
+ HAL.report(tResourceType.kResourceType_Counter, intIndex + 1);
+ SendableRegistry.addLW(this, "External Direction Counter", intIndex);
+ }
+
+ /**
+ * Gets the current count.
+ *
+ * @return The current count.
+ */
+ public int getCount() {
+ return CounterJNI.getCounter(m_handle);
+ }
+
+ /**
+ * Sets to revese the counter direction.
+ *
+ * @param reverseDirection True to reverse counting direction.
+ */
+ public void setReverseDirection(boolean reverseDirection) {
+ CounterJNI.setCounterReverseDirection(m_handle, reverseDirection);
+ }
+
+ /** Resets the current count. */
+ public void reset() {
+ CounterJNI.resetCounter(m_handle);
+ }
+
+ /**
+ * Sets the edge configuration for counting.
+ *
+ * @param configuration The counting edge configuration.
+ */
+ public void setEdgeConfiguration(EdgeConfiguration configuration) {
+ CounterJNI.setCounterUpSourceEdge(m_handle, configuration.rising, configuration.falling);
+ }
+
+ @Override
+ public void close() throws Exception {
+ SendableRegistry.remove(this);
+ CounterJNI.freeCounter(m_handle);
+ CounterJNI.suppressUnused(m_countSource);
+ CounterJNI.suppressUnused(m_directionSource);
+ }
+
+ @Override
+ public void initSendable(SendableBuilder builder) {
+ builder.setSmartDashboardType("External Direction Counter");
+ builder.addDoubleProperty("Count", this::getCount, null);
+ }
+}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/Tachometer.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/Tachometer.java
new file mode 100644
index 0000000..f83b255
--- /dev/null
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/Tachometer.java
@@ -0,0 +1,182 @@
+// 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.
+
+package edu.wpi.first.wpilibj.counter;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+import edu.wpi.first.hal.CounterJNI;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
+import edu.wpi.first.wpilibj.DigitalSource;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+
+/**
+ * Tachometer.
+ *
+ * <p>The Tachometer class measures the time between digital pulses to determine the rotation speed
+ * of a mechanism. Examples of devices that could be used with the tachometer class are a hall
+ * effect sensor, break beam sensor, or optical sensor detecting tape on a shooter wheel. Unlike
+ * encoders, this class only needs a single digital input.
+ */
+public class Tachometer implements Sendable, AutoCloseable {
+ private final DigitalSource m_source;
+ private final int m_handle;
+ private int m_edgesPerRevolution = 1;
+
+ /**
+ * Constructs a new tachometer.
+ *
+ * @param source The DigitalSource (e.g. DigitalInput) of the Tachometer.
+ */
+ public Tachometer(DigitalSource source) {
+ m_source = requireNonNullParam(source, "source", "Tachometer");
+
+ ByteBuffer index = ByteBuffer.allocateDirect(4);
+ // set the byte order
+ index.order(ByteOrder.LITTLE_ENDIAN);
+ m_handle = CounterJNI.initializeCounter(CounterJNI.TWO_PULSE, index.asIntBuffer());
+
+ CounterJNI.setCounterUpSource(
+ m_handle, source.getPortHandleForRouting(), source.getAnalogTriggerTypeForRouting());
+ CounterJNI.setCounterUpSourceEdge(m_handle, true, false);
+
+ int intIndex = index.getInt();
+ HAL.report(tResourceType.kResourceType_Counter, intIndex + 1);
+ SendableRegistry.addLW(this, "Tachometer", intIndex);
+ }
+
+ @Override
+ public void close() throws Exception {
+ SendableRegistry.remove(this);
+ CounterJNI.freeCounter(m_handle);
+ CounterJNI.suppressUnused(m_source);
+ }
+
+ /**
+ * Gets the tachometer period.
+ *
+ * @return Current period (in seconds).
+ */
+ public double getPeriod() {
+ return CounterJNI.getCounterPeriod(m_handle);
+ }
+
+ /**
+ * Gets the tachometer frequency.
+ *
+ * @return Current frequency (in hertz).
+ */
+ public double getFrequency() {
+ double period = getPeriod();
+ if (period == 0) {
+ return 0;
+ }
+ return period;
+ }
+
+ /**
+ * Gets the number of edges per revolution.
+ *
+ * @return Edges per revolution.
+ */
+ public int getEdgesPerRevolution() {
+ return m_edgesPerRevolution;
+ }
+
+ /**
+ * Sets the number of edges per revolution.
+ *
+ * @param edgesPerRevolution Edges per revolution.
+ */
+ public void setEdgesPerRevolution(int edgesPerRevolution) {
+ m_edgesPerRevolution = edgesPerRevolution;
+ }
+
+ /**
+ * Gets the current tachometer revolutions per second.
+ *
+ * <p>setEdgesPerRevolution must be set with a non 0 value for this to return valid values.
+ *
+ * @return Current RPS.
+ */
+ public double getRevolutionsPerSecond() {
+ double period = getPeriod();
+ if (period == 0) {
+ return 0;
+ }
+ int edgesPerRevolution = getEdgesPerRevolution();
+ if (edgesPerRevolution == 0) {
+ return 0;
+ }
+ return (1.0 / edgesPerRevolution) / period;
+ }
+
+ /**
+ * Gets the current tachometer revolutions per minute.
+ *
+ * <p>setEdgesPerRevolution must be set with a non 0 value for this to return valid values.
+ *
+ * @return Current RPM.
+ */
+ public double getRevolutionsPerMinute() {
+ return getRevolutionsPerSecond() * 60;
+ }
+
+ /**
+ * Gets if the tachometer is stopped.
+ *
+ * @return True if the tachometer is stopped.
+ */
+ public boolean getStopped() {
+ return CounterJNI.getCounterStopped(m_handle);
+ }
+
+ /**
+ * Gets the number of samples to average.
+ *
+ * @return Samples to average.
+ */
+ public int getSamplesToAverage() {
+ return CounterJNI.getCounterSamplesToAverage(m_handle);
+ }
+
+ /**
+ * Sets the number of samples to average.
+ *
+ * @param samplesToAverage Samples to average.
+ */
+ public void setSamplesToAverage(int samplesToAverage) {
+ CounterJNI.setCounterSamplesToAverage(m_handle, samplesToAverage);
+ }
+
+ /**
+ * Sets the maximum period before the tachometer is considered stopped.
+ *
+ * @param maxPeriod The max period (in seconds).
+ */
+ public void setMaxPeriod(double maxPeriod) {
+ CounterJNI.setCounterMaxPeriod(m_handle, maxPeriod);
+ }
+
+ /**
+ * Sets if to update when empty.
+ *
+ * @param updateWhenEmpty Update when empty if true.
+ */
+ public void setUpdateWhenEmpty(boolean updateWhenEmpty) {
+ CounterJNI.setCounterUpdateWhenEmpty(m_handle, updateWhenEmpty);
+ }
+
+ @Override
+ public void initSendable(SendableBuilder builder) {
+ builder.setSmartDashboardType("Tachometer");
+ builder.addDoubleProperty("RPS", this::getRevolutionsPerSecond, null);
+ builder.addDoubleProperty("RPM", this::getRevolutionsPerMinute, null);
+ }
+}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/UpDownCounter.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/UpDownCounter.java
new file mode 100644
index 0000000..81d504e
--- /dev/null
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/UpDownCounter.java
@@ -0,0 +1,118 @@
+// 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.
+
+package edu.wpi.first.wpilibj.counter;
+
+import edu.wpi.first.hal.CounterJNI;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
+import edu.wpi.first.wpilibj.DigitalSource;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+
+/**
+ * Up Down Counter.
+ *
+ * <p>This class can count edges on a single digital input or count up based on an edge from one
+ * digital input and down on an edge from another digital input.
+ */
+public class UpDownCounter implements Sendable, AutoCloseable {
+ private DigitalSource m_upSource;
+ private DigitalSource m_downSource;
+
+ private final int m_handle;
+
+ /**
+ * Constructs a new UpDown Counter.
+ *
+ * @param upSource The up count source (can be null).
+ * @param downSource The down count source (can be null).
+ */
+ public UpDownCounter(DigitalSource upSource, DigitalSource downSource) {
+ ByteBuffer index = ByteBuffer.allocateDirect(4);
+ // set the byte order
+ index.order(ByteOrder.LITTLE_ENDIAN);
+ m_handle = CounterJNI.initializeCounter(CounterJNI.TWO_PULSE, index.asIntBuffer());
+
+ if (upSource != null) {
+ m_upSource = upSource;
+ CounterJNI.setCounterUpSource(
+ m_handle, upSource.getPortHandleForRouting(), upSource.getAnalogTriggerTypeForRouting());
+ CounterJNI.setCounterUpSourceEdge(m_handle, true, false);
+ }
+
+ if (downSource != null) {
+ m_downSource = downSource;
+ CounterJNI.setCounterDownSource(
+ m_handle,
+ downSource.getPortHandleForRouting(),
+ downSource.getAnalogTriggerTypeForRouting());
+ CounterJNI.setCounterDownSourceEdge(m_handle, true, false);
+ }
+
+ reset();
+
+ int intIndex = index.getInt();
+ HAL.report(tResourceType.kResourceType_Counter, intIndex + 1);
+ SendableRegistry.addLW(this, "UpDown Counter", intIndex);
+ }
+
+ @Override
+ public void close() throws Exception {
+ SendableRegistry.remove(this);
+ CounterJNI.freeCounter(m_handle);
+ CounterJNI.suppressUnused(m_upSource);
+ CounterJNI.suppressUnused(m_downSource);
+ }
+
+ /**
+ * Sets the configuration for the up source.
+ *
+ * @param configuration The up source configuration.
+ */
+ public void setUpEdgeConfiguration(EdgeConfiguration configuration) {
+ CounterJNI.setCounterUpSourceEdge(m_handle, configuration.rising, configuration.falling);
+ }
+
+ /**
+ * Sets the configuration for the down source.
+ *
+ * @param configuration The down source configuration.
+ */
+ public void setDownEdgeConfiguration(EdgeConfiguration configuration) {
+ CounterJNI.setCounterDownSourceEdge(m_handle, configuration.rising, configuration.falling);
+ }
+
+ /** Resets the current count. */
+ public void reset() {
+ CounterJNI.resetCounter(m_handle);
+ }
+
+ /**
+ * Sets to reverse the counter direction.
+ *
+ * @param reverseDirection True to reverse counting direction.
+ */
+ public void setReverseDirection(boolean reverseDirection) {
+ CounterJNI.setCounterReverseDirection(m_handle, reverseDirection);
+ }
+
+ /**
+ * Gets the current count.
+ *
+ * @return The current count.
+ */
+ public int getCount() {
+ return CounterJNI.getCounter(m_handle);
+ }
+
+ @Override
+ public void initSendable(SendableBuilder builder) {
+ builder.setSmartDashboardType("UpDown Counter");
+ builder.addDoubleProperty("Count", this::getCount, null);
+ }
+}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
index 57fb365..6b2d1ee 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
@@ -94,6 +94,11 @@
private boolean m_reported;
+ /**
+ * Wheel speeds for a differential drive.
+ *
+ * <p>Uses normalized voltage [-1.0..1.0].
+ */
@SuppressWarnings("MemberName")
public static class WheelSpeeds {
public double left;
@@ -105,8 +110,8 @@
/**
* Constructs a WheelSpeeds.
*
- * @param left The left speed.
- * @param right The right speed.
+ * @param left The left speed [-1.0..1.0].
+ * @param right The right speed [-1.0..1.0].
*/
public WheelSpeeds(double left, double right) {
this.left = left;
@@ -188,10 +193,9 @@
* heading change. This makes the robot more controllable at high speeds.
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
- * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
- * positive.
+ * @param zRotation The normalized curvature [-1.0..1.0]. Clockwise is positive.
* @param allowTurnInPlace If set, overrides constant-curvature turning for turn-in-place
- * maneuvers.
+ * maneuvers. zRotation will control turning rate instead of curvature.
*/
@SuppressWarnings("ParameterName")
public void curvatureDrive(double xSpeed, double zRotation, boolean allowTurnInPlace) {
@@ -257,7 +261,7 @@
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
* positive.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
- * @return Wheel speeds.
+ * @return Wheel speeds [-1.0..1.0].
*/
@SuppressWarnings("ParameterName")
public static WheelSpeeds arcadeDriveIK(double xSpeed, double zRotation, boolean squareInputs) {
@@ -276,9 +280,9 @@
double maxInput = Math.copySign(Math.max(Math.abs(xSpeed), Math.abs(zRotation)), xSpeed);
- if (xSpeed >= 0.0) {
+ if (Double.compare(xSpeed, 0.0) >= 0) {
// First quadrant, else second quadrant
- if (zRotation >= 0.0) {
+ if (Double.compare(zRotation, 0.0) >= 0) {
leftSpeed = maxInput;
rightSpeed = xSpeed - zRotation;
} else {
@@ -287,7 +291,7 @@
}
} else {
// Third quadrant, else fourth quadrant
- if (zRotation >= 0.0) {
+ if (Double.compare(zRotation, 0.0) >= 0) {
leftSpeed = xSpeed + zRotation;
rightSpeed = maxInput;
} else {
@@ -313,11 +317,10 @@
* heading change. This makes the robot more controllable at high speeds.
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
- * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
- * positive.
+ * @param zRotation The normalized curvature [-1.0..1.0]. Clockwise is positive.
* @param allowTurnInPlace If set, overrides constant-curvature turning for turn-in-place
- * maneuvers.
- * @return Wheel speeds.
+ * maneuvers. zRotation will control rotation rate around the Z axis instead of curvature.
+ * @return Wheel speeds [-1.0..1.0].
*/
@SuppressWarnings("ParameterName")
public static WheelSpeeds curvatureDriveIK(
@@ -325,8 +328,8 @@
xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
zRotation = MathUtil.clamp(zRotation, -1.0, 1.0);
- double leftSpeed = 0.0;
- double rightSpeed = 0.0;
+ double leftSpeed;
+ double rightSpeed;
if (allowTurnInPlace) {
leftSpeed = xSpeed + zRotation;
@@ -353,7 +356,7 @@
* @param rightSpeed The robot right side's speed along the X axis [-1.0..1.0]. Forward is
* positive.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
- * @return Wheel speeds.
+ * @return Wheel speeds [-1.0..1.0].
*/
public static WheelSpeeds tankDriveIK(double leftSpeed, double rightSpeed, boolean squareInputs) {
leftSpeed = MathUtil.clamp(leftSpeed, -1.0, 1.0);
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
index 3c49989..9915c87 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
@@ -58,6 +58,11 @@
private boolean m_reported;
+ /**
+ * Wheel speeds for a Killough drive.
+ *
+ * <p>Uses normalized voltage [-1.0..1.0].
+ */
@SuppressWarnings("MemberName")
public static class WheelSpeeds {
public double left;
@@ -70,9 +75,9 @@
/**
* Constructs a WheelSpeeds.
*
- * @param left The left speed.
- * @param right The right speed.
- * @param back The back speed.
+ * @param left The left speed [-1.0..1.0].
+ * @param right The right speed [-1.0..1.0].
+ * @param back The back speed [-1.0..1.0].
*/
public WheelSpeeds(double left, double right, double back) {
this.left = left;
@@ -238,9 +243,26 @@
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
* positive.
+ * @return Wheel speeds [-1.0..1.0].
+ */
+ @SuppressWarnings("ParameterName")
+ public WheelSpeeds driveCartesianIK(double ySpeed, double xSpeed, double zRotation) {
+ return driveCartesianIK(ySpeed, xSpeed, zRotation, 0.0);
+ }
+
+ /**
+ * Cartesian inverse kinematics for Killough platform.
+ *
+ * <p>Angles are measured clockwise from the positive X axis. The robot's speed is independent
+ * from its angle or rotation rate.
+ *
+ * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
+ * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
+ * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
+ * positive.
* @param gyroAngle The current angle reading from the gyro in degrees around the Z axis. Use this
* to implement field-oriented controls.
- * @return Wheel speeds.
+ * @return Wheel speeds [-1.0..1.0].
*/
@SuppressWarnings("ParameterName")
public WheelSpeeds driveCartesianIK(
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
index b672fa8..d22593f 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
@@ -34,23 +34,20 @@
* </pre>
*
* <p>Each drive() function provides different inverse kinematic relations for a Mecanum drive
- * robot. Motor outputs for the right side are negated, so motor direction inversion by the user is
- * usually unnecessary.
+ * robot.
*
- * <p>This library uses the NED axes convention (North-East-Down as external reference in the world
- * frame): http://www.nuclearprojects.com/ins/images/axis_big.png.
- *
- * <p>The positive X axis points ahead, the positive Y axis points right, and the positive Z axis
+ * <p>The positive Y axis points ahead, the positive X axis points right, and the positive Z axis
* points down. Rotations follow the right-hand rule, so clockwise rotation around the Z axis is
* positive.
*
+ * <p>Note: the axis conventions used in this class differ from DifferentialDrive. This may change
+ * in a future year's WPILib release.
+ *
* <p>Inputs smaller then {@value edu.wpi.first.wpilibj.drive.RobotDriveBase#kDefaultDeadband} will
* be set to 0, and larger values will be scaled so that the full range is still used. This deadband
* value can be changed with {@link #setDeadband}.
*
* <p>RobotDrive porting guide: <br>
- * In MecanumDrive, the right side motor controllers are automatically inverted, while in
- * RobotDrive, no motor controllers are automatically inverted. <br>
* {@link #driveCartesian(double, double, double, double)} is equivalent to RobotDrive's
* mecanumDrive_Cartesian(double, double, double, double) if a deadband of 0 is used, and the ySpeed
* and gyroAngle values are inverted compared to RobotDrive (eg driveCartesian(xSpeed, -ySpeed,
@@ -69,6 +66,11 @@
private boolean m_reported;
+ /**
+ * Wheel speeds for a mecanum drive.
+ *
+ * <p>Uses normalized voltage [-1.0..1.0].
+ */
@SuppressWarnings("MemberName")
public static class WheelSpeeds {
public double frontLeft;
@@ -82,10 +84,10 @@
/**
* Constructs a WheelSpeeds.
*
- * @param frontLeft The front left speed.
- * @param frontRight The front right speed.
- * @param rearLeft The rear left speed.
- * @param rearRight The rear right speed.
+ * @param frontLeft The front left speed [-1.0..1.0].
+ * @param frontRight The front right speed [-1.0..1.0].
+ * @param rearLeft The rear left speed [-1.0..1.0].
+ * @param rearRight The rear right speed [-1.0..1.0].
*/
public WheelSpeeds(double frontLeft, double frontRight, double rearLeft, double rearRight) {
this.frontLeft = frontLeft;
@@ -138,8 +140,8 @@
* <p>Angles are measured clockwise from the positive X axis. The robot's speed is independent
* from its angle or rotation rate.
*
- * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
- * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
+ * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Forward is positive.
+ * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Right is positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
* positive.
*/
@@ -154,8 +156,8 @@
* <p>Angles are measured clockwise from the positive X axis. The robot's speed is independent
* from its angle or rotation rate.
*
- * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
- * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
+ * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Forward is positive.
+ * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Right is positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
* positive.
* @param gyroAngle The current angle reading from the gyro in degrees around the Z axis. Use this
@@ -213,13 +215,30 @@
* <p>Angles are measured clockwise from the positive X axis. The robot's speed is independent
* from its angle or rotation rate.
*
- * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
- * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
+ * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Forward is positive.
+ * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Right is positive.
+ * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
+ * positive.
+ * @return Wheel speeds [-1.0..1.0].
+ */
+ @SuppressWarnings("ParameterName")
+ public static WheelSpeeds driveCartesianIK(double ySpeed, double xSpeed, double zRotation) {
+ return driveCartesianIK(ySpeed, xSpeed, zRotation, 0.0);
+ }
+
+ /**
+ * Cartesian inverse kinematics for Mecanum platform.
+ *
+ * <p>Angles are measured clockwise from the positive X axis. The robot's speed is independent
+ * from its angle or rotation rate.
+ *
+ * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Forward is positive.
+ * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Right is positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
* positive.
* @param gyroAngle The current angle reading from the gyro in degrees around the Z axis. Use this
* to implement field-oriented controls.
- * @return Wheel speeds.
+ * @return Wheel speeds [-1.0..1.0].
*/
@SuppressWarnings("ParameterName")
public static WheelSpeeds driveCartesianIK(
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
index d33fb01..fe8ecba 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java
@@ -104,6 +104,17 @@
return m_pwm.getChannel();
}
+ /**
+ * Optionally eliminate the deadband from a motor controller.
+ *
+ * @param eliminateDeadband If true, set the motor curve for the motor controller to eliminate the
+ * deadband in the middle of the range. Otherwise, keep the full range without modifying any
+ * values.
+ */
+ public void enableDeadbandElimination(boolean eliminateDeadband) {
+ m_pwm.enableDeadbandElimination(eliminateDeadband);
+ }
+
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Motor Controller");
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
index 82f2745..8df2c46 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/BuiltInWidgets.java
@@ -473,6 +473,15 @@
* </table>
*/
kCameraStream("Camera Stream"),
+ /**
+ * Displays a field2d object.<br>
+ * Supported types:
+ *
+ * <ul>
+ * <li>{@link edu.wpi.first.wpilibj.smartdashboard.Field2d}
+ * </ul>
+ */
+ kField("Field"),
;
private final String m_widgetName;
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java
index 58ac678..4bfe76c 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java
@@ -59,7 +59,7 @@
return widget;
}
- ComplexWidget add(Sendable sendable) throws IllegalArgumentException {
+ ComplexWidget add(Sendable sendable) {
String name = SendableRegistry.getName(sendable);
if (name.isEmpty()) {
throw new IllegalArgumentException("Sendable must have a name");
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java
index ee72303..f24840f 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java
@@ -5,17 +5,19 @@
package edu.wpi.first.wpilibj.shuffleboard;
import edu.wpi.first.cscore.VideoSource;
+import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import java.util.Map;
+import java.util.Objects;
import java.util.WeakHashMap;
/** A wrapper to make video sources sendable and usable from Shuffleboard. */
public final class SendableCameraWrapper implements Sendable, AutoCloseable {
private static final String kProtocol = "camera_server://";
- private static Map<VideoSource, SendableCameraWrapper> m_wrappers = new WeakHashMap<>();
+ private static Map<String, SendableCameraWrapper> m_wrappers = new WeakHashMap<>();
private final String m_uri;
@@ -26,9 +28,18 @@
* @param source the source to wrap
*/
private SendableCameraWrapper(VideoSource source) {
- String name = source.getName();
- SendableRegistry.add(this, name);
- m_uri = kProtocol + name;
+ this(source.getName());
+ }
+
+ private SendableCameraWrapper(String cameraName) {
+ SendableRegistry.add(this, cameraName);
+ m_uri = kProtocol + cameraName;
+ }
+
+ /** Clears all cached wrapper objects. This should only be used in tests. */
+ @SuppressWarnings("PMD.DefaultPackage")
+ static void clearWrappers() {
+ m_wrappers.clear();
}
@Override
@@ -45,7 +56,52 @@
* ShuffleboardTab#add(Sendable)} and {@link ShuffleboardLayout#add(Sendable)}
*/
public static SendableCameraWrapper wrap(VideoSource source) {
- return m_wrappers.computeIfAbsent(source, SendableCameraWrapper::new);
+ return m_wrappers.computeIfAbsent(source.getName(), name -> new SendableCameraWrapper(source));
+ }
+
+ /**
+ * Creates a wrapper for an arbitrary camera stream. The stream URLs <i>must</i> be specified
+ * using a host resolvable by a program running on a different host (such as a dashboard); prefer
+ * using static IP addresses (if known) or DHCP identifiers such as {@code "raspberrypi.local"}.
+ *
+ * <p>If a wrapper already exists for the given camera, that wrapper is returned and the specified
+ * URLs are ignored.
+ *
+ * @param cameraName the name of the camera. Cannot be null or empty
+ * @param cameraUrls the URLs with which the camera stream may be accessed. At least one URL must
+ * be specified
+ * @return a sendable wrapper object for the video source, usable in Shuffleboard via {@link
+ * ShuffleboardTab#add(Sendable)} and {@link ShuffleboardLayout#add(Sendable)}
+ */
+ @SuppressWarnings("PMD.CyclomaticComplexity")
+ public static SendableCameraWrapper wrap(String cameraName, String... cameraUrls) {
+ if (m_wrappers.containsKey(cameraName)) {
+ return m_wrappers.get(cameraName);
+ }
+
+ Objects.requireNonNull(cameraName, "cameraName");
+ Objects.requireNonNull(cameraUrls, "cameraUrls");
+ if (cameraName.isEmpty()) {
+ throw new IllegalArgumentException("Camera name not specified");
+ }
+ if (cameraUrls.length == 0) {
+ throw new IllegalArgumentException("No camera URLs specified");
+ }
+ for (int i = 0; i < cameraUrls.length; i++) {
+ Objects.requireNonNull(cameraUrls[i], "Camera URL at index " + i + " was null");
+ }
+
+ String streams = "/CameraPublisher/" + cameraName + "/streams";
+ if (NetworkTableInstance.getDefault().getEntries(streams, 0).length != 0) {
+ throw new IllegalStateException(
+ "A camera is already being streamed with the name '" + cameraName + "'");
+ }
+
+ NetworkTableInstance.getDefault().getEntry(streams).setStringArray(cameraUrls);
+
+ SendableCameraWrapper wrapper = new SendableCameraWrapper(cameraName);
+ m_wrappers.put(cameraName, wrapper);
+ return wrapper;
}
@Override
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java
index 8b4e009..333623f 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java
@@ -62,7 +62,7 @@
* @return the layout with the given title
* @throws NoSuchElementException if no layout has yet been defined with the given title
*/
- ShuffleboardLayout getLayout(String title) throws NoSuchElementException;
+ ShuffleboardLayout getLayout(String title);
/**
* Adds a widget to this container to display the given sendable.
@@ -73,7 +73,7 @@
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
- ComplexWidget add(String title, Sendable sendable) throws IllegalArgumentException;
+ ComplexWidget add(String title, Sendable sendable);
/**
* Adds a widget to this container to display the given video stream.
@@ -84,7 +84,7 @@
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
- default ComplexWidget add(String title, VideoSource video) throws IllegalArgumentException {
+ default ComplexWidget add(String title, VideoSource video) {
return add(title, SendableCameraWrapper.wrap(video));
}
@@ -120,7 +120,21 @@
* title
* @see #addPersistent(String, Object) add(String title, Object defaultValue)
*/
- SimpleWidget add(String title, Object defaultValue) throws IllegalArgumentException;
+ SimpleWidget add(String title, Object defaultValue);
+
+ /**
+ * Adds a widget to this container to display a video stream.
+ *
+ * @param title the title of the widget
+ * @param cameraName the name of the streamed camera
+ * @param cameraUrls the URLs with which the dashboard can access the camera stream
+ * @return a widget to display the camera stream
+ * @throws IllegalArgumentException if a widget already exists in this container with the given
+ * title
+ */
+ default ComplexWidget addCamera(String title, String cameraName, String... cameraUrls) {
+ return add(title, SendableCameraWrapper.wrap(cameraName, cameraUrls));
+ }
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -133,8 +147,7 @@
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
- SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier)
- throws IllegalArgumentException;
+ SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier);
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -147,8 +160,7 @@
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
- SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier)
- throws IllegalArgumentException;
+ SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier);
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -161,8 +173,7 @@
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
- SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier)
- throws IllegalArgumentException;
+ SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier);
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -175,8 +186,7 @@
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
- SuppliedValueWidget<String[]> addStringArray(String title, Supplier<String[]> valueSupplier)
- throws IllegalArgumentException;
+ SuppliedValueWidget<String[]> addStringArray(String title, Supplier<String[]> valueSupplier);
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -189,8 +199,7 @@
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
- SuppliedValueWidget<double[]> addDoubleArray(String title, Supplier<double[]> valueSupplier)
- throws IllegalArgumentException;
+ SuppliedValueWidget<double[]> addDoubleArray(String title, Supplier<double[]> valueSupplier);
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -203,8 +212,7 @@
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
- SuppliedValueWidget<boolean[]> addBooleanArray(String title, Supplier<boolean[]> valueSupplier)
- throws IllegalArgumentException;
+ SuppliedValueWidget<boolean[]> addBooleanArray(String title, Supplier<boolean[]> valueSupplier);
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -217,8 +225,7 @@
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
- SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier)
- throws IllegalArgumentException;
+ SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier);
/**
* Adds a widget to this container to display a simple piece of data. Unlike {@link #add(String,
@@ -232,8 +239,7 @@
* title
* @see #add(String, Object) add(String title, Object defaultValue)
*/
- default SimpleWidget addPersistent(String title, Object defaultValue)
- throws IllegalArgumentException {
+ default SimpleWidget addPersistent(String title, Object defaultValue) {
SimpleWidget widget = add(title, defaultValue);
widget.getEntry().setPersistent();
return widget;
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java
index 726f9cc..b48eebb 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java
@@ -9,7 +9,6 @@
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.util.sendable.Sendable;
import java.util.List;
-import java.util.NoSuchElementException;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;
@@ -34,64 +33,60 @@
}
@Override
- public ShuffleboardLayout getLayout(String title) throws NoSuchElementException {
+ public ShuffleboardLayout getLayout(String title) {
return m_helper.getLayout(title);
}
@Override
- public ComplexWidget add(String title, Sendable sendable) throws IllegalArgumentException {
+ public ComplexWidget add(String title, Sendable sendable) {
return m_helper.add(title, sendable);
}
@Override
- public ComplexWidget add(Sendable sendable) throws IllegalArgumentException {
+ public ComplexWidget add(Sendable sendable) {
return m_helper.add(sendable);
}
@Override
- public SimpleWidget add(String title, Object defaultValue) throws IllegalArgumentException {
+ public SimpleWidget add(String title, Object defaultValue) {
return m_helper.add(title, defaultValue);
}
@Override
- public SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier)
- throws IllegalArgumentException {
+ public SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier) {
return m_helper.addString(title, valueSupplier);
}
@Override
- public SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier)
- throws IllegalArgumentException {
+ public SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier) {
return m_helper.addNumber(title, valueSupplier);
}
@Override
- public SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier)
- throws IllegalArgumentException {
+ public SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier) {
return m_helper.addBoolean(title, valueSupplier);
}
@Override
public SuppliedValueWidget<String[]> addStringArray(
- String title, Supplier<String[]> valueSupplier) throws IllegalArgumentException {
+ String title, Supplier<String[]> valueSupplier) {
return m_helper.addStringArray(title, valueSupplier);
}
@Override
public SuppliedValueWidget<double[]> addDoubleArray(
- String title, Supplier<double[]> valueSupplier) throws IllegalArgumentException {
+ String title, Supplier<double[]> valueSupplier) {
return m_helper.addDoubleArray(title, valueSupplier);
}
@Override
public SuppliedValueWidget<boolean[]> addBooleanArray(
- String title, Supplier<boolean[]> valueSupplier) throws IllegalArgumentException {
+ String title, Supplier<boolean[]> valueSupplier) {
return m_helper.addBooleanArray(title, valueSupplier);
}
@Override
- public SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier)
- throws IllegalArgumentException {
+ public SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier) {
return m_helper.addRaw(title, valueSupplier);
}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java
index 172d86f..597eb80 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java
@@ -7,7 +7,6 @@
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.util.sendable.Sendable;
import java.util.List;
-import java.util.NoSuchElementException;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;
@@ -48,7 +47,7 @@
}
@Override
- public ShuffleboardLayout getLayout(String title) throws NoSuchElementException {
+ public ShuffleboardLayout getLayout(String title) {
return m_helper.getLayout(title);
}
@@ -58,7 +57,7 @@
}
@Override
- public ComplexWidget add(Sendable sendable) throws IllegalArgumentException {
+ public ComplexWidget add(Sendable sendable) {
return m_helper.add(sendable);
}
@@ -68,44 +67,40 @@
}
@Override
- public SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier)
- throws IllegalArgumentException {
+ public SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier) {
return m_helper.addString(title, valueSupplier);
}
@Override
- public SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier)
- throws IllegalArgumentException {
+ public SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier) {
return m_helper.addNumber(title, valueSupplier);
}
@Override
- public SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier)
- throws IllegalArgumentException {
+ public SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier) {
return m_helper.addBoolean(title, valueSupplier);
}
@Override
public SuppliedValueWidget<String[]> addStringArray(
- String title, Supplier<String[]> valueSupplier) throws IllegalArgumentException {
+ String title, Supplier<String[]> valueSupplier) {
return m_helper.addStringArray(title, valueSupplier);
}
@Override
public SuppliedValueWidget<double[]> addDoubleArray(
- String title, Supplier<double[]> valueSupplier) throws IllegalArgumentException {
+ String title, Supplier<double[]> valueSupplier) {
return m_helper.addDoubleArray(title, valueSupplier);
}
@Override
public SuppliedValueWidget<boolean[]> addBooleanArray(
- String title, Supplier<boolean[]> valueSupplier) throws IllegalArgumentException {
+ String title, Supplier<boolean[]> valueSupplier) {
return m_helper.addBooleanArray(title, valueSupplier);
}
@Override
- public SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier)
- throws IllegalArgumentException {
+ public SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier) {
return m_helper.addRaw(title, valueSupplier);
}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16448_IMUSim.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16448_IMUSim.java
new file mode 100644
index 0000000..584a2ec
--- /dev/null
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16448_IMUSim.java
@@ -0,0 +1,121 @@
+// 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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.wpilibj.ADIS16448_IMU;
+
+/** Class to control a simulated ADIS16448 gyroscope. */
+@SuppressWarnings({"TypeName", "AbbreviationAsWordInName"})
+public class ADIS16448_IMUSim {
+ private final SimDouble m_simGyroAngleX;
+ private final SimDouble m_simGyroAngleY;
+ private final SimDouble m_simGyroAngleZ;
+ private final SimDouble m_simGyroRateX;
+ private final SimDouble m_simGyroRateY;
+ private final SimDouble m_simGyroRateZ;
+ private final SimDouble m_simAccelX;
+ private final SimDouble m_simAccelY;
+ private final SimDouble m_simAccelZ;
+
+ /**
+ * Constructs from an ADIS16448_IMU object.
+ *
+ * @param gyro ADIS16448_IMU to simulate
+ */
+ public ADIS16448_IMUSim(ADIS16448_IMU gyro) {
+ SimDeviceSim wrappedSimDevice = new SimDeviceSim("Gyro:ADIS16448" + "[" + gyro.getPort() + "]");
+ m_simGyroAngleX = wrappedSimDevice.getDouble("gyro_angle_x");
+ m_simGyroAngleY = wrappedSimDevice.getDouble("gyro_angle_y");
+ m_simGyroAngleZ = wrappedSimDevice.getDouble("gyro_angle_z");
+ m_simGyroRateX = wrappedSimDevice.getDouble("gyro_rate_x");
+ m_simGyroRateY = wrappedSimDevice.getDouble("gyro_rate_y");
+ m_simGyroRateZ = wrappedSimDevice.getDouble("gyro_rate_z");
+ m_simAccelX = wrappedSimDevice.getDouble("accel_x");
+ m_simAccelY = wrappedSimDevice.getDouble("accel_y");
+ m_simAccelZ = wrappedSimDevice.getDouble("accel_z");
+ }
+
+ /**
+ * Sets the X axis angle in degrees (CCW positive).
+ *
+ * @param angleDegrees The angle.
+ */
+ public void setGyroAngleX(double angleDegrees) {
+ m_simGyroAngleX.set(angleDegrees);
+ }
+
+ /**
+ * Sets the Y axis angle in degrees (CCW positive).
+ *
+ * @param angleDegrees The angle.
+ */
+ public void setGyroAngleY(double angleDegrees) {
+ m_simGyroAngleY.set(angleDegrees);
+ }
+
+ /**
+ * Sets the Z axis angle in degrees (CCW positive).
+ *
+ * @param angleDegrees The angle.
+ */
+ public void setGyroAngleZ(double angleDegrees) {
+ m_simGyroAngleZ.set(angleDegrees);
+ }
+
+ /**
+ * Sets the X axis angle in degrees per second (CCW positive).
+ *
+ * @param angularRateDegreesPerSecond The angular rate.
+ */
+ public void setGyroRateX(double angularRateDegreesPerSecond) {
+ m_simGyroRateX.set(angularRateDegreesPerSecond);
+ }
+
+ /**
+ * Sets the Y axis angle in degrees per second (CCW positive).
+ *
+ * @param angularRateDegreesPerSecond The angular rate.
+ */
+ public void setGyroRateY(double angularRateDegreesPerSecond) {
+ m_simGyroRateY.set(angularRateDegreesPerSecond);
+ }
+
+ /**
+ * Sets the Z axis angle in degrees per second (CCW positive).
+ *
+ * @param angularRateDegreesPerSecond The angular rate.
+ */
+ public void setGyroRateZ(double angularRateDegreesPerSecond) {
+ m_simGyroRateZ.set(angularRateDegreesPerSecond);
+ }
+
+ /**
+ * Sets the X axis acceleration in meters per second squared.
+ *
+ * @param accelMetersPerSecondSquared The acceleration.
+ */
+ public void setAccelX(double accelMetersPerSecondSquared) {
+ m_simAccelX.set(accelMetersPerSecondSquared);
+ }
+
+ /**
+ * Sets the Y axis acceleration in meters per second squared.
+ *
+ * @param accelMetersPerSecondSquared The acceleration.
+ */
+ public void setAccelY(double accelMetersPerSecondSquared) {
+ m_simAccelY.set(accelMetersPerSecondSquared);
+ }
+
+ /**
+ * Sets the Z axis acceleration in meters per second squared.
+ *
+ * @param accelMetersPerSecondSquared The acceleration.
+ */
+ public void setAccelZ(double accelMetersPerSecondSquared) {
+ m_simAccelZ.set(accelMetersPerSecondSquared);
+ }
+}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16470_IMUSim.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16470_IMUSim.java
new file mode 100644
index 0000000..eb8ceb8
--- /dev/null
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADIS16470_IMUSim.java
@@ -0,0 +1,121 @@
+// 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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.wpilibj.ADIS16470_IMU;
+
+/** Class to control a simulated ADIS16470 gyroscope. */
+@SuppressWarnings({"TypeName", "AbbreviationAsWordInName"})
+public class ADIS16470_IMUSim {
+ private final SimDouble m_simGyroAngleX;
+ private final SimDouble m_simGyroAngleY;
+ private final SimDouble m_simGyroAngleZ;
+ private final SimDouble m_simGyroRateX;
+ private final SimDouble m_simGyroRateY;
+ private final SimDouble m_simGyroRateZ;
+ private final SimDouble m_simAccelX;
+ private final SimDouble m_simAccelY;
+ private final SimDouble m_simAccelZ;
+
+ /**
+ * Constructs from an ADIS16470_IMU object.
+ *
+ * @param gyro ADIS16470_IMU to simulate
+ */
+ public ADIS16470_IMUSim(ADIS16470_IMU gyro) {
+ SimDeviceSim wrappedSimDevice = new SimDeviceSim("Gyro:ADIS16470" + "[" + gyro.getPort() + "]");
+ m_simGyroAngleX = wrappedSimDevice.getDouble("gyro_angle_x");
+ m_simGyroAngleY = wrappedSimDevice.getDouble("gyro_angle_y");
+ m_simGyroAngleZ = wrappedSimDevice.getDouble("gyro_angle_z");
+ m_simGyroRateX = wrappedSimDevice.getDouble("gyro_rate_x");
+ m_simGyroRateY = wrappedSimDevice.getDouble("gyro_rate_y");
+ m_simGyroRateZ = wrappedSimDevice.getDouble("gyro_rate_z");
+ m_simAccelX = wrappedSimDevice.getDouble("accel_x");
+ m_simAccelY = wrappedSimDevice.getDouble("accel_y");
+ m_simAccelZ = wrappedSimDevice.getDouble("accel_z");
+ }
+
+ /**
+ * Sets the X axis angle in degrees (CCW positive).
+ *
+ * @param angleDegrees The angle.
+ */
+ public void setGyroAngleX(double angleDegrees) {
+ m_simGyroAngleX.set(angleDegrees);
+ }
+
+ /**
+ * Sets the Y axis angle in degrees (CCW positive).
+ *
+ * @param angleDegrees The angle.
+ */
+ public void setGyroAngleY(double angleDegrees) {
+ m_simGyroAngleY.set(angleDegrees);
+ }
+
+ /**
+ * Sets the Z axis angle in degrees (CCW positive).
+ *
+ * @param angleDegrees The angle.
+ */
+ public void setGyroAngleZ(double angleDegrees) {
+ m_simGyroAngleZ.set(angleDegrees);
+ }
+
+ /**
+ * Sets the X axis angle in degrees per second (CCW positive).
+ *
+ * @param angularRateDegreesPerSecond The angular rate.
+ */
+ public void setGyroRateX(double angularRateDegreesPerSecond) {
+ m_simGyroRateX.set(angularRateDegreesPerSecond);
+ }
+
+ /**
+ * Sets the Y axis angle in degrees per second (CCW positive).
+ *
+ * @param angularRateDegreesPerSecond The angular rate.
+ */
+ public void setGyroRateY(double angularRateDegreesPerSecond) {
+ m_simGyroRateY.set(angularRateDegreesPerSecond);
+ }
+
+ /**
+ * Sets the Z axis angle in degrees per second (CCW positive).
+ *
+ * @param angularRateDegreesPerSecond The angular rate.
+ */
+ public void setGyroRateZ(double angularRateDegreesPerSecond) {
+ m_simGyroRateZ.set(angularRateDegreesPerSecond);
+ }
+
+ /**
+ * Sets the X axis acceleration in meters per second squared.
+ *
+ * @param accelMetersPerSecondSquared The acceleration.
+ */
+ public void setAccelX(double accelMetersPerSecondSquared) {
+ m_simAccelX.set(accelMetersPerSecondSquared);
+ }
+
+ /**
+ * Sets the Y axis acceleration in meters per second squared.
+ *
+ * @param accelMetersPerSecondSquared The acceleration.
+ */
+ public void setAccelY(double accelMetersPerSecondSquared) {
+ m_simAccelY.set(accelMetersPerSecondSquared);
+ }
+
+ /**
+ * Sets the Z axis acceleration in meters per second squared.
+ *
+ * @param accelMetersPerSecondSquared The acceleration.
+ */
+ public void setAccelZ(double accelMetersPerSecondSquared) {
+ m_simAccelZ.set(accelMetersPerSecondSquared);
+ }
+}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
new file mode 100644
index 0000000..957075d
--- /dev/null
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
@@ -0,0 +1,145 @@
+// 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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N2;
+import edu.wpi.first.math.system.LinearSystem;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.math.util.Units;
+
+/** Represents a simulated DC motor mechanism. */
+public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
+ // Gearbox for the DC motor.
+ private final DCMotor m_gearbox;
+
+ // The gearing from the motors to the output.
+ private final double m_gearing;
+
+ /**
+ * Creates a simulated DC motor mechanism.
+ *
+ * @param plant The linear system that represents the DC motor.
+ * @param gearbox The type of and number of motors in the DC motor gearbox.
+ * @param gearing The gearing of the DC motor (numbers greater than 1 represent reductions).
+ */
+ public DCMotorSim(LinearSystem<N2, N1, N2> plant, DCMotor gearbox, double gearing) {
+ super(plant);
+ m_gearbox = gearbox;
+ m_gearing = gearing;
+ }
+
+ /**
+ * Creates a simulated DC motor mechanism.
+ *
+ * @param plant The linear system that represents the DC motor.
+ * @param gearbox The type of and number of motors in the DC motor gearbox.
+ * @param gearing The gearing of the DC motor (numbers greater than 1 represent reductions).
+ * @param measurementStdDevs The standard deviations of the measurements.
+ */
+ public DCMotorSim(
+ LinearSystem<N2, N1, N2> plant,
+ DCMotor gearbox,
+ double gearing,
+ Matrix<N2, N1> measurementStdDevs) {
+ super(plant, measurementStdDevs);
+ m_gearbox = gearbox;
+ m_gearing = gearing;
+ }
+
+ /**
+ * Creates a simulated DC motor mechanism.
+ *
+ * @param gearbox The type of and number of motors in the DC motor gearbox.
+ * @param gearing The gearing of the DC motor (numbers greater than 1 represent reductions).
+ * @param jKgMetersSquared The moment of inertia of the DC motor. If this is unknown, use the
+ * {@link #DCMotorSim(LinearSystem, DCMotor, double, Matrix)} constructor.
+ */
+ @SuppressWarnings("ParameterName")
+ public DCMotorSim(DCMotor gearbox, double gearing, double jKgMetersSquared) {
+ super(LinearSystemId.createDCMotorSystem(gearbox, jKgMetersSquared, gearing));
+ m_gearbox = gearbox;
+ m_gearing = gearing;
+ }
+
+ /**
+ * Creates a simulated DC motor mechanism.
+ *
+ * @param gearbox The type of and number of motors in the DC motor gearbox.
+ * @param gearing The gearing of the DC motor (numbers greater than 1 represent reductions).
+ * @param jKgMetersSquared The moment of inertia of the DC motor. If this is unknown, use the
+ * {@link #DCMotorSim(LinearSystem, DCMotor, double, Matrix)} constructor.
+ * @param measurementStdDevs The standard deviations of the measurements.
+ */
+ @SuppressWarnings("ParameterName")
+ public DCMotorSim(
+ DCMotor gearbox, double gearing, double jKgMetersSquared, Matrix<N2, N1> measurementStdDevs) {
+ super(
+ LinearSystemId.createDCMotorSystem(gearbox, jKgMetersSquared, gearing), measurementStdDevs);
+ m_gearbox = gearbox;
+ m_gearing = gearing;
+ }
+
+ /**
+ * Returns the DC motor position.
+ *
+ * @return The DC motor position.
+ */
+ public double getAngularPositionRad() {
+ return getOutput(0);
+ }
+
+ /**
+ * Returns the DC motor position in rotations.
+ *
+ * @return The DC motor position in rotations.
+ */
+ public double getAngularPositionRotations() {
+ return Units.radiansToRotations(getAngularPositionRad());
+ }
+
+ /**
+ * Returns the DC motor velocity.
+ *
+ * @return The DC motor velocity.
+ */
+ public double getAngularVelocityRadPerSec() {
+ return getOutput(1);
+ }
+
+ /**
+ * Returns the DC motor velocity in RPM.
+ *
+ * @return The DC motor velocity in RPM.
+ */
+ public double getAngularVelocityRPM() {
+ return Units.radiansPerSecondToRotationsPerMinute(getAngularVelocityRadPerSec());
+ }
+
+ /**
+ * Returns the DC motor current draw.
+ *
+ * @return The DC motor current draw.
+ */
+ @Override
+ public double getCurrentDrawAmps() {
+ // I = V / R - omega / (Kv * R)
+ // Reductions are output over input, so a reduction of 2:1 means the motor is spinning
+ // 2x faster than the output
+ return m_gearbox.getCurrent(getAngularVelocityRadPerSec() * m_gearing, m_u.get(0, 0))
+ * Math.signum(m_u.get(0, 0));
+ }
+
+ /**
+ * Sets the input voltage for the DC motor.
+ *
+ * @param volts The input voltage.
+ */
+ public void setInputVoltage(double volts) {
+ setInput(volts);
+ }
+}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
index b123eac..43242d1 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
@@ -360,7 +360,7 @@
* @return The normalized input.
*/
protected Matrix<N2, N1> clampInput(Matrix<N2, N1> u) {
- return StateSpaceUtil.normalizeInputVector(u, RobotController.getBatteryVoltage());
+ return StateSpaceUtil.desaturateInputVector(u, RobotController.getBatteryVoltage());
}
/** Represents the different states of the drivetrain. */
@@ -407,7 +407,11 @@
kSingleCIMPerSide(DCMotor.getCIM(1)),
kDualCIMPerSide(DCMotor.getCIM(2)),
kSingleMiniCIMPerSide(DCMotor.getMiniCIM(1)),
- kDualMiniCIMPerSide(DCMotor.getMiniCIM(2));
+ kDualMiniCIMPerSide(DCMotor.getMiniCIM(2)),
+ kSingleFalcon500PerSide(DCMotor.getFalcon500(1)),
+ kDoubleFalcon500PerSide(DCMotor.getFalcon500(2)),
+ kSingleNEOPerSide(DCMotor.getNEO(1)),
+ kDoubleNEOPerSide(DCMotor.getNEO(2));
@SuppressWarnings("MemberName")
public final DCMotor value;
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
index 2b4e9a9..e6ffbca 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
@@ -186,6 +186,6 @@
* @return The normalized input.
*/
protected Matrix<Inputs, N1> clampInput(Matrix<Inputs, N1> u) {
- return StateSpaceUtil.normalizeInputVector(u, RobotController.getBatteryVoltage());
+ return StateSpaceUtil.desaturateInputVector(u, RobotController.getBatteryVoltage());
}
}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/REVPHSim.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/REVPHSim.java
index 8a5f0f8..8e07da3 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/REVPHSim.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/REVPHSim.java
@@ -144,28 +144,28 @@
* @return the {@link CallbackStore} object associated with this callback. Save a reference to
* this object so GC doesn't cancel the callback.
*/
- public CallbackStore registerClosedLoopEnabledCallback(
+ public CallbackStore registerCompressorConfigTypeCallback(
NotifyCallback callback, boolean initialNotify) {
- int uid = REVPHDataJNI.registerClosedLoopEnabledCallback(m_index, callback, initialNotify);
- return new CallbackStore(m_index, uid, REVPHDataJNI::cancelClosedLoopEnabledCallback);
+ int uid = REVPHDataJNI.registerCompressorConfigTypeCallback(m_index, callback, initialNotify);
+ return new CallbackStore(m_index, uid, REVPHDataJNI::cancelCompressorConfigTypeCallback);
}
/**
* Check whether the closed loop compressor control is active.
*
- * @return true if active
+ * @return config type
*/
- public boolean getClosedLoopEnabled() {
- return REVPHDataJNI.getClosedLoopEnabled(m_index);
+ public int getCompressorConfigType() {
+ return REVPHDataJNI.getCompressorConfigType(m_index);
}
/**
* Turn on/off the closed loop control of the compressor.
*
- * @param closedLoopEnabled whether the control loop is active
+ * @param compressorConfigType compressor config type
*/
- public void setClosedLoopEnabled(boolean closedLoopEnabled) {
- REVPHDataJNI.setClosedLoopEnabled(m_index, closedLoopEnabled);
+ public void setCompressorConfigType(int compressorConfigType) {
+ REVPHDataJNI.setCompressorConfigType(m_index, compressorConfigType);
}
/**
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismLigament2d.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismLigament2d.java
index 8579936..88236de 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismLigament2d.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismLigament2d.java
@@ -118,6 +118,32 @@
}
/**
+ * Get the ligament color.
+ *
+ * @return the color of the line
+ */
+ public synchronized Color8Bit getColor() {
+ if (m_colorEntry != null) {
+ m_color = m_colorEntry.getString("");
+ }
+ int r = 0;
+ int g = 0;
+ int b = 0;
+ if (m_color.length() == 7 && m_color.charAt(0) == '#') {
+ try {
+ r = Integer.parseInt(m_color.substring(1, 3), 16);
+ g = Integer.parseInt(m_color.substring(3, 5), 16);
+ b = Integer.parseInt(m_color.substring(5, 7), 16);
+ } catch (NumberFormatException e) {
+ r = 0;
+ g = 0;
+ b = 0;
+ }
+ }
+ return new Color8Bit(r, g, b);
+ }
+
+ /**
* Set the line thickness.
*
* @param weight the line thickness
@@ -127,8 +153,20 @@
flush();
}
+ /**
+ * Get the line thickness.
+ *
+ * @return the line thickness
+ */
+ public synchronized double getLineWeight() {
+ if (m_weightEntry != null) {
+ m_weight = m_weightEntry.getDouble(0.0);
+ }
+ return m_weight;
+ }
+
@Override
- protected synchronized void updateEntries(NetworkTable table) {
+ protected void updateEntries(NetworkTable table) {
table.getEntry(".type").setString("line");
m_angleEntry = table.getEntry("angle");
m_lengthEntry = table.getEntry("length");
@@ -138,7 +176,7 @@
}
/** Flush latest data to NT. */
- private synchronized void flush() {
+ private void flush() {
if (m_angleEntry != null) {
m_angleEntry.setDouble(m_angle);
}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismObject2d.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismObject2d.java
index 4598f7e..584660a 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismObject2d.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismObject2d.java
@@ -52,7 +52,7 @@
return object;
}
- final void update(NetworkTable table) {
+ final synchronized void update(NetworkTable table) {
m_table = table;
updateEntries(m_table);
for (MechanismObject2d obj : m_objects.values()) {
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismRoot2d.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismRoot2d.java
index 39f4515..ee804b7 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismRoot2d.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismRoot2d.java
@@ -70,6 +70,7 @@
public synchronized void setPosition(double x, double y) {
m_x = x;
m_y = y;
+ flush();
}
synchronized void update(NetworkTable table) {
@@ -86,7 +87,7 @@
return m_name;
}
- private synchronized void flush() {
+ private void flush() {
if (m_xEntry != null) {
m_xEntry.setDouble(m_x);
}
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
index 2614edf..cece5a9 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
+++ b/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
@@ -72,9 +72,9 @@
/**
* Adds the given object to the list of options.
*
- * @deprecated Use {@link #addOption(String, Object)} instead.
* @param name the name of the option
* @param object the option
+ * @deprecated Use {@link #addOption(String, Object)} instead.
*/
@Deprecated
public void addObject(String name, V object) {
@@ -99,9 +99,9 @@
/**
* Adds the given object to the list of options and marks it as the default.
*
- * @deprecated Use {@link #setDefaultOption(String, Object)} instead.
* @param name the name of the option
* @param object the option
+ * @deprecated Use {@link #setDefaultOption(String, Object)} instead.
*/
@Deprecated
public void addDefault(String name, V object) {
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/AddressableLEDBufferTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/AddressableLEDBufferTest.java
index 2a24dbe..031d411 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/AddressableLEDBufferTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/AddressableLEDBufferTest.java
@@ -6,7 +6,6 @@
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.params.provider.Arguments.arguments;
import edu.wpi.first.wpilibj.util.Color;
@@ -63,13 +62,13 @@
buffer.setLED(2, Color.kFirstRed);
buffer.setLED(3, Color.kFirstBlue);
- assertTrue(buffer.getLED(0).equals(Color.kFirstBlue));
- assertTrue(buffer.getLED(1).equals(Color.kDenim));
- assertTrue(buffer.getLED(2).equals(Color.kFirstRed));
- assertTrue(buffer.getLED(3).equals(Color.kFirstBlue));
- assertTrue(buffer.getLED8Bit(0).equals(firstBlueColor8Bit));
- assertTrue(buffer.getLED8Bit(1).equals(denimColor8Bit));
- assertTrue(buffer.getLED8Bit(2).equals(firstRedColor8Bit));
- assertTrue(buffer.getLED8Bit(3).equals(firstBlueColor8Bit));
+ assertEquals(Color.kFirstBlue, buffer.getLED(0));
+ assertEquals(Color.kDenim, buffer.getLED(1));
+ assertEquals(Color.kFirstRed, buffer.getLED(2));
+ assertEquals(Color.kFirstBlue, buffer.getLED(3));
+ assertEquals(firstBlueColor8Bit, buffer.getLED8Bit(0));
+ assertEquals(denimColor8Bit, buffer.getLED8Bit(1));
+ assertEquals(firstRedColor8Bit, buffer.getLED8Bit(2));
+ assertEquals(firstBlueColor8Bit, buffer.getLED8Bit(3));
}
}
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/AnalogGyroTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/AnalogGyroTest.java
index c8eaad9..daae493 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/AnalogGyroTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/AnalogGyroTest.java
@@ -12,7 +12,7 @@
import edu.wpi.first.wpilibj.simulation.AnalogGyroSim;
import org.junit.jupiter.api.Test;
-public class AnalogGyroTest {
+class AnalogGyroTest {
@Test
void testInitializeWithAnalogInput() {
HAL.initialize(500, 0);
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java
index fa299a5..7c6536e 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java
@@ -11,7 +11,7 @@
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import org.junit.jupiter.api.Test;
-public class AnalogPotentiometerTest {
+class AnalogPotentiometerTest {
@Test
void testInitializeWithAnalogInput() {
HAL.initialize(500, 0);
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DigitalOutputTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DigitalOutputTest.java
index 47b7eda..e83b59c 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DigitalOutputTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DigitalOutputTest.java
@@ -12,7 +12,7 @@
import edu.wpi.first.wpilibj.simulation.DIOSim;
import org.junit.jupiter.api.Test;
-public class DigitalOutputTest {
+class DigitalOutputTest {
@Test
void testDefaultFunctions() {
try (DigitalOutput output = new DigitalOutput(0)) {
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DoubleSolenoidTestCTRE.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DoubleSolenoidTestCTRE.java
index 72a3e89..9e2971e 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DoubleSolenoidTestCTRE.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DoubleSolenoidTestCTRE.java
@@ -10,7 +10,7 @@
import edu.wpi.first.hal.util.AllocationException;
import org.junit.jupiter.api.Test;
-public class DoubleSolenoidTestCTRE {
+class DoubleSolenoidTestCTRE {
@Test
void testValidInitialization() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(3, PneumaticsModuleType.CTREPCM, 2, 3)) {
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DoubleSolenoidTestREV.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DoubleSolenoidTestREV.java
index 888b677..15e88c5 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DoubleSolenoidTestREV.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DoubleSolenoidTestREV.java
@@ -10,7 +10,7 @@
import edu.wpi.first.hal.util.AllocationException;
import org.junit.jupiter.api.Test;
-public class DoubleSolenoidTestREV {
+class DoubleSolenoidTestREV {
@Test
void testValidInitialization() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(3, PneumaticsModuleType.REVPH, 2, 3)) {
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/InterruptTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/InterruptTest.java
index 2eecd66..bc32b8e 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/InterruptTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/InterruptTest.java
@@ -12,7 +12,7 @@
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.Test;
-public class InterruptTest {
+class InterruptTest {
@Test
void testAsynchronousInterrupt() {
AtomicBoolean hasFired = new AtomicBoolean(false);
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/PS4ControllerTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/PS4ControllerTest.java
index e969cb3..c1ebd51 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/PS4ControllerTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/PS4ControllerTest.java
@@ -19,7 +19,7 @@
@ParameterizedTest
@EnumSource(value = PS4Controller.Button.class)
@SuppressWarnings({"VariableDeclarationUsageDistance"})
- public void testButtons(PS4Controller.Button button)
+ void testButtons(PS4Controller.Button button)
throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
HAL.initialize(500, 0);
PS4Controller joy = new PS4Controller(2);
@@ -60,7 +60,7 @@
@ParameterizedTest
@EnumSource(value = PS4Controller.Axis.class)
@SuppressWarnings({"VariableDeclarationUsageDistance"})
- public void testAxes(PS4Controller.Axis axis)
+ void testAxes(PS4Controller.Axis axis)
throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
HAL.initialize(500, 0);
PS4Controller joy = new PS4Controller(2);
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/SensorUtilTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/SensorUtilTest.java
index a33716c..bf6876e 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/SensorUtilTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/SensorUtilTest.java
@@ -9,7 +9,7 @@
import org.junit.jupiter.api.Test;
-public class SensorUtilTest {
+class SensorUtilTest {
@Test
void checkAnalogInputChannel() {
assertThrows(IllegalArgumentException.class, () -> SensorUtil.checkAnalogInputChannel(100));
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/SolenoidTestCTRE.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/SolenoidTestCTRE.java
index 0077650..1712046 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/SolenoidTestCTRE.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/SolenoidTestCTRE.java
@@ -12,7 +12,7 @@
import edu.wpi.first.hal.util.AllocationException;
import org.junit.jupiter.api.Test;
-public class SolenoidTestCTRE {
+class SolenoidTestCTRE {
@Test
void testValidInitialization() {
try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.CTREPCM, 2)) {
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/SolenoidTestREV.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/SolenoidTestREV.java
index 3f07406..eb327d4 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/SolenoidTestREV.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/SolenoidTestREV.java
@@ -12,7 +12,7 @@
import edu.wpi.first.hal.util.AllocationException;
import org.junit.jupiter.api.Test;
-public class SolenoidTestREV {
+class SolenoidTestREV {
@Test
void testValidInitialization() {
try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.REVPH, 2)) {
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/UltrasonicTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/UltrasonicTest.java
index 1b50572..a7ab0ca 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/UltrasonicTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/UltrasonicTest.java
@@ -11,9 +11,9 @@
import edu.wpi.first.wpilibj.simulation.UltrasonicSim;
import org.junit.jupiter.api.Test;
-public class UltrasonicTest {
+class UltrasonicTest {
@Test
- public void testUltrasonic() {
+ void testUltrasonic() {
try (Ultrasonic ultrasonic = new Ultrasonic(0, 1)) {
UltrasonicSim sim = new UltrasonicSim(ultrasonic);
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
index 8eed93f..0501f6d 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
@@ -34,19 +34,20 @@
}
@Test
- public void singleConstructorTest() {
+ void singleConstructorTest() {
assertEquals(1, m_clazz.getDeclaredConstructors().length, "More than one constructor defined");
}
@Test
- public void constructorPrivateTest() {
+ void constructorPrivateTest() {
Constructor<?> constructor = m_clazz.getDeclaredConstructors()[0];
assertFalse(constructor.canAccess(null), "Constructor is not private");
}
@Test
- public void constructorReflectionTest() {
+ @SuppressWarnings("PMD.AvoidAccessibilityAlteration")
+ void constructorReflectionTest() {
Constructor<?> constructor = m_clazz.getDeclaredConstructors()[0];
constructor.setAccessible(true);
assertThrows(InvocationTargetException.class, constructor::newInstance);
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/XboxControllerTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/XboxControllerTest.java
index d472377..af9c902 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/XboxControllerTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/XboxControllerTest.java
@@ -19,7 +19,7 @@
@ParameterizedTest
@EnumSource(value = XboxController.Button.class)
@SuppressWarnings({"VariableDeclarationUsageDistance"})
- public void testButtons(XboxController.Button button)
+ void testButtons(XboxController.Button button)
throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
HAL.initialize(500, 0);
XboxController joy = new XboxController(2);
@@ -60,7 +60,7 @@
@ParameterizedTest
@EnumSource(value = XboxController.Axis.class)
@SuppressWarnings({"VariableDeclarationUsageDistance"})
- public void testAxes(XboxController.Axis axis)
+ void testAxes(XboxController.Axis axis)
throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
HAL.initialize(500, 0);
XboxController joy = new XboxController(2);
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DifferentialDriveTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DifferentialDriveTest.java
index e7f2e31..afeac0b 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DifferentialDriveTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DifferentialDriveTest.java
@@ -11,6 +11,244 @@
class DifferentialDriveTest {
@Test
+ void testArcadeDriveIK() {
+ // Forward
+ var speeds = DifferentialDrive.arcadeDriveIK(1.0, 0.0, false);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+
+ // Forward left turn
+ speeds = DifferentialDrive.arcadeDriveIK(0.5, -0.5, false);
+ assertEquals(0.0, speeds.left, 1e-9);
+ assertEquals(0.5, speeds.right, 1e-9);
+
+ // Forward right turn
+ speeds = DifferentialDrive.arcadeDriveIK(0.5, 0.5, false);
+ assertEquals(0.5, speeds.left, 1e-9);
+ assertEquals(0.0, speeds.right, 1e-9);
+
+ // Backward
+ speeds = DifferentialDrive.arcadeDriveIK(-1.0, 0.0, false);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+
+ // Backward left turn
+ speeds = DifferentialDrive.arcadeDriveIK(-0.5, -0.5, false);
+ assertEquals(-0.5, speeds.left, 1e-9);
+ assertEquals(0.0, speeds.right, 1e-9);
+
+ // Backward right turn
+ speeds = DifferentialDrive.arcadeDriveIK(-0.5, 0.5, false);
+ assertEquals(0.0, speeds.left, 1e-9);
+ assertEquals(-0.5, speeds.right, 1e-9);
+
+ // Left turn (xSpeed with negative sign)
+ speeds = DifferentialDrive.arcadeDriveIK(-0.0, -1.0, false);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+
+ // Left turn (xSpeed with positive sign)
+ speeds = DifferentialDrive.arcadeDriveIK(0.0, -1.0, false);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+
+ // Right turn (xSpeed with negative sign)
+ speeds = DifferentialDrive.arcadeDriveIK(-0.0, 1.0, false);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+
+ // Right turn (xSpeed with positive sign)
+ speeds = DifferentialDrive.arcadeDriveIK(0.0, 1.0, false);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+ }
+
+ @Test
+ void testArcadeDriveIKSquared() {
+ // Forward
+ var speeds = DifferentialDrive.arcadeDriveIK(1.0, 0.0, true);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+
+ // Forward left turn
+ speeds = DifferentialDrive.arcadeDriveIK(0.5, -0.5, true);
+ assertEquals(0.0, speeds.left, 1e-9);
+ assertEquals(0.25, speeds.right, 1e-9);
+
+ // Forward right turn
+ speeds = DifferentialDrive.arcadeDriveIK(0.5, 0.5, true);
+ assertEquals(0.25, speeds.left, 1e-9);
+ assertEquals(0.0, speeds.right, 1e-9);
+
+ // Backward
+ speeds = DifferentialDrive.arcadeDriveIK(-1.0, 0.0, true);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+
+ // Backward left turn
+ speeds = DifferentialDrive.arcadeDriveIK(-0.5, -0.5, true);
+ assertEquals(-0.25, speeds.left, 1e-9);
+ assertEquals(0.0, speeds.right, 1e-9);
+
+ // Backward right turn
+ speeds = DifferentialDrive.arcadeDriveIK(-0.5, 0.5, true);
+ assertEquals(0.0, speeds.left, 1e-9);
+ assertEquals(-0.25, speeds.right, 1e-9);
+
+ // Left turn (xSpeed with negative sign)
+ speeds = DifferentialDrive.arcadeDriveIK(-0.0, -1.0, false);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+
+ // Left turn (xSpeed with positive sign)
+ speeds = DifferentialDrive.arcadeDriveIK(0.0, -1.0, false);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+
+ // Right turn (xSpeed with negative sign)
+ speeds = DifferentialDrive.arcadeDriveIK(-0.0, 1.0, false);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+
+ // Right turn (xSpeed with positive sign)
+ speeds = DifferentialDrive.arcadeDriveIK(0.0, 1.0, false);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+ }
+
+ @Test
+ void testCurvatureDriveIK() {
+ // Forward
+ var speeds = DifferentialDrive.curvatureDriveIK(1.0, 0.0, false);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+
+ // Forward left turn
+ speeds = DifferentialDrive.curvatureDriveIK(0.5, -0.5, false);
+ assertEquals(0.25, speeds.left, 1e-9);
+ assertEquals(0.75, speeds.right, 1e-9);
+
+ // Forward right turn
+ speeds = DifferentialDrive.curvatureDriveIK(0.5, 0.5, false);
+ assertEquals(0.75, speeds.left, 1e-9);
+ assertEquals(0.25, speeds.right, 1e-9);
+
+ // Backward
+ speeds = DifferentialDrive.curvatureDriveIK(-1.0, 0.0, false);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+
+ // Backward left turn
+ speeds = DifferentialDrive.curvatureDriveIK(-0.5, -0.5, false);
+ assertEquals(-0.75, speeds.left, 1e-9);
+ assertEquals(-0.25, speeds.right, 1e-9);
+
+ // Backward right turn
+ speeds = DifferentialDrive.curvatureDriveIK(-0.5, 0.5, false);
+ assertEquals(-0.25, speeds.left, 1e-9);
+ assertEquals(-0.75, speeds.right, 1e-9);
+ }
+
+ @Test
+ void testCurvatureDriveIKTurnInPlace() {
+ // Forward
+ var speeds = DifferentialDrive.curvatureDriveIK(1.0, 0.0, true);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+
+ // Forward left turn
+ speeds = DifferentialDrive.curvatureDriveIK(0.5, -0.5, true);
+ assertEquals(0.0, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+
+ // Forward right turn
+ speeds = DifferentialDrive.curvatureDriveIK(0.5, 0.5, true);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(0.0, speeds.right, 1e-9);
+
+ // Backward
+ speeds = DifferentialDrive.curvatureDriveIK(-1.0, 0.0, true);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+
+ // Backward left turn
+ speeds = DifferentialDrive.curvatureDriveIK(-0.5, -0.5, true);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(0.0, speeds.right, 1e-9);
+
+ // Backward right turn
+ speeds = DifferentialDrive.curvatureDriveIK(-0.5, 0.5, true);
+ assertEquals(0.0, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+ }
+
+ @Test
+ void testTankDriveIK() {
+ // Forward
+ var speeds = DifferentialDrive.tankDriveIK(1.0, 1.0, false);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+
+ // Forward left turn
+ speeds = DifferentialDrive.tankDriveIK(0.5, 1.0, false);
+ assertEquals(0.5, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+
+ // Forward right turn
+ speeds = DifferentialDrive.tankDriveIK(1.0, 0.5, false);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(0.5, speeds.right, 1e-9);
+
+ // Backward
+ speeds = DifferentialDrive.tankDriveIK(-1.0, -1.0, false);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+
+ // Backward left turn
+ speeds = DifferentialDrive.tankDriveIK(-0.5, -1.0, false);
+ assertEquals(-0.5, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+
+ // Backward right turn
+ speeds = DifferentialDrive.tankDriveIK(-0.5, 1.0, false);
+ assertEquals(-0.5, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+ }
+
+ @Test
+ void testTankDriveIKSquared() {
+ // Forward
+ var speeds = DifferentialDrive.tankDriveIK(1.0, 1.0, true);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+
+ // Forward left turn
+ speeds = DifferentialDrive.tankDriveIK(0.5, 1.0, true);
+ assertEquals(0.25, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+
+ // Forward right turn
+ speeds = DifferentialDrive.tankDriveIK(1.0, 0.5, true);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(0.25, speeds.right, 1e-9);
+
+ // Backward
+ speeds = DifferentialDrive.tankDriveIK(-1.0, -1.0, true);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+
+ // Backward left turn
+ speeds = DifferentialDrive.tankDriveIK(-0.5, -1.0, true);
+ assertEquals(-0.25, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+
+ // Backward right turn
+ speeds = DifferentialDrive.tankDriveIK(-1.0, -0.5, true);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(-0.25, speeds.right, 1e-9);
+ }
+
+ @Test
void testArcadeDrive() {
var left = new MockMotorController();
var right = new MockMotorController();
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/KilloughDriveTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/KilloughDriveTest.java
index 7d06d9f..99858d9 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/KilloughDriveTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/KilloughDriveTest.java
@@ -11,6 +11,82 @@
class KilloughDriveTest {
@Test
+ void testCartesianIK() {
+ var left = new MockMotorController();
+ var right = new MockMotorController();
+ var back = new MockMotorController();
+ var drive = new KilloughDrive(left, right, back);
+
+ // Forward
+ var speeds = drive.driveCartesianIK(1.0, 0.0, 0.0);
+ assertEquals(0.5, speeds.left, 1e-9);
+ assertEquals(-0.5, speeds.right, 1e-9);
+ assertEquals(0.0, speeds.back, 1e-9);
+
+ // Left
+ speeds = drive.driveCartesianIK(0.0, -1.0, 0.0);
+ assertEquals(-Math.sqrt(3) / 2, speeds.left, 1e-9);
+ assertEquals(-Math.sqrt(3) / 2, speeds.right, 1e-9);
+ assertEquals(1.0, speeds.back, 1e-9);
+
+ // Right
+ speeds = drive.driveCartesianIK(0.0, 1.0, 0.0);
+ assertEquals(Math.sqrt(3) / 2, speeds.left, 1e-9);
+ assertEquals(Math.sqrt(3) / 2, speeds.right, 1e-9);
+ assertEquals(-1.0, speeds.back, 1e-9);
+
+ // Rotate CCW
+ speeds = drive.driveCartesianIK(0.0, 0.0, -1.0);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+ assertEquals(-1.0, speeds.back, 1e-9);
+
+ // Rotate CW
+ speeds = drive.driveCartesianIK(0.0, 0.0, 1.0);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+ assertEquals(1.0, speeds.back, 1e-9);
+ }
+
+ @Test
+ void testCartesianIKGyro90CW() {
+ var left = new MockMotorController();
+ var right = new MockMotorController();
+ var back = new MockMotorController();
+ var drive = new KilloughDrive(left, right, back);
+
+ // Forward in global frame; left in robot frame
+ var speeds = drive.driveCartesianIK(1.0, 0.0, 0.0, 90.0);
+ assertEquals(-Math.sqrt(3) / 2, speeds.left, 1e-9);
+ assertEquals(-Math.sqrt(3) / 2, speeds.right, 1e-9);
+ assertEquals(1.0, speeds.back, 1e-9);
+
+ // Left in global frame; backward in robot frame
+ speeds = drive.driveCartesianIK(0.0, -1.0, 0.0, 90.0);
+ assertEquals(-0.5, speeds.left, 1e-9);
+ assertEquals(0.5, speeds.right, 1e-9);
+ assertEquals(0.0, speeds.back, 1e-9);
+
+ // Right in global frame; forward in robot frame
+ speeds = drive.driveCartesianIK(0.0, 1.0, 0.0, 90.0);
+ assertEquals(0.5, speeds.left, 1e-9);
+ assertEquals(-0.5, speeds.right, 1e-9);
+ assertEquals(0.0, speeds.back, 1e-9);
+
+ // Rotate CCW
+ speeds = drive.driveCartesianIK(0.0, 0.0, -1.0, 90.0);
+ assertEquals(-1.0, speeds.left, 1e-9);
+ assertEquals(-1.0, speeds.right, 1e-9);
+ assertEquals(-1.0, speeds.back, 1e-9);
+
+ // Rotate CW
+ speeds = drive.driveCartesianIK(0.0, 0.0, 1.0, 90.0);
+ assertEquals(1.0, speeds.left, 1e-9);
+ assertEquals(1.0, speeds.right, 1e-9);
+ assertEquals(1.0, speeds.back, 1e-9);
+ }
+
+ @Test
void testCartesian() {
var left = new MockMotorController();
var right = new MockMotorController();
@@ -50,7 +126,7 @@
}
@Test
- void testCartesiangyro90CW() {
+ void testCartesianGyro90CW() {
var left = new MockMotorController();
var right = new MockMotorController();
var back = new MockMotorController();
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/MecanumDriveTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/MecanumDriveTest.java
index 70a07a2..bf3349c 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/MecanumDriveTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/MecanumDriveTest.java
@@ -11,12 +11,88 @@
class MecanumDriveTest {
@Test
+ void testCartesianIK() {
+ // Forward
+ var speeds = MecanumDrive.driveCartesianIK(1.0, 0.0, 0.0);
+ assertEquals(1.0, speeds.frontLeft, 1e-9);
+ assertEquals(1.0, speeds.frontRight, 1e-9);
+ assertEquals(1.0, speeds.rearLeft, 1e-9);
+ assertEquals(1.0, speeds.rearRight, 1e-9);
+
+ // Left
+ speeds = MecanumDrive.driveCartesianIK(0.0, -1.0, 0.0);
+ assertEquals(-1.0, speeds.frontLeft, 1e-9);
+ assertEquals(1.0, speeds.frontRight, 1e-9);
+ assertEquals(1.0, speeds.rearLeft, 1e-9);
+ assertEquals(-1.0, speeds.rearRight, 1e-9);
+
+ // Right
+ speeds = MecanumDrive.driveCartesianIK(0.0, 1.0, 0.0);
+ assertEquals(1.0, speeds.frontLeft, 1e-9);
+ assertEquals(-1.0, speeds.frontRight, 1e-9);
+ assertEquals(-1.0, speeds.rearLeft, 1e-9);
+ assertEquals(1.0, speeds.rearRight, 1e-9);
+
+ // Rotate CCW
+ speeds = MecanumDrive.driveCartesianIK(0.0, 0.0, -1.0);
+ assertEquals(-1.0, speeds.frontLeft, 1e-9);
+ assertEquals(1.0, speeds.frontRight, 1e-9);
+ assertEquals(-1.0, speeds.rearLeft, 1e-9);
+ assertEquals(1.0, speeds.rearRight, 1e-9);
+
+ // Rotate CW
+ speeds = MecanumDrive.driveCartesianIK(0.0, 0.0, 1.0);
+ assertEquals(1.0, speeds.frontLeft, 1e-9);
+ assertEquals(-1.0, speeds.frontRight, 1e-9);
+ assertEquals(1.0, speeds.rearLeft, 1e-9);
+ assertEquals(-1.0, speeds.rearRight, 1e-9);
+ }
+
+ @Test
+ void testCartesianIKGyro90CW() {
+ // Forward in global frame; left in robot frame
+ var speeds = MecanumDrive.driveCartesianIK(1.0, 0.0, 0.0, 90.0);
+ assertEquals(-1.0, speeds.frontLeft, 1e-9);
+ assertEquals(1.0, speeds.frontRight, 1e-9);
+ assertEquals(1.0, speeds.rearLeft, 1e-9);
+ assertEquals(-1.0, speeds.rearRight, 1e-9);
+
+ // Left in global frame; backward in robot frame
+ speeds = MecanumDrive.driveCartesianIK(0.0, -1.0, 0.0, 90.0);
+ assertEquals(-1.0, speeds.frontLeft, 1e-9);
+ assertEquals(-1.0, speeds.frontRight, 1e-9);
+ assertEquals(-1.0, speeds.rearLeft, 1e-9);
+ assertEquals(-1.0, speeds.rearRight, 1e-9);
+
+ // Right in global frame; forward in robot frame
+ speeds = MecanumDrive.driveCartesianIK(0.0, 1.0, 0.0, 90.0);
+ assertEquals(1.0, speeds.frontLeft, 1e-9);
+ assertEquals(1.0, speeds.frontRight, 1e-9);
+ assertEquals(1.0, speeds.rearLeft, 1e-9);
+ assertEquals(1.0, speeds.rearRight, 1e-9);
+
+ // Rotate CCW
+ speeds = MecanumDrive.driveCartesianIK(0.0, 0.0, -1.0, 90.0);
+ assertEquals(-1.0, speeds.frontLeft, 1e-9);
+ assertEquals(1.0, speeds.frontRight, 1e-9);
+ assertEquals(-1.0, speeds.rearLeft, 1e-9);
+ assertEquals(1.0, speeds.rearRight, 1e-9);
+
+ // Rotate CW
+ speeds = MecanumDrive.driveCartesianIK(0.0, 0.0, 1.0, 90.0);
+ assertEquals(1.0, speeds.frontLeft, 1e-9);
+ assertEquals(-1.0, speeds.frontRight, 1e-9);
+ assertEquals(1.0, speeds.rearLeft, 1e-9);
+ assertEquals(-1.0, speeds.rearRight, 1e-9);
+ }
+
+ @Test
void testCartesian() {
var fl = new MockMotorController();
var fr = new MockMotorController();
var rl = new MockMotorController();
var rr = new MockMotorController();
- var drive = new MecanumDrive(fl, fr, rl, rr);
+ var drive = new MecanumDrive(fl, rl, fr, rr);
drive.setDeadband(0.0);
// Forward
@@ -43,25 +119,25 @@
// Rotate CCW
drive.driveCartesian(0.0, 0.0, -1.0);
assertEquals(-1.0, fl.get(), 1e-9);
- assertEquals(-1.0, fr.get(), 1e-9);
- assertEquals(1.0, rl.get(), 1e-9);
+ assertEquals(1.0, fr.get(), 1e-9);
+ assertEquals(-1.0, rl.get(), 1e-9);
assertEquals(1.0, rr.get(), 1e-9);
// Rotate CW
drive.driveCartesian(0.0, 0.0, 1.0);
assertEquals(1.0, fl.get(), 1e-9);
- assertEquals(1.0, fr.get(), 1e-9);
- assertEquals(-1.0, rl.get(), 1e-9);
+ assertEquals(-1.0, fr.get(), 1e-9);
+ assertEquals(1.0, rl.get(), 1e-9);
assertEquals(-1.0, rr.get(), 1e-9);
}
@Test
- void testCartesiangyro90CW() {
+ void testCartesianGyro90CW() {
var fl = new MockMotorController();
var fr = new MockMotorController();
var rl = new MockMotorController();
var rr = new MockMotorController();
- var drive = new MecanumDrive(fl, fr, rl, rr);
+ var drive = new MecanumDrive(fl, rl, fr, rr);
drive.setDeadband(0.0);
// Forward in global frame; left in robot frame
@@ -88,15 +164,15 @@
// Rotate CCW
drive.driveCartesian(0.0, 0.0, -1.0, 90.0);
assertEquals(-1.0, fl.get(), 1e-9);
- assertEquals(-1.0, fr.get(), 1e-9);
- assertEquals(1.0, rl.get(), 1e-9);
+ assertEquals(1.0, fr.get(), 1e-9);
+ assertEquals(-1.0, rl.get(), 1e-9);
assertEquals(1.0, rr.get(), 1e-9);
// Rotate CW
drive.driveCartesian(0.0, 0.0, 1.0, 90.0);
assertEquals(1.0, fl.get(), 1e-9);
- assertEquals(1.0, fr.get(), 1e-9);
- assertEquals(-1.0, rl.get(), 1e-9);
+ assertEquals(-1.0, fr.get(), 1e-9);
+ assertEquals(1.0, rl.get(), 1e-9);
assertEquals(-1.0, rr.get(), 1e-9);
}
@@ -106,7 +182,7 @@
var fr = new MockMotorController();
var rl = new MockMotorController();
var rr = new MockMotorController();
- var drive = new MecanumDrive(fl, fr, rl, rr);
+ var drive = new MecanumDrive(fl, rl, fr, rr);
drive.setDeadband(0.0);
// Forward
@@ -133,15 +209,15 @@
// Rotate CCW
drive.drivePolar(0.0, 0.0, -1.0);
assertEquals(-1.0, fl.get(), 1e-9);
- assertEquals(-1.0, fr.get(), 1e-9);
- assertEquals(1.0, rl.get(), 1e-9);
+ assertEquals(1.0, fr.get(), 1e-9);
+ assertEquals(-1.0, rl.get(), 1e-9);
assertEquals(1.0, rr.get(), 1e-9);
// Rotate CW
drive.drivePolar(0.0, 0.0, 1.0);
assertEquals(1.0, fl.get(), 1e-9);
- assertEquals(1.0, fr.get(), 1e-9);
- assertEquals(-1.0, rl.get(), 1e-9);
+ assertEquals(-1.0, fr.get(), 1e-9);
+ assertEquals(1.0, rl.get(), 1e-9);
assertEquals(-1.0, rr.get(), 1e-9);
}
}
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapperTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapperTest.java
new file mode 100644
index 0000000..15f0b0b
--- /dev/null
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapperTest.java
@@ -0,0 +1,63 @@
+// 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.
+
+package edu.wpi.first.wpilibj.shuffleboard;
+
+import static org.junit.jupiter.api.Assertions.assertArrayEquals;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+
+import edu.wpi.first.networktables.NetworkTableInstance;
+import org.junit.jupiter.api.AfterAll;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+class SendableCameraWrapperTest {
+ @BeforeEach
+ void setup() {
+ NetworkTableInstance.getDefault().deleteAllEntries();
+ SendableCameraWrapper.clearWrappers();
+ }
+
+ @AfterAll
+ static void tearDown() {
+ NetworkTableInstance.getDefault().deleteAllEntries();
+ }
+
+ @Test
+ void testNullCameraName() {
+ assertThrows(NullPointerException.class, () -> SendableCameraWrapper.wrap(null, ""));
+ }
+
+ @Test
+ void testEmptyCameraName() {
+ assertThrows(IllegalArgumentException.class, () -> SendableCameraWrapper.wrap("", ""));
+ }
+
+ @Test
+ void testNullUrlArray() {
+ assertThrows(
+ NullPointerException.class, () -> SendableCameraWrapper.wrap("name", (String[]) null));
+ }
+
+ @Test
+ void testNullUrlInArray() {
+ assertThrows(NullPointerException.class, () -> SendableCameraWrapper.wrap("name", "url", null));
+ }
+
+ @Test
+ void testEmptyUrlArray() {
+ assertThrows(IllegalArgumentException.class, () -> SendableCameraWrapper.wrap("name"));
+ }
+
+ @Test
+ void testUrlsAddedToNt() {
+ SendableCameraWrapper.wrap("name", "url1", "url2");
+ assertArrayEquals(
+ new String[] {"url1", "url2"},
+ NetworkTableInstance.getDefault()
+ .getEntry("/CameraPublisher/name/streams")
+ .getValue()
+ .getStringArray());
+ }
+}
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstanceTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstanceTest.java
index 61db14a..5dfad67 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstanceTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstanceTest.java
@@ -15,7 +15,7 @@
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
-public class ShuffleboardInstanceTest {
+class ShuffleboardInstanceTest {
private NetworkTableInstance m_ntInstance;
private ShuffleboardInstance m_shuffleboardInstance;
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTest.java
index 963d262..f4c8a8f 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTest.java
@@ -9,8 +9,8 @@
import edu.wpi.first.wpilibj.UtilityClassTest;
import org.junit.jupiter.api.Test;
-public class ShuffleboardTest extends UtilityClassTest<Shuffleboard> {
- public ShuffleboardTest() {
+class ShuffleboardTest extends UtilityClassTest<Shuffleboard> {
+ ShuffleboardTest() {
super(Shuffleboard.class);
}
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL345SimTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL345SimTest.java
index 7f41038..5595261 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL345SimTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL345SimTest.java
@@ -15,7 +15,7 @@
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
-public class ADXL345SimTest {
+class ADXL345SimTest {
@ParameterizedTest
@EnumSource(Accelerometer.Range.class)
void testInitI2C(Accelerometer.Range range) {
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL362SimTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL362SimTest.java
index f361381..7ab6b6b 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL362SimTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL362SimTest.java
@@ -13,7 +13,7 @@
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
-public class ADXL362SimTest {
+class ADXL362SimTest {
@ParameterizedTest
@EnumSource(Accelerometer.Range.class)
void testAccel(Accelerometer.Range range) {
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java
index 5a04441..a04ce10 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AnalogEncoderSimTest.java
@@ -11,9 +11,9 @@
import edu.wpi.first.wpilibj.AnalogInput;
import org.junit.jupiter.api.Test;
-public class AnalogEncoderSimTest {
+class AnalogEncoderSimTest {
@Test
- public void testBasic() {
+ void testBasic() {
try (var analogInput = new AnalogInput(0);
var analogEncoder = new AnalogEncoder(analogInput)) {
var encoderSim = new AnalogEncoderSim(analogEncoder);
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/CTREPCMSimTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/CTREPCMSimTest.java
index 29cac3a..ee747bc 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/CTREPCMSimTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/CTREPCMSimTest.java
@@ -10,6 +10,7 @@
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.CompressorConfigType;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsControlModule;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
@@ -109,7 +110,7 @@
}
@Test
- void setClosedLoopEnabled() {
+ void setEnableDigital() {
HAL.initialize(500, 0);
CTREPCMSim sim = new CTREPCMSim(0);
@@ -117,12 +118,12 @@
try (PneumaticsControlModule pcm = new PneumaticsControlModule(0);
CallbackStore cb = sim.registerClosedLoopEnabledCallback(callback, false)) {
- pcm.setClosedLoopControl(false);
- assertFalse(pcm.getClosedLoopControl());
+ pcm.disableCompressor();
+ assertEquals(pcm.getCompressorConfigType(), CompressorConfigType.Disabled);
- pcm.setClosedLoopControl(true);
+ pcm.enableCompressorDigital();
assertTrue(sim.getClosedLoopEnabled());
- assertTrue(pcm.getClosedLoopControl());
+ assertEquals(pcm.getCompressorConfigType(), CompressorConfigType.Digital);
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
}
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DCMotorSimTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DCMotorSimTest.java
new file mode 100644
index 0000000..fbe3af0
--- /dev/null
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DCMotorSimTest.java
@@ -0,0 +1,86 @@
+// 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.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
+import org.junit.jupiter.api.Test;
+
+class DCMotorSimTest {
+ @Test
+ void testVoltageSteadyState() {
+ RoboRioSim.resetData();
+
+ DCMotor gearbox = DCMotor.getNEO(1);
+ DCMotorSim sim = new DCMotorSim(gearbox, 1.0, 0.0005);
+
+ try (var motor = new PWMVictorSPX(0);
+ var encoder = new Encoder(0, 1)) {
+ var encoderSim = new EncoderSim(encoder);
+ encoderSim.resetData();
+
+ for (int i = 0; i < 100; i++) {
+ motor.setVoltage(12);
+
+ // ------ SimulationPeriodic() happens after user code -------
+ RoboRioSim.setVInVoltage(
+ BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDrawAmps()));
+ sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
+ sim.update(0.020);
+ encoderSim.setRate(sim.getAngularVelocityRadPerSec());
+ }
+
+ assertEquals(gearbox.KvRadPerSecPerVolt * 12, encoder.getRate(), 0.1);
+
+ for (int i = 0; i < 100; i++) {
+ motor.setVoltage(0);
+
+ // ------ SimulationPeriodic() happens after user code -------
+ RoboRioSim.setVInVoltage(
+ BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDrawAmps()));
+ sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
+ sim.update(0.020);
+ encoderSim.setRate(sim.getAngularVelocityRadPerSec());
+ }
+
+ assertEquals(0, encoder.getRate(), 0.1);
+ }
+ }
+
+ @Test
+ void testPositionFeedbackControl() {
+ RoboRioSim.resetData();
+
+ DCMotor gearbox = DCMotor.getNEO(1);
+ DCMotorSim sim = new DCMotorSim(gearbox, 1.0, 0.0005);
+
+ try (var motor = new PWMVictorSPX(0);
+ var encoder = new Encoder(0, 1);
+ var controller = new PIDController(0.04, 0.0, 0.001); ) {
+ var encoderSim = new EncoderSim(encoder);
+ encoderSim.resetData();
+
+ for (int i = 0; i < 140; i++) {
+ motor.set(controller.calculate(encoder.getDistance(), 750));
+
+ // ------ SimulationPeriodic() happens after user code -------
+ RoboRioSim.setVInVoltage(
+ BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDrawAmps()));
+ sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
+ sim.update(0.020);
+ encoderSim.setDistance(sim.getAngularPositionRad());
+ encoderSim.setRate(sim.getAngularVelocityRadPerSec());
+ }
+
+ assertEquals(750, encoder.getDistance(), 1.0);
+ assertEquals(0, encoder.getRate(), 0.1);
+ }
+ }
+}
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
index 62fdcc9..5baed3a 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
@@ -30,7 +30,7 @@
class DifferentialDrivetrainSimTest {
@Test
- public void testConvergence() {
+ void testConvergence() {
var motor = DCMotor.getNEO(2);
var plant =
LinearSystemId.createDrivetrainVelocitySystem(
@@ -62,7 +62,7 @@
.addConstraint(new DifferentialDriveKinematicsConstraint(kinematics, 1)));
for (double t = 0; t < traj.getTotalTimeSeconds(); t += 0.020) {
- var state = traj.sample(0.020);
+ var state = traj.sample(t);
var ramseteOut = ramsete.calculate(sim.getPose(), state);
var wheelSpeeds = kinematics.toWheelSpeeds(ramseteOut);
@@ -96,7 +96,7 @@
}
@Test
- public void testCurrent() {
+ void testCurrent() {
var motor = DCMotor.getNEO(2);
var plant =
LinearSystemId.createDrivetrainVelocitySystem(
@@ -126,7 +126,7 @@
}
@Test
- public void testModelStability() {
+ void testModelStability() {
var motor = DCMotor.getNEO(2);
var plant =
LinearSystemId.createDrivetrainVelocitySystem(
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DriverStationSimTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DriverStationSimTest.java
index ce50afc..fb0a058 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DriverStationSimTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DriverStationSimTest.java
@@ -18,7 +18,7 @@
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
-public class DriverStationSimTest {
+class DriverStationSimTest {
@Test
void testEnabled() {
HAL.initialize(500, 0);
@@ -192,7 +192,7 @@
@ParameterizedTest
@EnumSource(DriverStation.MatchType.class)
- public void testMatchType(DriverStation.MatchType matchType) {
+ void testMatchType(DriverStation.MatchType matchType) {
HAL.initialize(500, 0);
DriverStationSim.resetData();
@@ -202,7 +202,7 @@
}
@Test
- public void testReplayNumber() {
+ void testReplayNumber() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
@@ -212,7 +212,7 @@
}
@Test
- public void testMatchNumber() {
+ void testMatchNumber() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
@@ -222,7 +222,7 @@
}
@Test
- public void testMatchTime() {
+ void testMatchTime() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
@@ -238,7 +238,7 @@
}
@Test
- public void testSetGameSpecificMessage() {
+ void testSetGameSpecificMessage() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
@@ -249,7 +249,7 @@
}
@Test
- public void testSetEventName() {
+ void testSetEventName() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
index d655a90..a2e0ef4 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
@@ -17,10 +17,10 @@
import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
import org.junit.jupiter.api.Test;
-public class ElevatorSimTest {
+class ElevatorSimTest {
@Test
@SuppressWarnings({"LocalVariableName", "resource"})
- public void testStateSpaceSimWithElevator() {
+ void testStateSpaceSimWithElevator() {
RoboRioSim.resetData();
var controller = new PIDController(10, 0, 0);
@@ -61,7 +61,7 @@
}
@Test
- public void testMinMax() {
+ void testMinMax() {
var plant =
LinearSystemId.createElevatorSystem(
DCMotor.getVex775Pro(4), 8.0, 0.75 * 25.4 / 1000.0, 14.67);
@@ -92,7 +92,7 @@
}
@Test
- public void testStability() {
+ void testStability() {
var sim = new ElevatorSim(DCMotor.getVex775Pro(4), 100, 4, Units.inchesToMeters(0.5), 0, 10);
sim.setState(VecBuilder.fill(0, 0));
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/REVPHSimTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/REVPHSimTest.java
index 8bdf23e..a436831 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/REVPHSimTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/REVPHSimTest.java
@@ -10,11 +10,13 @@
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.CompressorConfigType;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticHub;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
+import edu.wpi.first.wpilibj.simulation.testutils.EnumCallback;
import org.junit.jupiter.api.Test;
@SuppressWarnings("AbbreviationAsWordInName")
@@ -109,22 +111,62 @@
}
@Test
- void setClosedLoopEnabled() {
+ void setEnableDigital() {
HAL.initialize(500, 0);
REVPHSim sim = new REVPHSim(1);
- BooleanCallback callback = new BooleanCallback();
+ EnumCallback callback = new EnumCallback();
try (PneumaticHub ph = new PneumaticHub(1);
- CallbackStore cb = sim.registerClosedLoopEnabledCallback(callback, false)) {
- ph.setClosedLoopControl(false);
- assertFalse(ph.getClosedLoopControl());
+ CallbackStore cb = sim.registerCompressorConfigTypeCallback(callback, false)) {
+ ph.disableCompressor();
+ assertEquals(ph.getCompressorConfigType(), CompressorConfigType.Disabled);
- ph.setClosedLoopControl(true);
- assertTrue(sim.getClosedLoopEnabled());
- assertTrue(ph.getClosedLoopControl());
+ ph.enableCompressorDigital();
+ assertEquals(sim.getCompressorConfigType(), CompressorConfigType.Digital.getValue());
+ assertEquals(ph.getCompressorConfigType(), CompressorConfigType.Digital);
assertTrue(callback.wasTriggered());
- assertTrue(callback.getSetValue());
+ assertEquals(callback.getSetValue(), CompressorConfigType.Digital.getValue());
+ }
+ }
+
+ @Test
+ void setEnableAnalog() {
+ HAL.initialize(500, 0);
+
+ REVPHSim sim = new REVPHSim(1);
+ EnumCallback callback = new EnumCallback();
+
+ try (PneumaticHub ph = new PneumaticHub(1);
+ CallbackStore cb = sim.registerCompressorConfigTypeCallback(callback, false)) {
+ ph.disableCompressor();
+ assertEquals(ph.getCompressorConfigType(), CompressorConfigType.Disabled);
+
+ ph.enableCompressorAnalog(1, 2);
+ assertEquals(sim.getCompressorConfigType(), CompressorConfigType.Analog.getValue());
+ assertEquals(ph.getCompressorConfigType(), CompressorConfigType.Analog);
+ assertTrue(callback.wasTriggered());
+ assertEquals(callback.getSetValue(), CompressorConfigType.Analog.getValue());
+ }
+ }
+
+ @Test
+ void setEnableHybrid() {
+ HAL.initialize(500, 0);
+
+ REVPHSim sim = new REVPHSim(1);
+ EnumCallback callback = new EnumCallback();
+
+ try (PneumaticHub ph = new PneumaticHub(1);
+ CallbackStore cb = sim.registerCompressorConfigTypeCallback(callback, false)) {
+ ph.disableCompressor();
+ assertEquals(ph.getCompressorConfigType(), CompressorConfigType.Disabled);
+
+ ph.enableCompressorHybrid(1, 2);
+ assertEquals(sim.getCompressorConfigType(), CompressorConfigType.Hybrid.getValue());
+ assertEquals(ph.getCompressorConfigType(), CompressorConfigType.Hybrid);
+ assertTrue(callback.wasTriggered());
+ assertEquals(callback.getSetValue(), CompressorConfigType.Hybrid.getValue());
}
}
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/RoboRioSimTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/RoboRioSimTest.java
index e9ea9f1..c1988b3 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/RoboRioSimTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/RoboRioSimTest.java
@@ -15,7 +15,7 @@
import edu.wpi.first.wpilibj.simulation.testutils.IntCallback;
import org.junit.jupiter.api.Test;
-public class RoboRioSimTest {
+class RoboRioSimTest {
@Test
void testFPGAButton() {
RoboRioSim.resetData();
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java
index 26aa6b9..1be29a9 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java
+++ b/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java
@@ -11,7 +11,7 @@
import edu.wpi.first.math.util.Units;
import org.junit.jupiter.api.Test;
-public class SingleJointedArmSimTest {
+class SingleJointedArmSimTest {
SingleJointedArmSim m_sim =
new SingleJointedArmSim(
DCMotor.getVex775Pro(2),
@@ -24,7 +24,7 @@
true);
@Test
- public void testArmDisabled() {
+ void testArmDisabled() {
m_sim.setState(VecBuilder.fill(0.0, 0.0));
for (int i = 0; i < 12 / 0.02; i++) {
diff --git a/third_party/allwpilib/wpilibjExamples/build.gradle b/third_party/allwpilib/wpilibjExamples/build.gradle
index 518b1e8..7d74e80 100644
--- a/third_party/allwpilib/wpilibjExamples/build.gradle
+++ b/third_party/allwpilib/wpilibjExamples/build.gradle
@@ -37,13 +37,13 @@
implementation project(':wpilibOldCommands')
implementation project(':wpilibNewCommands')
- testImplementation 'org.junit.jupiter:junit-jupiter-api:5.4.2'
- testImplementation 'org.junit.jupiter:junit-jupiter-params:5.4.2'
- testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.2'
+ testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
+ testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
+ testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
}
jacoco {
- toolVersion = "0.8.4"
+ toolVersion = "0.8.7"
}
jacocoTestReport {
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
index e35243d..5eef7e8 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
@@ -20,10 +20,18 @@
private final Joystick m_stick = new Joystick(0);
@Override
+ public void robotInit() {
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_rightMotor.setInverted(true);
+ }
+
+ @Override
public void teleopPeriodic() {
// Drive with arcade drive.
// That means that the Y axis drives forward
// and backward, and the X turns left and right.
- m_robotDrive.arcadeDrive(m_stick.getY(), m_stick.getX());
+ m_robotDrive.arcadeDrive(-m_stick.getY(), m_stick.getX());
}
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
index 0acc8dc..656165a 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrivexboxcontroller/Robot.java
@@ -20,10 +20,18 @@
private final XboxController m_driverController = new XboxController(0);
@Override
+ public void robotInit() {
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_rightMotor.setInverted(true);
+ }
+
+ @Override
public void teleopPeriodic() {
// Drive with split arcade drive.
// That means that the Y axis of the left stick moves forward
// and backward, and the X of the right stick turns left and right.
- m_robotDrive.arcadeDrive(m_driverController.getLeftY(), m_driverController.getRightX());
+ m_robotDrive.arcadeDrive(-m_driverController.getLeftY(), m_driverController.getRightX());
}
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
index c7f23de..fe72d3d 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
@@ -38,7 +38,7 @@
// These are fake gains; in actuality these must be determined individually for each robot
public static final double kSVolts = 1;
- public static final double kCosVolts = 1;
+ public static final double kGVolts = 1;
public static final double kVVoltSecondPerRad = 0.5;
public static final double kAVoltSecondSquaredPerRad = 0.1;
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Robot.java
index 3f91253..c2dc4fc 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
index b0d019e..4717d51 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java
@@ -42,7 +42,7 @@
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
- m_driverController.getLeftY(), m_driverController.getRightX()),
+ -m_driverController.getLeftY(), m_driverController.getRightX()),
m_robotDrive));
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
index 298b2d5..43beedc 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/ArmSubsystem.java
@@ -19,7 +19,7 @@
new Encoder(ArmConstants.kEncoderPorts[0], ArmConstants.kEncoderPorts[1]);
private final ArmFeedforward m_feedforward =
new ArmFeedforward(
- ArmConstants.kSVolts, ArmConstants.kCosVolts,
+ ArmConstants.kSVolts, ArmConstants.kGVolts,
ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
/** Create a new ArmSubsystem. */
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
index 9338f30..4ecaa77 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/subsystems/DriveSubsystem.java
@@ -46,6 +46,11 @@
// Sets the distance per pulse for the encoders
m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
m_rightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
+
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_rightMotors.setInverted(true);
}
/**
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Constants.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Constants.java
index 4fd17f1..fb003aa 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Constants.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Constants.java
@@ -38,7 +38,7 @@
// These are fake gains; in actuality these must be determined individually for each robot
public static final double kSVolts = 1;
- public static final double kCosVolts = 1;
+ public static final double kGVolts = 1;
public static final double kVVoltSecondPerRad = 0.5;
public static final double kAVoltSecondSquaredPerRad = 0.1;
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Robot.java
index e0c0c7b..160146c 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
index b0c3f76..7ea7999 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java
@@ -42,7 +42,7 @@
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
- m_driverController.getLeftY(), m_driverController.getRightX()),
+ -m_driverController.getLeftY(), m_driverController.getRightX()),
m_robotDrive));
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java
index 152700e..9e70402 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java
@@ -16,7 +16,7 @@
new ExampleSmartMotorController(ArmConstants.kMotorPort);
private final ArmFeedforward m_feedforward =
new ArmFeedforward(
- ArmConstants.kSVolts, ArmConstants.kCosVolts,
+ ArmConstants.kSVolts, ArmConstants.kGVolts,
ArmConstants.kVVoltSecondPerRad, ArmConstants.kAVoltSecondSquaredPerRad);
/** Create a new ArmSubsystem. */
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
index 8017719..939bcc3 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java
@@ -46,6 +46,11 @@
// Sets the distance per pulse for the encoders
m_leftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
m_rightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
+
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_rightMotors.setInverted(true);
}
/**
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
index a7e4d7d..c84d922 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/Robot.java
@@ -10,6 +10,7 @@
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Preferences;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
@@ -31,8 +32,13 @@
private static final int kEncoderBChannel = 1;
private static final int kJoystickPort = 0;
+ public static final String kArmPositionKey = "ArmPosition";
+ public static final String kArmPKey = "ArmP";
+
// The P gain for the PID controller that drives this arm.
- private static final double kArmKp = 50.0;
+ private static double kArmKp = 50.0;
+
+ private static double armPositionDeg = 75.0;
// distance per pulse = (angle per revolution) / (pulses per revolution)
// = (2 * PI rads) / (4096 pulses)
@@ -88,6 +94,14 @@
// Put Mechanism 2d to SmartDashboard
SmartDashboard.putData("Arm Sim", m_mech2d);
m_armTower.setColor(new Color8Bit(Color.kBlue));
+
+ // Set the Arm position setpoint and P constant to Preferences if the keys don't already exist
+ if (!Preferences.containsKey(kArmPositionKey)) {
+ Preferences.setDouble(kArmPositionKey, armPositionDeg);
+ }
+ if (!Preferences.containsKey(kArmPKey)) {
+ Preferences.setDouble(kArmPKey, kArmKp);
+ }
}
@Override
@@ -110,10 +124,21 @@
}
@Override
+ public void teleopInit() {
+ // Read Preferences for Arm setpoint and kP on entering Teleop
+ armPositionDeg = Preferences.getDouble(kArmPositionKey, armPositionDeg);
+ if (kArmKp != Preferences.getDouble(kArmPKey, kArmKp)) {
+ kArmKp = Preferences.getDouble(kArmPKey, kArmKp);
+ m_controller.setP(kArmKp);
+ }
+ }
+
+ @Override
public void teleopPeriodic() {
if (m_joystick.getTrigger()) {
// Here, we run PID control like normal, with a constant setpoint of 75 degrees.
- var pidOutput = m_controller.calculate(m_encoder.getDistance(), Units.degreesToRadians(75));
+ var pidOutput =
+ m_controller.calculate(m_encoder.getDistance(), Units.degreesToRadians(armPositionDeg));
m_motor.setVoltage(pidOutput);
} else {
// Otherwise, we disable the motor.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/digitalcommunication/Main.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/digitalcommunication/Main.java
new file mode 100644
index 0000000..8338aca
--- /dev/null
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/digitalcommunication/Main.java
@@ -0,0 +1,25 @@
+// 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.
+
+package edu.wpi.first.wpilibj.examples.digitalcommunication;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+ private Main() {}
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/digitalcommunication/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/digitalcommunication/Robot.java
new file mode 100644
index 0000000..85ff8d6
--- /dev/null
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/digitalcommunication/Robot.java
@@ -0,0 +1,42 @@
+// 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.
+
+package edu.wpi.first.wpilibj.examples.digitalcommunication;
+
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * This is a sample program demonstrating how to communicate to a light controller from the robot
+ * code using the roboRIO's DIO ports.
+ */
+public class Robot extends TimedRobot {
+ // define ports for digitalcommunication with light controller
+ private static final int kAlliancePort = 0;
+ private static final int kEnabledPort = 1;
+ private static final int kAutonomousPort = 2;
+ private static final int kAlertPort = 3;
+
+ private final DigitalOutput m_allianceOutput = new DigitalOutput(kAlliancePort);
+ private final DigitalOutput m_enabledOutput = new DigitalOutput(kEnabledPort);
+ private final DigitalOutput m_autonomousOutput = new DigitalOutput(kAutonomousPort);
+ private final DigitalOutput m_alertOutput = new DigitalOutput(kAlertPort);
+
+ @Override
+ public void robotPeriodic() {
+ // pull alliance port high if on red alliance, pull low if on blue alliance
+ m_allianceOutput.set(DriverStation.getAlliance() == DriverStation.Alliance.Red);
+
+ // pull enabled port high if enabled, low if disabled
+ m_enabledOutput.set(DriverStation.isEnabled());
+
+ // pull auto port high if in autonomous, low if in teleop (or disabled)
+ m_autonomousOutput.set(DriverStation.isAutonomous());
+
+ // pull alert port high if match time remaining is between 30 and 25 seconds
+ var matchTime = DriverStation.getMatchTime();
+ m_alertOutput.set(matchTime <= 30 && matchTime >= 25);
+ }
+}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Constants.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Constants.java
index 64ba267..0c7aeeb 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Constants.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Constants.java
@@ -22,8 +22,7 @@
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
// These characterization values MUST be determined either experimentally or theoretically
// for *your* robot's drive.
- // The RobotPy Characterization Toolsuite provides a convenient tool for obtaining these
- // values for your robot.
+ // The SysId tool provides a convenient method for obtaining these values for your robot.
public static final double ksVolts = 1;
public static final double kvVoltSecondsPerMeter = 0.8;
public static final double kaVoltSecondsSquaredPerMeter = 0.15;
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java
index 87c9d52..4316ad3 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
index 78b7f81..cc39207 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java
@@ -44,7 +44,7 @@
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
- m_driverController.getLeftY(), m_driverController.getRightX()),
+ -m_driverController.getLeftY(), m_driverController.getRightX()),
m_robotDrive));
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
index c270fc4..ddf5d5e 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
@@ -701,7 +701,8 @@
"Sensors",
"Simulation",
"Physics",
- "Mechanism2d"
+ "Mechanism2d",
+ "Preferences"
],
"foldername": "armsimulation",
"gradlebase": "java",
@@ -770,5 +771,27 @@
"gradlebase": "javaromi",
"mainclass": "Main",
"commandversion": 2
+ },
+ {
+ "name": "Digital Communication Sample",
+ "description": "An example program that communicates with external devices (such as an Arduino) using the roboRIO's DIO",
+ "tags": [
+ "Digital"
+ ],
+ "foldername": "digitalcommunication",
+ "gradlebase": "java",
+ "commandversion": 2,
+ "mainclass": "Main"
+ },
+ {
+ "name": "I2C Communication Sample",
+ "description": "An example program that communicates with external devices (such as an Arduino) using the roboRIO's I2C port",
+ "tags": [
+ "I2C"
+ ],
+ "foldername": "i2ccommunication",
+ "gradlebase": "java",
+ "commandversion": 2,
+ "mainclass": "Main"
}
]
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Robot.java
index a6b0023..a8d2d98 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
index 5d228d0..1f00dd9 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
@@ -67,7 +67,7 @@
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
- m_driverController.getLeftY(), m_driverController.getRightX()),
+ -m_driverController.getLeftY(), m_driverController.getRightX()),
m_robotDrive));
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java
index 12fddb3..e9a1ae2 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
index f176316..e11e2d7 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
@@ -18,15 +18,11 @@
private final Victor m_motor;
private final AnalogPotentiometer m_pot;
- private static final double kP_real = 1;
- private static final double kP_simulation = 0.05;
+ private static final double kP = 1;
/** Create a new wrist subsystem. */
public Wrist() {
- super(new PIDController(kP_real, 0, 0));
- if (Robot.isSimulation()) { // Check for simulation and update PID values
- getController().setPID(kP_simulation, 0, 0);
- }
+ super(new PIDController(kP, 0, 0));
getController().setTolerance(2.5);
m_motor = new Victor(6);
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
index 0a9a2b0..f9499f5 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
@@ -17,8 +17,9 @@
* directory.
*/
public class Robot extends TimedRobot {
- private final DifferentialDrive m_robotDrive =
- new DifferentialDrive(new PWMSparkMax(0), new PWMSparkMax(1));
+ private final PWMSparkMax m_leftDrive = new PWMSparkMax(0);
+ private final PWMSparkMax m_rightDrive = new PWMSparkMax(1);
+ private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftDrive, m_rightDrive);
private final Joystick m_stick = new Joystick(0);
private final Timer m_timer = new Timer();
@@ -27,7 +28,12 @@
* initialization code.
*/
@Override
- public void robotInit() {}
+ public void robotInit() {
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_rightDrive.setInverted(true);
+ }
/** This function is run once each time the robot enters autonomous mode. */
@Override
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
index 3d8353b..b0c6641 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
@@ -28,14 +28,19 @@
private static final int kGyroPort = 0;
private static final int kJoystickPort = 0;
- private final DifferentialDrive m_myRobot =
- new DifferentialDrive(new PWMSparkMax(kLeftMotorPort), new PWMSparkMax(kRightMotorPort));
+ private final PWMSparkMax m_leftDrive = new PWMSparkMax(kLeftMotorPort);
+ private final PWMSparkMax m_rightDrive = new PWMSparkMax(kRightMotorPort);
+ private final DifferentialDrive m_myRobot = new DifferentialDrive(m_leftDrive, m_rightDrive);
private final AnalogGyro m_gyro = new AnalogGyro(kGyroPort);
private final Joystick m_joystick = new Joystick(kJoystickPort);
@Override
public void robotInit() {
m_gyro.setSensitivity(kVoltsPerDegreePerSecond);
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_rightDrive.setInverted(true);
}
/**
@@ -47,6 +52,6 @@
double turningValue = (kAngleSetpoint - m_gyro.getAngle()) * kP;
// Invert the direction of the turn if we are going backwards
turningValue = Math.copySign(turningValue, m_joystick.getY());
- m_myRobot.arcadeDrive(m_joystick.getY(), turningValue);
+ m_myRobot.arcadeDrive(-m_joystick.getY(), turningValue);
}
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Robot.java
index fff4d8c..bc6ede1 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
index 1356a37..b70f5bf 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
@@ -45,7 +45,7 @@
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
- m_driverController.getLeftY(), m_driverController.getRightX()),
+ -m_driverController.getLeftY(), m_driverController.getRightX()),
m_robotDrive));
}
@@ -74,7 +74,7 @@
// Setpoint is 0
0,
// Pipe the output to the turning controls
- output -> m_robotDrive.arcadeDrive(m_driverController.getLeftY(), output),
+ output -> m_robotDrive.arcadeDrive(-m_driverController.getLeftY(), output),
// Require the robot drive
m_robotDrive));
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
index f4b9a97..8b4391c 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
@@ -11,8 +11,8 @@
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
- * This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation
- * vectorsin relation to the starting orientation of the robot (field-oriented controls).
+ * This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation vectors
+ * in relation to the starting orientation of the robot (field-oriented controls).
*/
public class Robot extends TimedRobot {
// gyro calibration constant, may need to be adjusted;
@@ -37,10 +37,10 @@
PWMSparkMax frontRight = new PWMSparkMax(kFrontRightChannel);
PWMSparkMax rearRight = new PWMSparkMax(kRearRightChannel);
- // Invert the left side motors.
+ // Invert the right side motors.
// You may need to change or remove this to match your robot.
- frontLeft.setInverted(true);
- rearLeft.setInverted(true);
+ frontRight.setInverted(true);
+ rearRight.setInverted(true);
m_robotDrive = new MecanumDrive(frontLeft, rearLeft, frontRight, rearRight);
@@ -51,6 +51,6 @@
@Override
public void teleopPeriodic() {
m_robotDrive.driveCartesian(
- m_joystick.getX(), m_joystick.getY(), m_joystick.getZ(), m_gyro.getAngle());
+ -m_joystick.getY(), m_joystick.getX(), m_joystick.getZ(), m_gyro.getAngle());
}
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
index 8f16ce5..ef49333 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
index 2207379..cda9e26 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
@@ -69,7 +69,7 @@
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
- m_driverController.getLeftY(), m_driverController.getRightX()),
+ -m_driverController.getLeftY(), m_driverController.getRightX()),
m_robotDrive));
// Add commands to the autonomous command chooser
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
index f6bcdcd..aa730c5 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/i2ccommunication/Main.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/i2ccommunication/Main.java
new file mode 100644
index 0000000..f981aeb
--- /dev/null
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/i2ccommunication/Main.java
@@ -0,0 +1,25 @@
+// 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.
+
+package edu.wpi.first.wpilibj.examples.i2ccommunication;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+ private Main() {}
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/i2ccommunication/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/i2ccommunication/Robot.java
new file mode 100644
index 0000000..9c1e623
--- /dev/null
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/i2ccommunication/Robot.java
@@ -0,0 +1,57 @@
+// 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.
+
+package edu.wpi.first.wpilibj.examples.i2ccommunication;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * This is a sample program demonstrating how to communicate to a light controller from the robot
+ * code using the roboRIO's I2C port.
+ */
+public class Robot extends TimedRobot {
+ private static int kDeviceAddress = 4;
+
+ private static I2C m_arduino = new I2C(I2C.Port.kOnboard, kDeviceAddress);
+
+ private void writeString(String input) {
+ // Creates a char array from the input string
+ char[] chars = input.toCharArray();
+
+ // Creates a byte array from the char array
+ byte[] data = new byte[chars.length];
+
+ // Adds each character
+ for (int i = 0; i < chars.length; i++) {
+ data[i] = (byte) chars[i];
+ }
+
+ // Writes bytes over I2C
+ m_arduino.transaction(data, data.length, null, 0);
+ }
+
+ @Override
+ public void robotPeriodic() {
+ // Creates a string to hold current robot state information, including
+ // alliance, enabled state, operation mode, and match time. The message
+ // is sent in format "AEM###" where A is the alliance color, (R)ed or
+ // (B)lue, E is the enabled state, (E)nabled or (D)isabled, M is the
+ // operation mode, (A)utonomous or (T)eleop, and ### is the zero-padded
+ // time remaining in the match.
+ //
+ // For example, "RET043" would indicate that the robot is on the red
+ // alliance, enabled in teleop mode, with 43 seconds left in the match.
+ StringBuilder stateMessage = new StringBuilder(6);
+
+ stateMessage
+ .append(DriverStation.getAlliance() == DriverStation.Alliance.Red ? "R" : "B")
+ .append(DriverStation.isEnabled() ? "E" : "D")
+ .append(DriverStation.isAutonomous() ? "A" : "T")
+ .append(String.format("%03d", (int) DriverStation.getMatchTime()));
+
+ writeString(stateMessage.toString());
+ }
+}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
index c660ae2..9210265 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
@@ -56,6 +56,11 @@
/** Constructs a MecanumDrive and resets the gyro. */
public Drivetrain() {
m_gyro.reset();
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_frontRightMotor.setInverted(true);
+ m_backRightMotor.setInverted(true);
}
/**
@@ -116,7 +121,7 @@
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot));
- mecanumDriveWheelSpeeds.normalize(kMaxSpeed);
+ mecanumDriveWheelSpeeds.desaturate(kMaxSpeed);
setSpeeds(mecanumDriveWheelSpeeds);
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java
index e959ac2..99962ee 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java
@@ -55,8 +55,7 @@
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
// These characterization values MUST be determined either experimentally or theoretically
// for *your* robot's drive.
- // The RobotPy Characterization Toolsuite provides a convenient tool for obtaining these
- // values for your robot.
+ // The SysId tool provides a convenient method for obtaining these values for your robot.
public static final SimpleMotorFeedforward kFeedforward =
new SimpleMotorFeedforward(1, 0.8, 0.15);
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java
index 3913f5d..527fe31 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
index 23da867..7874d82 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
@@ -67,6 +67,11 @@
m_rearLeftEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
m_frontRightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
m_rearRightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_frontRight.setInverted(true);
+ m_rearRight.setInverted(true);
}
@Override
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
index 80c16b5..1029f0f 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
@@ -28,10 +28,10 @@
PWMSparkMax frontRight = new PWMSparkMax(kFrontRightChannel);
PWMSparkMax rearRight = new PWMSparkMax(kRearRightChannel);
- // Invert the left side motors.
+ // Invert the right side motors.
// You may need to change or remove this to match your robot.
- frontLeft.setInverted(true);
- rearLeft.setInverted(true);
+ frontRight.setInverted(true);
+ rearRight.setInverted(true);
m_robotDrive = new MecanumDrive(frontLeft, rearLeft, frontRight, rearRight);
@@ -42,6 +42,6 @@
public void teleopPeriodic() {
// Use the joystick X axis for lateral movement, Y axis for forward
// movement, and Z axis for rotation.
- m_robotDrive.driveCartesian(m_stick.getX(), m_stick.getY(), m_stick.getZ(), 0.0);
+ m_robotDrive.driveCartesian(-m_stick.getY(), m_stick.getX(), m_stick.getZ(), 0.0);
}
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
index ba544b2..427284f 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
@@ -68,6 +68,11 @@
/** Constructs a MecanumDrive and resets the gyro. */
public Drivetrain() {
m_gyro.reset();
+ // We need to invert one side of the drivetrain so that positive voltages
+ // result in both sides moving forward. Depending on how your robot's
+ // gearbox is constructed, you might have to invert the left side instead.
+ m_frontRightMotor.setInverted(true);
+ m_backRightMotor.setInverted(true);
}
/**
@@ -128,7 +133,7 @@
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot));
- mecanumDriveWheelSpeeds.normalize(kMaxSpeed);
+ mecanumDriveWheelSpeeds.desaturate(kMaxSpeed);
setSpeeds(mecanumDriveWheelSpeeds);
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Robot.java
index 49f1975..b072443 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
index 680af28..5df8d2f 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
@@ -53,7 +53,7 @@
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
- m_driverController.getLeftY(), m_driverController.getRightX()),
+ -m_driverController.getLeftY(), m_driverController.getRightX()),
m_robotDrive));
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
index 8ca929d..b2fe2f7 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
@@ -120,7 +120,7 @@
*/
public void tankDriveVolts(double leftVolts, double rightVolts) {
m_leftMotors.setVoltage(leftVolts);
- m_rightMotors.setVoltage(-rightVolts);
+ m_rightMotors.setVoltage(rightVolts);
m_drive.feed();
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java
index 0cd83a9..33e12b2 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/romireference/Robot.java
@@ -30,8 +30,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Robot.java
index b61794c..f53d587 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
index 8bd49e8..1a89f2c 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
index ea80fd2..986875a 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
@@ -144,8 +144,8 @@
// simulated encoder and gyro. We negate the right side so that positive
// voltages make the right side move forward.
m_drivetrainSimulator.setInputs(
- m_leftLeader.get() * RobotController.getInputVoltage(),
- -m_rightLeader.get() * RobotController.getInputVoltage());
+ m_leftGroup.get() * RobotController.getInputVoltage(),
+ m_rightGroup.get() * RobotController.getInputVoltage());
m_drivetrainSimulator.update(0.02);
m_leftEncoderSim.setDistance(m_drivetrainSimulator.getLeftPositionMeters());
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
index 5cbe38b..4636c37 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/RobotContainer.java
@@ -50,7 +50,7 @@
new RunCommand(
() ->
m_robotDrive.arcadeDrive(
- -m_driverController.getRightY(), m_driverController.getLeftX()),
+ -m_driverController.getLeftY(), m_driverController.getRightX()),
m_robotDrive));
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
index 98037c3..e974269 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
@@ -122,7 +122,7 @@
// move forward.
m_drivetrainSimulator.setInputs(
m_leftMotors.get() * RobotController.getBatteryVoltage(),
- -m_rightMotors.get() * RobotController.getBatteryVoltage());
+ m_rightMotors.get() * RobotController.getBatteryVoltage());
m_drivetrainSimulator.update(0.020);
m_leftEncoderSim.setDistance(m_drivetrainSimulator.getLeftPositionMeters());
@@ -194,7 +194,7 @@
rightVolts *= batteryVoltage / 12.0;
}
m_leftMotors.setVoltage(leftVolts);
- m_rightMotors.setVoltage(-rightVolts);
+ m_rightMotors.setVoltage(rightVolts);
m_drive.feed();
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
index 3575266..3b71a0c 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
@@ -53,7 +53,7 @@
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot));
- SwerveDriveKinematics.normalizeWheelSpeeds(swerveModuleStates, kMaxSpeed);
+ SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, kMaxSpeed);
m_frontLeft.setDesiredState(swerveModuleStates[0]);
m_frontRight.setDesiredState(swerveModuleStates[1]);
m_backLeft.setDesiredState(swerveModuleStates[2]);
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java
index b4e8e54..02c04b8 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java
@@ -64,8 +64,7 @@
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
// These characterization values MUST be determined either experimentally or theoretically
// for *your* robot's drive.
- // The RobotPy Characterization Toolsuite provides a convenient tool for obtaining these
- // values for your robot.
+ // The SysId tool provides a convenient method for obtaining these values for your robot.
public static final double ksVolts = 1;
public static final double kvVoltSecondsPerMeter = 0.8;
public static final double kaVoltSecondsSquaredPerMeter = 0.15;
@@ -106,7 +105,7 @@
public static final double kPYController = 1;
public static final double kPThetaController = 1;
- // Constraint for the motion profilied robot angle controller
+ // Constraint for the motion profiled robot angle controller
public static final TrapezoidProfile.Constraints kThetaControllerConstraints =
new TrapezoidProfile.Constraints(
kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java
index 800b70f..ab57b74 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
index a1a299a..4884a5d 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
@@ -42,16 +42,15 @@
configureButtonBindings();
// Configure default commands
- // Set the default drive command to split-stick arcade drive
m_robotDrive.setDefaultCommand(
- // A split-stick arcade command, with forward/backward controlled by the left
- // hand, and turning controlled by the right.
+ // The left stick controls translation of the robot.
+ // Turning is controlled by the X axis of the right stick.
new RunCommand(
() ->
m_robotDrive.drive(
m_driverController.getLeftY(),
- m_driverController.getRightX(),
m_driverController.getLeftX(),
+ m_driverController.getRightX(),
false),
m_robotDrive));
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
index 64d65b3..c0e364b 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
@@ -68,8 +68,8 @@
m_odometry.update(
m_gyro.getRotation2d(),
m_frontLeft.getState(),
- m_rearLeft.getState(),
m_frontRight.getState(),
+ m_rearLeft.getState(),
m_rearRight.getState());
}
@@ -106,7 +106,7 @@
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot));
- SwerveDriveKinematics.normalizeWheelSpeeds(
+ SwerveDriveKinematics.desaturateWheelSpeeds(
swerveModuleStates, DriveConstants.kMaxSpeedMetersPerSecond);
m_frontLeft.setDesiredState(swerveModuleStates[0]);
m_frontRight.setDesiredState(swerveModuleStates[1]);
@@ -120,7 +120,7 @@
* @param desiredStates The desired SwerveModule states.
*/
public void setModuleStates(SwerveModuleState[] desiredStates) {
- SwerveDriveKinematics.normalizeWheelSpeeds(
+ SwerveDriveKinematics.desaturateWheelSpeeds(
desiredStates, DriveConstants.kMaxSpeedMetersPerSecond);
m_frontLeft.setDesiredState(desiredStates[0]);
m_frontRight.setDesiredState(desiredStates[1]);
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
index fd4c0b7..494d0ab 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
@@ -36,22 +36,26 @@
/**
* Constructs a SwerveModule.
*
- * @param driveMotorChannel ID for the drive motor.
- * @param turningMotorChannel ID for the turning motor.
+ * @param driveMotorChannel The channel of the drive motor.
+ * @param turningMotorChannel The channel of the turning motor.
+ * @param driveEncoderChannels The channels of the drive encoder.
+ * @param turningEncoderChannels The channels of the turning encoder.
+ * @param driveEncoderReversed Whether the drive encoder is reversed.
+ * @param turningEncoderReversed Whether the turning encoder is reversed.
*/
public SwerveModule(
int driveMotorChannel,
int turningMotorChannel,
- int[] driveEncoderPorts,
- int[] turningEncoderPorts,
+ int[] driveEncoderChannels,
+ int[] turningEncoderChannels,
boolean driveEncoderReversed,
boolean turningEncoderReversed) {
m_driveMotor = new Spark(driveMotorChannel);
m_turningMotor = new Spark(turningMotorChannel);
- this.m_driveEncoder = new Encoder(driveEncoderPorts[0], driveEncoderPorts[1]);
+ m_driveEncoder = new Encoder(driveEncoderChannels[0], driveEncoderChannels[1]);
- this.m_turningEncoder = new Encoder(turningEncoderPorts[0], turningEncoderPorts[1]);
+ m_turningEncoder = new Encoder(turningEncoderChannels[0], turningEncoderChannels[1]);
// Set the distance per pulse for the drive encoder. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder
@@ -98,7 +102,7 @@
m_drivePIDController.calculate(m_driveEncoder.getRate(), state.speedMetersPerSecond);
// Calculate the turning motor output from the turning PID controller.
- final var turnOutput =
+ final double turnOutput =
m_turningPIDController.calculate(m_turningEncoder.get(), state.angle.getRadians());
// Calculate the turning motor output from the turning PID controller.
@@ -106,7 +110,7 @@
m_turningMotor.set(turnOutput);
}
- /** Zeros all the SwerveModule encoders. */
+ /** Zeroes all the SwerveModule encoders. */
public void resetEncoders() {
m_driveEncoder.reset();
m_turningEncoder.reset();
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
index 0e8feef..e1d16a0 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
@@ -65,7 +65,7 @@
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot));
- SwerveDriveKinematics.normalizeWheelSpeeds(swerveModuleStates, kMaxSpeed);
+ SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, kMaxSpeed);
m_frontLeft.setDesiredState(swerveModuleStates[0]);
m_frontRight.setDesiredState(swerveModuleStates[1]);
m_backLeft.setDesiredState(swerveModuleStates[2]);
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
index f05e22c..c6a985a 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrivexboxcontroller/Robot.java
@@ -33,6 +33,6 @@
// That means that the Y axis of the left stick moves the left side
// of the robot forward and backward, and the Y axis of the right stick
// moves the right side of the robot forward and backward.
- m_robotDrive.tankDrive(m_driverController.getLeftY(), m_driverController.getRightY());
+ m_robotDrive.tankDrive(-m_driverController.getLeftY(), -m_driverController.getRightY());
}
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
index 34cd3ce..8542096 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
@@ -92,4 +92,12 @@
/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {}
+
+ /** This function is called once when the robot is first started up. */
+ @Override
+ public void simulationInit() {}
+
+ /** This function is called periodically whilst in simulation. */
+ @Override
+ public void simulationPeriodic() {}
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java
index 2475ee6..fd39354 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/Robot.java
@@ -31,8 +31,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java
index 80543c6..276e5ce 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java
@@ -32,6 +32,9 @@
m_leftEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
m_rightEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
resetEncoders();
+
+ // Invert right side since motor is flipped
+ m_rightMotor.setInverted(true);
}
public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/EducationalRobot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/EducationalRobot.java
new file mode 100644
index 0000000..8fed60d
--- /dev/null
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/EducationalRobot.java
@@ -0,0 +1,77 @@
+// 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.
+
+package edu.wpi.first.wpilibj.templates.romieducational;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotBase;
+
+/** Educational robot base class. */
+public class EducationalRobot extends RobotBase {
+ public void robotInit() {}
+
+ public void disabled() {}
+
+ public void run() {}
+
+ public void autonomous() {
+ run();
+ }
+
+ public void teleop() {
+ run();
+ }
+
+ public void test() {
+ run();
+ }
+
+ private volatile boolean m_exit;
+
+ @Override
+ public void startCompetition() {
+ robotInit();
+
+ // Tell the DS that the robot is ready to be enabled
+ HAL.observeUserProgramStarting();
+
+ while (!Thread.currentThread().isInterrupted() && !m_exit) {
+ if (isDisabled()) {
+ DriverStation.inDisabled(true);
+ disabled();
+ DriverStation.inDisabled(false);
+ while (isDisabled()) {
+ DriverStation.waitForData();
+ }
+ } else if (isAutonomous()) {
+ DriverStation.inAutonomous(true);
+ autonomous();
+ DriverStation.inAutonomous(false);
+ while (isAutonomousEnabled()) {
+ DriverStation.waitForData();
+ }
+ } else if (isTest()) {
+ DriverStation.inTest(true);
+ test();
+ DriverStation.inTest(false);
+ while (isTest() && isEnabled()) {
+ DriverStation.waitForData();
+ }
+ } else {
+ DriverStation.inTeleop(true);
+ teleop();
+ DriverStation.inTeleop(false);
+ while (isTeleopEnabled()) {
+ DriverStation.waitForData();
+ }
+ }
+ }
+ }
+
+ @Override
+ public void endCompetition() {
+ m_exit = true;
+ }
+}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/Main.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/Main.java
new file mode 100644
index 0000000..091543e
--- /dev/null
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/Main.java
@@ -0,0 +1,25 @@
+// 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.
+
+package edu.wpi.first.wpilibj.templates.romieducational;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+ private Main() {}
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/Robot.java
new file mode 100644
index 0000000..be58b72
--- /dev/null
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/Robot.java
@@ -0,0 +1,23 @@
+// 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.
+
+package edu.wpi.first.wpilibj.templates.romieducational;
+
+/**
+ * The VM is configured to automatically run this class, and to call the run() function when the
+ * robot is enabled. If you change the name of this class or the package after creating this
+ * project, you must also update the build.gradle file in the project.
+ */
+public class Robot extends EducationalRobot {
+ /**
+ * This function is run when the robot is first started up and should be used for any
+ * initialization code.
+ */
+ @Override
+ public void robotInit() {}
+
+ /** This function is run when the robot is enabled. */
+ @Override
+ public void run() {}
+}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/RomiDrivetrain.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/RomiDrivetrain.java
new file mode 100644
index 0000000..4b73a44
--- /dev/null
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romieducational/RomiDrivetrain.java
@@ -0,0 +1,58 @@
+// 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.
+
+package edu.wpi.first.wpilibj.templates.romieducational;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+
+public class RomiDrivetrain {
+ private static final double kCountsPerRevolution = 1440.0;
+ private static final double kWheelDiameterInch = 2.75591; // 70 mm
+
+ // The Romi has the left and right motors set to
+ // PWM channels 0 and 1 respectively
+ private final Spark m_leftMotor = new Spark(0);
+ private final Spark m_rightMotor = new Spark(1);
+
+ // The Romi has onboard encoders that are hardcoded
+ // to use DIO pins 4/5 and 6/7 for the left and right
+ private final Encoder m_leftEncoder = new Encoder(4, 5);
+ private final Encoder m_rightEncoder = new Encoder(6, 7);
+
+ // Set up the differential drive controller
+ private final DifferentialDrive m_diffDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
+
+ /** Creates a new RomiDrivetrain. */
+ public RomiDrivetrain() {
+ // Use inches as unit for encoder distances
+ m_leftEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
+ m_rightEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
+ resetEncoders();
+
+ // Invert right side since motor is flipped
+ m_rightMotor.setInverted(true);
+
+ // Disable motor safety
+ m_diffDrive.setSafetyEnabled(false);
+ }
+
+ public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
+ m_diffDrive.arcadeDrive(xaxisSpeed, zaxisRotate);
+ }
+
+ public void resetEncoders() {
+ m_leftEncoder.reset();
+ m_rightEncoder.reset();
+ }
+
+ public double getLeftDistanceInch() {
+ return m_leftEncoder.getDistance();
+ }
+
+ public double getRightDistanceInch() {
+ return m_rightEncoder.getDistance();
+ }
+}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Robot.java
index 75197ec..571bbc3 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/Robot.java
@@ -34,8 +34,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java
index 96c81b1..e4f8559 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java
@@ -31,6 +31,9 @@
m_leftEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
m_rightEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
resetEncoders();
+
+ // Invert right side since motor is flipped
+ m_rightMotor.setInverted(true);
}
public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
index 9dd408f..b2484cc 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
@@ -1,5 +1,16 @@
[
{
+ "name": "Command Robot",
+ "description": "Command style",
+ "tags": [
+ "Command"
+ ],
+ "foldername": "commandbased",
+ "gradlebase": "java",
+ "mainclass": "Main",
+ "commandversion": 2
+ },
+ {
"name": "Timed Robot",
"description": "Timed style",
"tags": [
@@ -14,7 +25,8 @@
"name": "Timed Skeleton (Advanced)",
"description": "Skeleton (stub) code for TimedRobot",
"tags": [
- "Timed", "Skeleton"
+ "Timed",
+ "Skeleton"
],
"foldername": "timedskeleton",
"gradlebase": "java",
@@ -25,7 +37,8 @@
"name": "RobotBase Skeleton (Advanced)",
"description": "Skeleton (stub) code for RobotBase",
"tags": [
- "RobotBase", "Skeleton"
+ "RobotBase",
+ "Skeleton"
],
"foldername": "robotbaseskeleton",
"gradlebase": "java",
@@ -33,13 +46,14 @@
"commandversion": 2
},
{
- "name": "Command Robot",
- "description": "Command style",
+ "name": "Romi - Command Robot",
+ "description": "Romi - Command style",
"tags": [
- "Command"
+ "Command",
+ "Romi"
],
- "foldername": "commandbased",
- "gradlebase": "java",
+ "foldername": "romicommandbased",
+ "gradlebase": "javaromi",
"mainclass": "Main",
"commandversion": 2
},
@@ -47,7 +61,8 @@
"name": "Romi - Timed Robot",
"description": "Romi - Timed style",
"tags": [
- "Timed", "Romi"
+ "Timed",
+ "Romi"
],
"foldername": "romitimed",
"gradlebase": "javaromi",
@@ -55,17 +70,6 @@
"commandversion": 2
},
{
- "name": "Romi - Command Robot",
- "description": "Romi - Command style",
- "tags": [
- "Command", "Romi"
- ],
- "foldername": "romicommandbased",
- "gradlebase": "javaromi",
- "mainclass": "Main",
- "commandversion": 2
- },
- {
"name": "Educational Robot",
"description": "Educational Robot - Not for competition use",
"tags": [
@@ -75,5 +79,17 @@
"gradlebase": "java",
"mainclass": "Main",
"commandversion": 2
+ },
+ {
+ "name": "Romi - Educational Robot",
+ "description": "Romi - Educational Robot",
+ "tags": [
+ "Educational",
+ "Romi"
+ ],
+ "foldername": "romieducational",
+ "gradlebase": "javaromi",
+ "mainclass": "Main",
+ "commandversion": 2
}
]
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
index 9141414..92b3075 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
@@ -32,8 +32,8 @@
}
/**
- * This function is called every robot packet, no matter the mode. Use this for items like
- * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ * This function is called every 20 ms, no matter the mode. Use this for items like diagnostics
+ * that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
@@ -95,4 +95,12 @@
/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {}
+
+ /** This function is called once when the robot is first started up. */
+ @Override
+ public void simulationInit() {}
+
+ /** This function is called periodically whilst in simulation. */
+ @Override
+ public void simulationPeriodic() {}
}
diff --git a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
index d3968f3..4e0a8fe 100644
--- a/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
+++ b/third_party/allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
@@ -46,4 +46,10 @@
@Override
public void testPeriodic() {}
+
+ @Override
+ public void simulationInit() {}
+
+ @Override
+ public void simulationPeriodic() {}
}
diff --git a/third_party/allwpilib/wpilibjIntegrationTests/build.gradle b/third_party/allwpilib/wpilibjIntegrationTests/build.gradle
index 3224345..d2daeda 100644
--- a/third_party/allwpilib/wpilibjIntegrationTests/build.gradle
+++ b/third_party/allwpilib/wpilibjIntegrationTests/build.gradle
@@ -27,11 +27,11 @@
implementation project(':ntcore')
implementation project(':cscore')
implementation project(':cameraserver')
- implementation 'junit:junit:4.11'
+ implementation 'junit:junit:4.13.2'
testImplementation 'org.hamcrest:hamcrest-all:1.3'
- implementation 'com.googlecode.junit-toolbox:junit-toolbox:2.0'
- implementation 'org.apache.ant:ant:1.9.4'
- implementation 'org.apache.ant:ant-junit:1.9.4'
+ implementation 'com.googlecode.junit-toolbox:junit-toolbox:2.4'
+ implementation 'org.apache.ant:ant:1.10.12'
+ implementation 'org.apache.ant:ant-junit:1.10.12'
}
build.dependsOn shadowJar
diff --git a/third_party/allwpilib/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java b/third_party/allwpilib/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
index 9c44983..07e0139 100644
--- a/third_party/allwpilib/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
+++ b/third_party/allwpilib/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
@@ -64,7 +64,7 @@
@Before
public void reset() {
- pcm.setClosedLoopControl(false);
+ pcm.disableCompressor();
fakePressureSwitch.set(false);
}
@@ -73,7 +73,7 @@
public void testPressureSwitch() throws Exception {
final double range = 0.5;
reset();
- pcm.setClosedLoopControl(true);
+ pcm.enableCompressorDigital();
// Turn on the compressor
fakePressureSwitch.set(true);
diff --git a/third_party/allwpilib/wpimath/CMakeLists.txt b/third_party/allwpilib/wpimath/CMakeLists.txt
index 2a4090f..4e1cac3 100644
--- a/third_party/allwpilib/wpimath/CMakeLists.txt
+++ b/third_party/allwpilib/wpimath/CMakeLists.txt
@@ -13,26 +13,26 @@
include(UseJava)
set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
- if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/ejml-simple-0.38.jar")
+ if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/ejml-simple-0.41.jar")
set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
set(JAR_ROOT "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml")
message(STATUS "Downloading EJML jarfiles...")
- file(DOWNLOAD "${BASE_URL}org/ejml/ejml-cdense/0.38/ejml-cdense-0.38.jar"
- "${JAR_ROOT}/ejml-cdense-0.38.jar")
- file(DOWNLOAD "${BASE_URL}org/ejml/ejml-core/0.38/ejml-core-0.38.jar"
- "${JAR_ROOT}/ejml-core-0.38.jar")
- file(DOWNLOAD "${BASE_URL}org/ejml/ejml-ddense/0.38/ejml-ddense-0.38.jar"
- "${JAR_ROOT}/ejml-ddense-0.38.jar")
- file(DOWNLOAD "${BASE_URL}org/ejml/ejml-dsparse/0.38/ejml-dsparse-0.38.jar"
- "${JAR_ROOT}/ejml-dsparse-0.38.jar")
- file(DOWNLOAD "${BASE_URL}org/ejml/ejml-fdense/0.38/ejml-fdense-0.38.jar"
- "${JAR_ROOT}/ejml-fdense-0.38.jar")
- file(DOWNLOAD "${BASE_URL}org/ejml/ejml-simple/0.38/ejml-simple-0.38.jar"
- "${JAR_ROOT}/ejml-simple-0.38.jar")
- file(DOWNLOAD "${BASE_URL}org/ejml/ejml-zdense/0.38/ejml-zdense-0.38.jar"
- "${JAR_ROOT}/ejml-zdense-0.38.jar")
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-cdense/0.41/ejml-cdense-0.41.jar"
+ "${JAR_ROOT}/ejml-cdense-0.41.jar")
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-core/0.41/ejml-core-0.41.jar"
+ "${JAR_ROOT}/ejml-core-0.41.jar")
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-ddense/0.41/ejml-ddense-0.41.jar"
+ "${JAR_ROOT}/ejml-ddense-0.41.jar")
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-dsparse/0.41/ejml-dsparse-0.41.jar"
+ "${JAR_ROOT}/ejml-dsparse-0.41.jar")
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-fdense/0.41/ejml-fdense-0.41.jar"
+ "${JAR_ROOT}/ejml-fdense-0.41.jar")
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-simple/0.41/ejml-simple-0.41.jar"
+ "${JAR_ROOT}/ejml-simple-0.41.jar")
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-zdense/0.41/ejml-zdense-0.41.jar"
+ "${JAR_ROOT}/ejml-zdense-0.41.jar")
message(STATUS "All files downloaded.")
endif()
diff --git a/third_party/allwpilib/wpimath/build.gradle b/third_party/allwpilib/wpimath/build.gradle
index 79db4bc..c31f04c 100644
--- a/third_party/allwpilib/wpimath/build.gradle
+++ b/third_party/allwpilib/wpimath/build.gradle
@@ -32,10 +32,10 @@
}
dependencies {
- api "org.ejml:ejml-simple:0.38"
- api "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
- api "com.fasterxml.jackson.core:jackson-core:2.10.0"
- api "com.fasterxml.jackson.core:jackson-databind:2.10.0"
+ api "org.ejml:ejml-simple:0.41"
+ api "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
+ api "com.fasterxml.jackson.core:jackson-core:2.12.4"
+ api "com.fasterxml.jackson.core:jackson-databind:2.12.4"
}
def wpilibNumberFileInput = file("src/generate/GenericNumber.java.jinja")
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
index 791de8a..25b9f92 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
@@ -84,4 +84,17 @@
public static double angleModulus(double angleRadians) {
return inputModulus(angleRadians, -Math.PI, Math.PI);
}
+
+ /**
+ * Perform linear interpolation between two values.
+ *
+ * @param startValue The value to start at.
+ * @param endValue The value to end at.
+ * @param t How far between the two values to interpolate. This is clamped to [0, 1].
+ * @return The interpolated value.
+ */
+ @SuppressWarnings("ParameterName")
+ public static double interpolate(double startValue, double endValue, double t) {
+ return startValue + (endValue - startValue) * MathUtil.clamp(t, 0, 1);
+ }
}
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
index 8baf401..69430eb 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
@@ -153,7 +153,7 @@
}
/**
- * Normalize all inputs if any excedes the maximum magnitude. Useful for systems such as
+ * Renormalize all inputs if any exceeds the maximum magnitude. Useful for systems such as
* differential drivetrains.
*
* @param u The input vector.
@@ -161,7 +161,7 @@
* @param <I> The number of inputs.
* @return The normalizedInput
*/
- public static <I extends Num> Matrix<I, N1> normalizeInputVector(
+ public static <I extends Num> Matrix<I, N1> desaturateInputVector(
Matrix<I, N1> u, double maxMagnitude) {
double maxValue = u.maxAbs();
boolean isCapped = maxValue > maxMagnitude;
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java
new file mode 100644
index 0000000..7e8c778
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java
@@ -0,0 +1,159 @@
+// 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.
+
+package edu.wpi.first.math.controller;
+
+import edu.wpi.first.math.MathSharedStore;
+import edu.wpi.first.math.MathUsageId;
+import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.util.sendable.SendableBuilder;
+import edu.wpi.first.util.sendable.SendableRegistry;
+
+/**
+ * Implements a bang-bang controller, which outputs either 0 or 1 depending on whether the
+ * measurement is less than the setpoint. This maximally-aggressive control approach works very well
+ * for velocity control of high-inertia mechanisms, and poorly on most other things.
+ *
+ * <p>Note that this is an *asymmetric* bang-bang controller - it will not exert any control effort
+ * in the reverse direction (e.g. it won't try to slow down an over-speeding shooter wheel). This
+ * asymmetry is *extremely important.* Bang-bang control is extremely simple, but also potentially
+ * hazardous. Always ensure that your motor controllers are set to "coast" before attempting to
+ * control them with a bang-bang controller.
+ */
+public class BangBangController implements Sendable {
+ private static int instances;
+
+ private double m_tolerance;
+
+ private double m_setpoint;
+ private double m_measurement;
+
+ /**
+ * Creates a new bang-bang controller.
+ *
+ * <p>Always ensure that your motor controllers are set to "coast" before attempting to control
+ * them with a bang-bang controller.
+ *
+ * @param tolerance Tolerance for {@link #atSetpoint() atSetpoint}.
+ */
+ public BangBangController(double tolerance) {
+ instances++;
+
+ setTolerance(tolerance);
+
+ SendableRegistry.addLW(this, "BangBangController", instances);
+
+ MathSharedStore.reportUsage(MathUsageId.kController_PIDController2, instances);
+ }
+
+ /**
+ * Creates a new bang-bang controller.
+ *
+ * <p>Always ensure that your motor controllers are set to "coast" before attempting to control
+ * them with a bang-bang controller.
+ */
+ public BangBangController() {
+ this(Double.POSITIVE_INFINITY);
+ }
+
+ /**
+ * Sets the setpoint for the bang-bang controller.
+ *
+ * @param setpoint The desired setpoint.
+ */
+ public void setSetpoint(double setpoint) {
+ m_setpoint = setpoint;
+ }
+
+ /**
+ * Returns the current setpoint of the bang-bang controller.
+ *
+ * @return The current setpoint.
+ */
+ public double getSetpoint() {
+ return m_setpoint;
+ }
+
+ /**
+ * Returns true if the error is within the tolerance of the setpoint.
+ *
+ * @return Whether the error is within the acceptable bounds.
+ */
+ public boolean atSetpoint() {
+ return Math.abs(m_setpoint - m_measurement) < m_tolerance;
+ }
+
+ /**
+ * Sets the error within which atSetpoint will return true.
+ *
+ * @param tolerance Position error which is tolerable.
+ */
+ public void setTolerance(double tolerance) {
+ m_tolerance = tolerance;
+ }
+
+ /**
+ * Returns the current tolerance of the controller.
+ *
+ * @return The current tolerance.
+ */
+ public double getTolerance() {
+ return m_tolerance;
+ }
+
+ /**
+ * Returns the current measurement of the process variable.
+ *
+ * @return The current measurement of the process variable.
+ */
+ public double getMeasurement() {
+ return m_measurement;
+ }
+
+ /**
+ * Returns the current error.
+ *
+ * @return The current error.
+ */
+ public double getError() {
+ return m_setpoint - m_measurement;
+ }
+
+ /**
+ * Returns the calculated control output.
+ *
+ * <p>Always ensure that your motor controllers are set to "coast" before attempting to control
+ * them with a bang-bang controller.
+ *
+ * @param measurement The most recent measurement of the process variable.
+ * @param setpoint The setpoint for the process variable.
+ * @return The calculated motor output (0 or 1).
+ */
+ public double calculate(double measurement, double setpoint) {
+ m_measurement = measurement;
+ m_setpoint = setpoint;
+
+ return measurement < setpoint ? 1 : 0;
+ }
+
+ /**
+ * Returns the calculated control output.
+ *
+ * @param measurement The most recent measurement of the process variable.
+ * @return The calculated motor output (0 or 1).
+ */
+ public double calculate(double measurement) {
+ return calculate(measurement, m_setpoint);
+ }
+
+ @Override
+ public void initSendable(SendableBuilder builder) {
+ builder.setSmartDashboardType("BangBangController");
+ builder.addDoubleProperty("tolerance", this::getTolerance, this::setTolerance);
+ builder.addDoubleProperty("setpoint", this::getSetpoint, this::setSetpoint);
+ builder.addDoubleProperty("measurement", this::getMeasurement, null);
+ builder.addDoubleProperty("error", this::getError, null);
+ builder.addBooleanProperty("atSetpoint", this::atSetpoint, null);
+ }
+}
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
index cf4b26d..e244c5f 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
@@ -104,10 +104,11 @@
if (!StateSpaceUtil.isStabilizable(discA, discB)) {
var builder = new StringBuilder("The system passed to the LQR is uncontrollable!\n\nA =\n");
- builder.append(discA.getStorage().toString());
- builder.append("\nB =\n");
- builder.append(discB.getStorage().toString());
- builder.append("\n");
+ builder
+ .append(discA.getStorage().toString())
+ .append("\nB =\n")
+ .append(discB.getStorage().toString())
+ .append('\n');
var msg = builder.toString();
MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
@@ -117,8 +118,13 @@
var S = Drake.discreteAlgebraicRiccatiEquation(discA, discB, Q, R);
// K = (BᵀSB + R)⁻¹BᵀSA
- var temp = discB.transpose().times(S).times(discB).plus(R);
- m_K = temp.solve(discB.transpose().times(S).times(discA));
+ m_K =
+ discB
+ .transpose()
+ .times(S)
+ .times(discB)
+ .plus(R)
+ .solve(discB.transpose().times(S).times(discA));
m_r = new Matrix<>(new SimpleMatrix(B.getNumRows(), 1));
m_u = new Matrix<>(new SimpleMatrix(B.getNumCols(), 1));
@@ -151,8 +157,13 @@
var S = Drake.discreteAlgebraicRiccatiEquation(discA, discB, Q, R, N);
// K = (BᵀSB + R)⁻¹(BᵀSA + Nᵀ)
- var temp = discB.transpose().times(S).times(discB).plus(R);
- m_K = temp.solve(discB.transpose().times(S).times(discA).plus(N.transpose()));
+ m_K =
+ discB
+ .transpose()
+ .times(S)
+ .times(discB)
+ .plus(R)
+ .solve(discB.transpose().times(S).times(discA).plus(N.transpose()));
m_r = new Matrix<>(new SimpleMatrix(B.getNumRows(), 1));
m_u = new Matrix<>(new SimpleMatrix(B.getNumCols(), 1));
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java
index 0be592e..a1d6237 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java
@@ -46,10 +46,10 @@
/**
* Construct a Ramsete unicycle controller.
*
- * @param b Tuning parameter (b > 0) for which larger values make convergence more aggressive
- * like a proportional term.
- * @param zeta Tuning parameter (0 < zeta < 1) for which larger values provide more damping
- * in response.
+ * @param b Tuning parameter (b > 0 rad²/m²) for which larger values make convergence more
+ * aggressive like a proportional term.
+ * @param zeta Tuning parameter (0 rad⁻¹ < zeta < 1 rad⁻¹) for which larger values provide
+ * more damping in response.
*/
@SuppressWarnings("ParameterName")
public RamseteController(double b, double zeta) {
@@ -58,8 +58,8 @@
}
/**
- * Construct a Ramsete unicycle controller. The default arguments for b and zeta of 2.0 and 0.7
- * have been well-tested to produce desirable results.
+ * Construct a Ramsete unicycle controller. The default arguments for b and zeta of 2.0 rad²/m²
+ * and 0.7 rad⁻¹ have been well-tested to produce desirable results.
*/
public RamseteController() {
this(2.0, 0.7);
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
index f985960..a1e5f68 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java
@@ -128,7 +128,7 @@
}
/**
- * Calculates the maximum achievable acceleration given a maximum voltage supply and a velocity.
+ * Calculates the minimum achievable acceleration given a maximum voltage supply and a velocity.
* Useful for ensuring that velocity and acceleration constraints for a trapezoidal profile are
* simultaneously achievable - enter the velocity constraint, and this will give you a
* simultaneously-achievable acceleration constraint.
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
index 074362e..b199d4d 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
@@ -40,8 +40,8 @@
* <p><strong> x = [x, y, theta, dist_l, dist_r]ᵀ </strong> in the field coordinate system
* containing x position, y position, heading, left encoder distance, and right encoder distance.
*
- * <p><strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity, right wheel
- * velocity, and change in gyro heading.
+ * <p><strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity, and angular rate
+ * in the field coordinate system.
*
* <p>NB: Using velocities make things considerably easier, because it means that teams don't have
* to worry about getting an accurate model. Basically, we suspect that it's easier for teams to get
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
index 4aea69d..c992d2f 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
@@ -79,10 +79,11 @@
if (!StateSpaceUtil.isDetectable(discA, C)) {
var builder =
new StringBuilder("The system passed to the Kalman filter is unobservable!\n\nA =\n");
- builder.append(discA.getStorage().toString());
- builder.append("\nC =\n");
- builder.append(C.getStorage().toString());
- builder.append("\n");
+ builder
+ .append(discA.getStorage().toString())
+ .append("\nC =\n")
+ .append(C.getStorage().toString())
+ .append('\n');
var msg = builder.toString();
MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java
index 50a83b5..89f35e5 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java
@@ -74,15 +74,18 @@
return;
}
- // This index starts at one because we use the previous state later on, and we always want to
- // have a "previous state".
- int maxIdx = m_pastObserverSnapshots.size() - 1;
- int low = 1;
- int high = Math.max(maxIdx, 1);
+ // Use a less verbose name for timestamp
+ double timestamp = timestampSeconds;
+ int maxIdx = m_pastObserverSnapshots.size() - 1;
+ int low = 0;
+ int high = maxIdx;
+
+ // Perform a binary search to find the index of first snapshot whose
+ // timestamp is greater than or equal to the global measurement timestamp
while (low != high) {
int mid = (low + high) / 2;
- if (m_pastObserverSnapshots.get(mid).getKey() < timestampSeconds) {
+ if (m_pastObserverSnapshots.get(mid).getKey() < timestamp) {
// This index and everything under it are less than the requested timestamp. Therefore, we
// can discard them.
low = mid + 1;
@@ -93,16 +96,37 @@
}
}
- // We are simply assigning this index to a new variable to avoid confusion
- // with variable names.
- int index = low;
- double timestamp = timestampSeconds;
- int indexOfClosestEntry =
- Math.abs(timestamp - m_pastObserverSnapshots.get(index - 1).getKey())
- <= Math.abs(
- timestamp - m_pastObserverSnapshots.get(Math.min(index, maxIdx)).getKey())
- ? index - 1
- : index;
+ int indexOfClosestEntry;
+
+ if (low == 0) {
+ // If the global measurement is older than any snapshot, throw out the
+ // measurement because there's no state estimate into which to incorporate
+ // the measurement
+ if (timestamp < m_pastObserverSnapshots.get(low).getKey()) {
+ return;
+ }
+
+ // If the first snapshot has same timestamp as the global measurement, use
+ // that snapshot
+ indexOfClosestEntry = 0;
+ } else if (low == maxIdx && m_pastObserverSnapshots.get(low).getKey() < timestamp) {
+ // If all snapshots are older than the global measurement, use the newest
+ // snapshot
+ indexOfClosestEntry = maxIdx;
+ } else {
+ // Index of snapshot taken after the global measurement
+ int nextIdx = low;
+
+ // Index of snapshot taken before the global measurement. Since we already
+ // handled the case where the index points to the first snapshot, this
+ // computation is guaranteed to be nonnegative.
+ int prevIdx = nextIdx - 1;
+
+ // Find the snapshot closest in time to global measurement
+ double prevTimeDiff = Math.abs(timestamp - m_pastObserverSnapshots.get(prevIdx).getKey());
+ double nextTimeDiff = Math.abs(timestamp - m_pastObserverSnapshots.get(nextIdx).getKey());
+ indexOfClosestEntry = prevTimeDiff <= nextTimeDiff ? prevIdx : nextIdx;
+ }
double lastTimestamp =
m_pastObserverSnapshots.get(indexOfClosestEntry).getKey() - nominalDtSeconds;
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
index 42a6adb..d6f1075 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
@@ -38,8 +38,8 @@
* <p><strong> x = [x, y, theta]ᵀ </strong> in the field coordinate system containing x position, y
* position, and heading.
*
- * <p><strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity, right wheel
- * velocity, and change in gyro heading.
+ * <p><strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity, and angular rate
+ * in the field coordinate system.
*
* <p><strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y position, and
* heading; or <strong> y = [theta]ᵀ </strong> containing gyro heading.
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
index 9e48728..8782b7b 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
@@ -38,8 +38,8 @@
* <p><strong> x = [x, y, theta]ᵀ </strong> in the field coordinate system containing x position, y
* position, and heading.
*
- * <p><strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity, right wheel
- * velocity, and change in gyro heading.
+ * <p><strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity, and angular rate
+ * in the field coordinate system.
*
* <p><strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y position, and
* heading; or <strong> y = [theta]ᵀ </strong> containing gyro heading.
diff --git a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Debouncer.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
similarity index 79%
rename from third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Debouncer.java
rename to third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
index cef85aa..8da45e9 100644
--- a/third_party/allwpilib/wpilibj/src/main/java/edu/wpi/first/wpilibj/Debouncer.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
@@ -2,7 +2,9 @@
// 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.
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.math.filter;
+
+import edu.wpi.first.util.WPIUtilJNI;
/**
* A simple debounce filter for boolean streams. Requires that the boolean change value from
@@ -15,11 +17,12 @@
kBoth
}
- private final Timer m_timer = new Timer();
- private final double m_debounceTime;
+ private final double m_debounceTimeSeconds;
private final DebounceType m_debounceType;
private boolean m_baseline;
+ private double m_prevTimeSeconds;
+
/**
* Creates a new Debouncer.
*
@@ -28,9 +31,10 @@
* @param type Which type of state change the debouncing will be performed on.
*/
public Debouncer(double debounceTime, DebounceType type) {
- m_debounceTime = debounceTime;
+ m_debounceTimeSeconds = debounceTime;
m_debounceType = type;
- m_timer.start();
+
+ resetTimer();
switch (m_debounceType) {
case kBoth: // fall-through
@@ -55,6 +59,14 @@
this(debounceTime, DebounceType.kRising);
}
+ private void resetTimer() {
+ m_prevTimeSeconds = WPIUtilJNI.now() * 1e-6;
+ }
+
+ private boolean hasElapsed() {
+ return (WPIUtilJNI.now() * 1e-6) - m_prevTimeSeconds >= m_debounceTimeSeconds;
+ }
+
/**
* Applies the debouncer to the input stream.
*
@@ -63,13 +75,13 @@
*/
public boolean calculate(boolean input) {
if (input == m_baseline) {
- m_timer.reset();
+ resetTimer();
}
- if (m_timer.hasElapsed(m_debounceTime)) {
+ if (hasElapsed()) {
if (m_debounceType == DebounceType.kBoth) {
m_baseline = input;
- m_timer.reset();
+ resetTimer();
}
return input;
} else {
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
index 93d6bea..5eac0b3 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
@@ -138,42 +138,41 @@
}
/**
- * Creates a backward finite difference filter that computes the nth derivative of the input given
- * the specified number of samples.
+ * Creates a finite difference filter that computes the nth derivative of the input given the
+ * specified stencil points.
*
- * <p>For example, a first derivative filter that uses two samples and a sample period of 20 ms
- * would be
- *
- * <pre><code>
- * LinearFilter.backwardFiniteDifference(1, 2, 0.02);
- * </code></pre>
+ * <p>Stencil points are the indices of the samples to use in the finite difference. 0 is the
+ * current sample, -1 is the previous sample, -2 is the sample before that, etc. Don't use
+ * positive stencil points (samples from the future) if the LinearFilter will be used for
+ * stream-based online filtering.
*
* @param derivative The order of the derivative to compute.
* @param samples The number of samples to use to compute the given derivative. This must be one
* more than the order of derivative or higher.
+ * @param stencil List of stencil points.
* @param period The period in seconds between samples taken by the user.
* @return Linear filter.
+ * @throws IllegalArgumentException if derivative < 1, samples <= 0, or derivative >=
+ * samples.
*/
@SuppressWarnings("LocalVariableName")
- public static LinearFilter backwardFiniteDifference(int derivative, int samples, double period) {
+ public static LinearFilter finiteDifference(
+ int derivative, int samples, int[] stencil, double period) {
// See
// https://en.wikipedia.org/wiki/Finite_difference_coefficient#Arbitrary_stencil_points
//
- // <p>For a given list of stencil points s of length n and the order of
+ // For a given list of stencil points s of length n and the order of
// derivative d < n, the finite difference coefficients can be obtained by
// solving the following linear system for the vector a.
//
- // <pre>
// [s₁⁰ ⋯ sₙ⁰ ][a₁] [ δ₀,d ]
// [ ⋮ ⋱ ⋮ ][⋮ ] = d! [ ⋮ ]
// [s₁ⁿ⁻¹ ⋯ sₙⁿ⁻¹][aₙ] [δₙ₋₁,d]
- // </pre>
//
- // <p>where δᵢ,ⱼ are the Kronecker delta. For backward finite difference,
- // the stencil points are the range [-n + 1, 0]. The FIR gains are the
- // elements of the vector a in reverse order divided by hᵈ.
+ // where δᵢ,ⱼ are the Kronecker delta. The FIR gains are the elements of the
+ // vector a in reverse order divided by hᵈ.
//
- // <p>The order of accuracy of the approximation is of the form O(hⁿ⁻ᵈ).
+ // The order of accuracy of the approximation is of the form O(hⁿ⁻ᵈ).
if (derivative < 1) {
throw new IllegalArgumentException(
@@ -192,8 +191,7 @@
var S = new SimpleMatrix(samples, samples);
for (int row = 0; row < samples; ++row) {
for (int col = 0; col < samples; ++col) {
- double s = 1 - samples + col;
- S.set(row, col, Math.pow(s, row));
+ S.set(row, col, Math.pow(stencil[col], row));
}
}
@@ -211,9 +209,34 @@
ffGains[i] = a.get(samples - i - 1, 0);
}
- double[] fbGains = new double[0];
+ return new LinearFilter(ffGains, new double[0]);
+ }
- return new LinearFilter(ffGains, fbGains);
+ /**
+ * Creates a backward finite difference filter that computes the nth derivative of the input given
+ * the specified number of samples.
+ *
+ * <p>For example, a first derivative filter that uses two samples and a sample period of 20 ms
+ * would be
+ *
+ * <pre><code>
+ * LinearFilter.backwardFiniteDifference(1, 2, 0.02);
+ * </code></pre>
+ *
+ * @param derivative The order of the derivative to compute.
+ * @param samples The number of samples to use to compute the given derivative. This must be one
+ * more than the order of derivative or higher.
+ * @param period The period in seconds between samples taken by the user.
+ * @return Linear filter.
+ */
+ public static LinearFilter backwardFiniteDifference(int derivative, int samples, double period) {
+ // Generate stencil points from -(samples - 1) to 0
+ int[] stencil = new int[samples];
+ for (int i = 0; i < samples; ++i) {
+ stencil[i] = -(samples - 1) + i;
+ }
+
+ return finiteDifference(derivative, samples, stencil, period);
}
/** Reset the filter state. */
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
index 6033b89..f64eff4 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
@@ -8,12 +8,13 @@
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
+import edu.wpi.first.math.interpolation.Interpolatable;
import java.util.Objects;
/** Represents a 2d pose containing translational and rotational elements. */
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class Pose2d {
+public class Pose2d implements Interpolatable<Pose2d> {
private final Translation2d m_translation;
private final Rotation2d m_rotation;
@@ -242,4 +243,18 @@
public int hashCode() {
return Objects.hash(m_translation, m_rotation);
}
+
+ @Override
+ @SuppressWarnings("ParameterName")
+ public Pose2d interpolate(Pose2d endValue, double t) {
+ if (t < 0) {
+ return this;
+ } else if (t >= 1) {
+ return endValue;
+ } else {
+ var twist = this.log(endValue);
+ var scaledTwist = new Twist2d(twist.dx * t, twist.dy * t, twist.dtheta * t);
+ return this.exp(scaledTwist);
+ }
+ }
}
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
index 74ef228..08e5438 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
@@ -8,12 +8,14 @@
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.interpolation.Interpolatable;
import java.util.Objects;
/** A rotation in a 2d coordinate frame represented a point on the unit circle (cosine and sine). */
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class Rotation2d {
+public class Rotation2d implements Interpolatable<Rotation2d> {
private final double m_value;
private final double m_cos;
private final double m_sin;
@@ -198,4 +200,10 @@
public int hashCode() {
return Objects.hash(m_value);
}
+
+ @Override
+ @SuppressWarnings("ParameterName")
+ public Rotation2d interpolate(Rotation2d endValue, double t) {
+ return new Rotation2d(MathUtil.interpolate(this.getRadians(), endValue.getRadians(), t));
+ }
}
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
index 251c078..84eaea8 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
@@ -8,6 +8,8 @@
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.interpolation.Interpolatable;
import java.util.Objects;
/**
@@ -20,7 +22,7 @@
@SuppressWarnings({"ParameterName", "MemberName"})
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class Translation2d {
+public class Translation2d implements Interpolatable<Translation2d> {
private final double m_x;
private final double m_y;
@@ -196,4 +198,11 @@
public int hashCode() {
return Objects.hash(m_x, m_y);
}
+
+ @Override
+ public Translation2d interpolate(Translation2d endValue, double t) {
+ return new Translation2d(
+ MathUtil.interpolate(this.getX(), endValue.getX(), t),
+ MathUtil.interpolate(this.getY(), endValue.getY(), t));
+ }
}
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/interpolation/Interpolatable.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/interpolation/Interpolatable.java
new file mode 100644
index 0000000..f10820f
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/interpolation/Interpolatable.java
@@ -0,0 +1,25 @@
+// 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.
+
+package edu.wpi.first.math.interpolation;
+
+/**
+ * An object should extend interpolatable if you wish to interpolate between a lower and upper
+ * bound, such as a robot position on the field between timesteps. This behavior can be linear or
+ * nonlinear.
+ *
+ * @param <T> The class that is interpolatable.
+ */
+public interface Interpolatable<T> {
+ /**
+ * Return the interpolated value. This object is assumed to be the starting position, or lower
+ * bound.
+ *
+ * @param endValue The upper bound, or end.
+ * @param t How far between the lower and upper bound we are. This should be bounded in [0, 1].
+ * @return The interpolated value.
+ */
+ @SuppressWarnings("ParameterName")
+ T interpolate(T endValue, double t);
+}
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/interpolation/TimeInterpolatableBuffer.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/interpolation/TimeInterpolatableBuffer.java
new file mode 100644
index 0000000..676bd7c
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/interpolation/TimeInterpolatableBuffer.java
@@ -0,0 +1,149 @@
+// 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.
+
+package edu.wpi.first.math.interpolation;
+
+import edu.wpi.first.math.MathUtil;
+import java.util.NavigableMap;
+import java.util.TreeMap;
+
+/**
+ * The TimeInterpolatableBuffer provides an easy way to estimate past measurements. One application
+ * might be in conjunction with the DifferentialDrivePoseEstimator, where knowledge of the robot
+ * pose at the time when vision or other global measurement were recorded is necessary, or for
+ * recording the past angles of mechanisms as measured by encoders.
+ *
+ * @param <T> The type stored in this buffer.
+ */
+public class TimeInterpolatableBuffer<T> {
+ private final double m_historySize;
+ private final InterpolateFunction<T> m_interpolatingFunc;
+ private final NavigableMap<Double, T> m_buffer = new TreeMap<>();
+
+ private TimeInterpolatableBuffer(
+ InterpolateFunction<T> interpolateFunction, double historySizeSeconds) {
+ this.m_historySize = historySizeSeconds;
+ this.m_interpolatingFunc = interpolateFunction;
+ }
+
+ /**
+ * Create a new TimeInterpolatableBuffer.
+ *
+ * @param interpolateFunction The function used to interpolate between values.
+ * @param historySizeSeconds The history size of the buffer.
+ * @param <T> The type of data to store in the buffer.
+ * @return The new TimeInterpolatableBuffer.
+ */
+ public static <T> TimeInterpolatableBuffer<T> createBuffer(
+ InterpolateFunction<T> interpolateFunction, double historySizeSeconds) {
+ return new TimeInterpolatableBuffer<>(interpolateFunction, historySizeSeconds);
+ }
+
+ /**
+ * Create a new TimeInterpolatableBuffer that stores a given subclass of {@link Interpolatable}.
+ *
+ * @param historySizeSeconds The history size of the buffer.
+ * @param <T> The type of {@link Interpolatable} to store in the buffer.
+ * @return The new TimeInterpolatableBuffer.
+ */
+ public static <T extends Interpolatable<T>> TimeInterpolatableBuffer<T> createBuffer(
+ double historySizeSeconds) {
+ return new TimeInterpolatableBuffer<>(Interpolatable::interpolate, historySizeSeconds);
+ }
+
+ /**
+ * Create a new TimeInterpolatableBuffer to store Double values.
+ *
+ * @param historySizeSeconds The history size of the buffer.
+ * @return The new TimeInterpolatableBuffer.
+ */
+ public static TimeInterpolatableBuffer<Double> createDoubleBuffer(double historySizeSeconds) {
+ return new TimeInterpolatableBuffer<>(MathUtil::interpolate, historySizeSeconds);
+ }
+
+ /**
+ * Add a sample to the buffer.
+ *
+ * @param timeSeconds The timestamp of the sample.
+ * @param sample The sample object.
+ */
+ public void addSample(double timeSeconds, T sample) {
+ cleanUp(timeSeconds);
+ m_buffer.put(timeSeconds, sample);
+ }
+
+ /**
+ * Removes samples older than our current history size.
+ *
+ * @param time The current timestamp.
+ */
+ private void cleanUp(double time) {
+ while (!m_buffer.isEmpty()) {
+ var entry = m_buffer.firstEntry();
+ if (time - entry.getKey() >= m_historySize) {
+ m_buffer.remove(entry.getKey());
+ } else {
+ return;
+ }
+ }
+ }
+
+ /** Clear all old samples. */
+ public void clear() {
+ m_buffer.clear();
+ }
+
+ /**
+ * Sample the buffer at the given time. If the buffer is empty, this will return null.
+ *
+ * @param timeSeconds The time at which to sample.
+ * @return The interpolated value at that timestamp. Might be null.
+ */
+ @SuppressWarnings("UnnecessaryParentheses")
+ public T getSample(double timeSeconds) {
+ if (m_buffer.isEmpty()) {
+ return null;
+ }
+
+ // Special case for when the requested time is the same as a sample
+ var nowEntry = m_buffer.get(timeSeconds);
+ if (nowEntry != null) {
+ return nowEntry;
+ }
+
+ var topBound = m_buffer.ceilingEntry(timeSeconds);
+ var bottomBound = m_buffer.floorEntry(timeSeconds);
+
+ // Return null if neither sample exists, and the opposite bound if the other is null
+ if (topBound == null && bottomBound == null) {
+ return null;
+ } else if (topBound == null) {
+ return bottomBound.getValue();
+ } else if (bottomBound == null) {
+ return topBound.getValue();
+ } else {
+ // Otherwise, interpolate. Because T is between [0, 1], we want the ratio of (the difference
+ // between the current time and bottom bound) and (the difference between top and bottom
+ // bounds).
+ return m_interpolatingFunc.interpolate(
+ bottomBound.getValue(),
+ topBound.getValue(),
+ ((timeSeconds - bottomBound.getKey()) / (topBound.getKey() - bottomBound.getKey())));
+ }
+ }
+
+ public interface InterpolateFunction<T> {
+ /**
+ * Return the interpolated value. This object is assumed to be the starting position, or lower
+ * bound.
+ *
+ * @param start The lower bound, or start.
+ * @param end The upper bound, or end.
+ * @param t How far between the lower and upper bound we are. This should be bounded in [0, 1].
+ * @return The interpolated value.
+ */
+ @SuppressWarnings("ParameterName")
+ T interpolate(T start, T end, double t);
+ }
+}
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
index b84eeba..20a38a9 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
@@ -28,15 +28,16 @@
}
/**
- * Normalizes the wheel speeds using some max attainable speed. Sometimes, after inverse
- * kinematics, the requested speed from a/several modules may be above the max attainable speed
- * for the driving motor on that module. To fix this issue, one can "normalize" all the wheel
- * speeds to make sure that all requested module speeds are below the absolute threshold, while
- * maintaining the ratio of speeds between modules.
+ * Renormalizes the wheel speeds if any either side is above the specified maximum.
+ *
+ * <p>Sometimes, after inverse kinematics, the requested speed from one or more wheels may be
+ * above the max attainable speed for the driving motor on that wheel. To fix this issue, one can
+ * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
+ * absolute threshold, while maintaining the ratio of speeds between wheels.
*
* @param attainableMaxSpeedMetersPerSecond The absolute max speed that a wheel can reach.
*/
- public void normalize(double attainableMaxSpeedMetersPerSecond) {
+ public void desaturate(double attainableMaxSpeedMetersPerSecond) {
double realMaxSpeed = Math.max(Math.abs(leftMetersPerSecond), Math.abs(rightMetersPerSecond));
if (realMaxSpeed > attainableMaxSpeedMetersPerSecond) {
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
index 3ea39e5..0807aba 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
@@ -86,7 +86,7 @@
* component, the robot will rotate around that corner.
* @return The wheel speeds. Use caution because they are not normalized. Sometimes, a user input
* may cause one of the wheel speeds to go above the attainable max velocity. Use the {@link
- * MecanumDriveWheelSpeeds#normalize(double)} function to rectify this issue.
+ * MecanumDriveWheelSpeeds#desaturate(double)} function to rectify this issue.
*/
public MecanumDriveWheelSpeeds toWheelSpeeds(
ChassisSpeeds chassisSpeeds, Translation2d centerOfRotationMeters) {
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
index 7a159fe..ef354ef 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
@@ -43,15 +43,16 @@
}
/**
- * Normalizes the wheel speeds using some max attainable speed. Sometimes, after inverse
- * kinematics, the requested speed from a/several modules may be above the max attainable speed
- * for the driving motor on that module. To fix this issue, one can "normalize" all the wheel
- * speeds to make sure that all requested module speeds are below the absolute threshold, while
- * maintaining the ratio of speeds between modules.
+ * Renormalizes the wheel speeds if any individual speed is above the specified maximum.
+ *
+ * <p>Sometimes, after inverse kinematics, the requested speed from one or more wheels may be
+ * above the max attainable speed for the driving motor on that wheel. To fix this issue, one can
+ * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
+ * absolute threshold, while maintaining the ratio of speeds between wheels.
*
* @param attainableMaxSpeedMetersPerSecond The absolute max speed that a wheel can reach.
*/
- public void normalize(double attainableMaxSpeedMetersPerSecond) {
+ public void desaturate(double attainableMaxSpeedMetersPerSecond) {
double realMaxSpeed =
DoubleStream.of(
frontLeftMetersPerSecond,
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
index 4c6d9cc..dc1b9e4 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
@@ -80,8 +80,8 @@
* component, the robot will rotate around that corner.
* @return An array containing the module states. Use caution because these module states are not
* normalized. Sometimes, a user input may cause one of the module speeds to go above the
- * attainable max velocity. Use the {@link #normalizeWheelSpeeds(SwerveModuleState[], double)
- * normalizeWheelSpeeds} function to rectify this issue.
+ * attainable max velocity. Use the {@link #desaturateWheelSpeeds(SwerveModuleState[], double)
+ * DesaturateWheelSpeeds} function to rectify this issue.
*/
@SuppressWarnings("LocalVariableName")
public SwerveModuleState[] toSwerveModuleStates(
@@ -171,17 +171,18 @@
}
/**
- * Normalizes the wheel speeds using some max attainable speed. Sometimes, after inverse
- * kinematics, the requested speed from a/several modules may be above the max attainable speed
- * for the driving motor on that module. To fix this issue, one can "normalize" all the wheel
- * speeds to make sure that all requested module speeds are below the absolute threshold, while
- * maintaining the ratio of speeds between modules.
+ * Renormalizes the wheel speeds if any individual speed is above the specified maximum.
+ *
+ * <p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
+ * above the max attainable speed for the driving motor on that module. To fix this issue, one can
+ * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
+ * absolute threshold, while maintaining the ratio of speeds between modules.
*
* @param moduleStates Reference to array of module states. The array will be mutated with the
* normalized speeds!
* @param attainableMaxSpeedMetersPerSecond The absolute max speed that a module can reach.
*/
- public static void normalizeWheelSpeeds(
+ public static void desaturateWheelSpeeds(
SwerveModuleState[] moduleStates, double attainableMaxSpeedMetersPerSecond) {
double realMaxSpeed = Collections.max(Arrays.asList(moduleStates)).speedMetersPerSecond;
if (realMaxSpeed > attainableMaxSpeedMetersPerSecond) {
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
index 8f3da6a..dcd4e58 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
@@ -57,7 +57,7 @@
controller,
new LinearPlantInversionFeedforward<>(plant, dtSeconds),
observer,
- u -> StateSpaceUtil.normalizeInputVector(u, maxVoltageVolts));
+ u -> StateSpaceUtil.desaturateInputVector(u, maxVoltageVolts));
}
/**
@@ -104,7 +104,7 @@
controller,
feedforward,
observer,
- u -> StateSpaceUtil.normalizeInputVector(u, maxVoltageVolts));
+ u -> StateSpaceUtil.desaturateInputVector(u, maxVoltageVolts));
}
/**
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
index 2933e93..1a05eb6 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
@@ -62,7 +62,7 @@
* Create a state-space model of a flywheel system. The states of the system are [angular
* velocity], inputs are [voltage], and outputs are [angular velocity].
*
- * @param motor The motor (or gearbox) attached to the arm.
+ * @param motor The motor (or gearbox) attached to the flywheel.
* @param jKgMetersSquared The moment of inertia J of the flywheel.
* @param G The reduction between motor and drum, as a ratio of output to input.
* @return A LinearSystem representing the given characterized constants.
@@ -90,6 +90,42 @@
}
/**
+ * Create a state-space model of a DC motor system. The states of the system are [angular
+ * position, angular velocity], inputs are [voltage], and outputs are [angular position, angular
+ * velocity].
+ *
+ * @param motor The motor (or gearbox) attached to the DC motor.
+ * @param jKgMetersSquared The moment of inertia J of the DC motor.
+ * @param G The reduction between motor and drum, as a ratio of output to input.
+ * @return A LinearSystem representing the given characterized constants.
+ * @throws IllegalArgumentException if jKgMetersSquared <= 0 or G <= 0.
+ */
+ @SuppressWarnings("ParameterName")
+ public static LinearSystem<N2, N1, N2> createDCMotorSystem(
+ DCMotor motor, double jKgMetersSquared, double G) {
+ if (jKgMetersSquared <= 0.0) {
+ throw new IllegalArgumentException("J must be greater than zero.");
+ }
+ if (G <= 0.0) {
+ throw new IllegalArgumentException("G must be greater than zero.");
+ }
+
+ return new LinearSystem<>(
+ Matrix.mat(Nat.N2(), Nat.N2())
+ .fill(
+ 0,
+ 1,
+ 0,
+ -G
+ * G
+ * motor.KtNMPerAmp
+ / (motor.KvRadPerSecPerVolt * motor.rOhms * jKgMetersSquared)),
+ VecBuilder.fill(0, G * motor.KtNMPerAmp / (motor.rOhms * jKgMetersSquared)),
+ Matrix.eye(Nat.N2()),
+ new Matrix<>(Nat.N2(), Nat.N1()));
+ }
+
+ /**
* Create a state-space model of a differential drive drivetrain. In this model, the states are
* [v_left, v_right]ᵀ, inputs are [V_left, V_right]ᵀ and outputs are [v_left, v_right]ᵀ.
*
@@ -324,7 +360,7 @@
// omega = 2/trackwidth v
//
// So multiplying by 2/trackwidth converts the angular gains from V/(rad/s)
- // to V/m/s).
+ // to V/(m/s).
return identifyDrivetrainSystem(
kVLinear, kALinear, kVAngular * 2.0 / trackwidth, kAAngular * 2.0 / trackwidth);
}
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
index 35745b5..d41a8eb 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
@@ -209,8 +209,6 @@
endAccel = Math.max(endAccel, 0);
endFullSpeed = Math.max(endFullSpeed, 0);
- double endDeccel = m_endDeccel - endAccel - endFullSpeed;
- endDeccel = Math.max(endDeccel, 0);
final double acceleration = m_constraints.maxAcceleration;
final double decceleration = -m_constraints.maxAcceleration;
@@ -229,11 +227,8 @@
deccelVelocity = velocity;
}
- double deccelDist = deccelVelocity * endDeccel + 0.5 * decceleration * endDeccel * endDeccel;
-
- deccelDist = Math.max(deccelDist, 0);
-
double fullSpeedDist = m_constraints.maxVelocity * endFullSpeed;
+ double deccelDist;
if (accelDist > distToTarget) {
accelDist = distToTarget;
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.java
index 37d8d68..2164435 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.java
@@ -48,7 +48,7 @@
// Get the wheel speeds and normalize them to within the max velocity.
var wheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
- wheelSpeeds.normalize(m_maxSpeedMetersPerSecond);
+ wheelSpeeds.desaturate(m_maxSpeedMetersPerSecond);
// Return the new linear chassis speed.
return m_kinematics.toChassisSpeeds(wheelSpeeds).vxMetersPerSecond;
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MecanumDriveKinematicsConstraint.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MecanumDriveKinematicsConstraint.java
index b26cdcf..dab3699 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MecanumDriveKinematicsConstraint.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MecanumDriveKinematicsConstraint.java
@@ -53,7 +53,7 @@
// Get the wheel speeds and normalize them to within the max velocity.
var wheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
- wheelSpeeds.normalize(m_maxSpeedMetersPerSecond);
+ wheelSpeeds.desaturate(m_maxSpeedMetersPerSecond);
// Convert normalized wheel speeds back to chassis speeds
var normSpeeds = m_kinematics.toChassisSpeeds(wheelSpeeds);
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/SwerveDriveKinematicsConstraint.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/SwerveDriveKinematicsConstraint.java
index 5d95290..5c2e1f5 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/SwerveDriveKinematicsConstraint.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/SwerveDriveKinematicsConstraint.java
@@ -53,7 +53,7 @@
// Get the wheel speeds and normalize them to within the max velocity.
var wheelSpeeds = m_kinematics.toSwerveModuleStates(chassisSpeeds);
- SwerveDriveKinematics.normalizeWheelSpeeds(wheelSpeeds, m_maxSpeedMetersPerSecond);
+ SwerveDriveKinematics.desaturateWheelSpeeds(wheelSpeeds, m_maxSpeedMetersPerSecond);
// Convert normalized wheel speeds back to chassis speeds
var normSpeeds = m_kinematics.toChassisSpeeds(wheelSpeeds);
diff --git a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/util/Units.java b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/util/Units.java
index 13adcd8..017f4d0 100644
--- a/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/util/Units.java
+++ b/third_party/allwpilib/wpimath/src/main/java/edu/wpi/first/math/util/Units.java
@@ -78,6 +78,46 @@
}
/**
+ * Converts given radians to rotations.
+ *
+ * @param radians The radians to convert.
+ * @return rotations Converted from radians.
+ */
+ public static double radiansToRotations(double radians) {
+ return radians / (Math.PI * 2);
+ }
+
+ /**
+ * Converts given degrees to rotations.
+ *
+ * @param degrees The degrees to convert.
+ * @return rotations Converted from radians.
+ */
+ public static double degreesToRotations(double degrees) {
+ return degrees / 360;
+ }
+
+ /**
+ * Converts given rotations to degrees.
+ *
+ * @param rotations The rotations to convert.
+ * @return degrees Converted from rotations.
+ */
+ public static double rotationsToDegrees(double rotations) {
+ return rotations * 360;
+ }
+
+ /**
+ * Converts given rotations to radians.
+ *
+ * @param rotations The rotations to convert.
+ * @return radians Converted from rotations.
+ */
+ public static double rotationsToRadians(double rotations) {
+ return rotations * 2 * Math.PI;
+ }
+
+ /**
* Converts rotations per minute to radians per second.
*
* @param rpm The rotations per minute to convert to radians per second.
diff --git a/third_party/allwpilib/wpimath/src/main/native/cpp/controller/BangBangController.cpp b/third_party/allwpilib/wpimath/src/main/native/cpp/controller/BangBangController.cpp
new file mode 100644
index 0000000..a4fda0a
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/main/native/cpp/controller/BangBangController.cpp
@@ -0,0 +1,72 @@
+// 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 "../../include/frc/controller/BangBangController.h"
+
+#include <wpi/sendable/SendableBuilder.h>
+
+#include "wpimath/MathShared.h"
+
+using namespace frc;
+
+BangBangController::BangBangController(double tolerance)
+ : m_tolerance(tolerance) {
+ static int instances = 0;
+ instances++;
+}
+
+void BangBangController::SetSetpoint(double setpoint) {
+ m_setpoint = setpoint;
+}
+
+double BangBangController::GetSetpoint() const {
+ return m_setpoint;
+}
+
+bool BangBangController::AtSetpoint() const {
+ return std::abs(m_setpoint - m_measurement) < m_tolerance;
+}
+
+void BangBangController::SetTolerance(double tolerance) {
+ m_tolerance = tolerance;
+}
+
+double BangBangController::GetTolerance() const {
+ return m_tolerance;
+}
+
+double BangBangController::GetMeasurement() const {
+ return m_measurement;
+}
+
+double BangBangController::GetError() const {
+ return m_setpoint - m_measurement;
+}
+
+double BangBangController::Calculate(double measurement, double setpoint) {
+ m_measurement = measurement;
+ m_setpoint = setpoint;
+
+ return measurement < setpoint ? 1 : 0;
+}
+
+double BangBangController::Calculate(double measurement) {
+ return Calculate(measurement, m_setpoint);
+}
+
+void BangBangController::InitSendable(wpi::SendableBuilder& builder) {
+ builder.SetSmartDashboardType("BangBangController");
+ builder.AddDoubleProperty(
+ "tolerance", [this] { return GetTolerance(); },
+ [this](double tolerance) { SetTolerance(tolerance); });
+ builder.AddDoubleProperty(
+ "setpoint", [this] { return GetSetpoint(); },
+ [this](double setpoint) { SetSetpoint(setpoint); });
+ builder.AddDoubleProperty(
+ "measurement", [this] { return GetMeasurement(); }, nullptr);
+ builder.AddDoubleProperty(
+ "error", [this] { return GetError(); }, nullptr);
+ builder.AddBooleanProperty(
+ "atSetpoint", [this] { return AtSetpoint(); }, nullptr);
+}
diff --git a/third_party/allwpilib/wpimath/src/main/native/cpp/controller/RamseteController.cpp b/third_party/allwpilib/wpimath/src/main/native/cpp/controller/RamseteController.cpp
index 8aa16d8..0fea864 100644
--- a/third_party/allwpilib/wpimath/src/main/native/cpp/controller/RamseteController.cpp
+++ b/third_party/allwpilib/wpimath/src/main/native/cpp/controller/RamseteController.cpp
@@ -6,6 +6,7 @@
#include <cmath>
+#include "units/angle.h"
#include "units/math.h"
using namespace frc;
@@ -15,17 +16,26 @@
*
* @param x Value of which to take sinc(x).
*/
-static double Sinc(double x) {
- if (std::abs(x) < 1e-9) {
- return 1.0 - 1.0 / 6.0 * x * x;
+static decltype(1 / 1_rad) Sinc(units::radian_t x) {
+ if (units::math::abs(x) < 1e-9_rad) {
+ return decltype(1 / 1_rad){1.0 - 1.0 / 6.0 * x.value() * x.value()};
} else {
- return std::sin(x) / x;
+ return units::math::sin(x) / x;
}
}
RamseteController::RamseteController(double b, double zeta)
+ : RamseteController(units::unit_t<b_unit>{b},
+ units::unit_t<zeta_unit>{zeta}) {}
+
+RamseteController::RamseteController(units::unit_t<b_unit> b,
+ units::unit_t<zeta_unit> zeta)
: m_b{b}, m_zeta{zeta} {}
+RamseteController::RamseteController()
+ : RamseteController(units::unit_t<b_unit>{2.0},
+ units::unit_t<zeta_unit>{0.7}) {}
+
bool RamseteController::AtReference() const {
const auto& eTranslate = m_poseError.Translation();
const auto& eRotate = m_poseError.Rotation();
@@ -51,19 +61,18 @@
m_poseError = poseRef.RelativeTo(currentPose);
// Aliases for equation readability
- double eX = m_poseError.X().value();
- double eY = m_poseError.Y().value();
- double eTheta = m_poseError.Rotation().Radians().value();
- double vRef = linearVelocityRef.value();
- double omegaRef = angularVelocityRef.value();
+ const auto& eX = m_poseError.X();
+ const auto& eY = m_poseError.Y();
+ const auto& eTheta = m_poseError.Rotation().Radians();
+ const auto& vRef = linearVelocityRef;
+ const auto& omegaRef = angularVelocityRef;
- double k =
- 2.0 * m_zeta * std::sqrt(std::pow(omegaRef, 2) + m_b * std::pow(vRef, 2));
+ auto k = 2.0 * m_zeta *
+ units::math::sqrt(units::math::pow<2>(omegaRef) +
+ m_b * units::math::pow<2>(vRef));
- units::meters_per_second_t v{vRef * m_poseError.Rotation().Cos() + k * eX};
- units::radians_per_second_t omega{omegaRef + k * eTheta +
- m_b * vRef * Sinc(eTheta) * eY};
- return ChassisSpeeds{v, 0_mps, omega};
+ return ChassisSpeeds{vRef * m_poseError.Rotation().Cos() + k * eX, 0_mps,
+ omegaRef + k * eTheta + m_b * vRef * Sinc(eTheta) * eY};
}
ChassisSpeeds RamseteController::Calculate(
diff --git a/third_party/allwpilib/wpilibc/src/main/native/cpp/Debouncer.cpp b/third_party/allwpilib/wpimath/src/main/native/cpp/filter/Debouncer.cpp
similarity index 71%
rename from third_party/allwpilib/wpilibc/src/main/native/cpp/Debouncer.cpp
rename to third_party/allwpilib/wpimath/src/main/native/cpp/filter/Debouncer.cpp
index eb402cd..4e909a2 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/cpp/Debouncer.cpp
+++ b/third_party/allwpilib/wpimath/src/main/native/cpp/filter/Debouncer.cpp
@@ -2,7 +2,7 @@
// 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/Debouncer.h"
+#include "frc/filter/Debouncer.h"
using namespace frc;
@@ -17,18 +17,26 @@
m_baseline = true;
break;
}
- m_timer.Start();
+ ResetTimer();
+}
+
+void Debouncer::ResetTimer() {
+ m_prevTime = units::microsecond_t(wpi::Now());
+}
+
+bool Debouncer::HasElapsed() const {
+ return units::microsecond_t(wpi::Now()) - m_prevTime >= m_debounceTime;
}
bool Debouncer::Calculate(bool input) {
if (input == m_baseline) {
- m_timer.Reset();
+ ResetTimer();
}
- if (m_timer.HasElapsed(m_debounceTime)) {
+ if (HasElapsed()) {
if (m_debounceType == DebounceType::kBoth) {
m_baseline = input;
- m_timer.Reset();
+ ResetTimer();
}
return input;
} else {
diff --git a/third_party/allwpilib/wpimath/src/main/native/cpp/interpolation/TimeInterpolatableBuffer.cpp b/third_party/allwpilib/wpimath/src/main/native/cpp/interpolation/TimeInterpolatableBuffer.cpp
new file mode 100644
index 0000000..f594cd6
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/main/native/cpp/interpolation/TimeInterpolatableBuffer.cpp
@@ -0,0 +1,26 @@
+// 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/interpolation/TimeInterpolatableBuffer.h"
+
+namespace frc {
+
+// Template specialization to ensure that Pose2d uses pose exponential
+template <>
+TimeInterpolatableBuffer<Pose2d>::TimeInterpolatableBuffer(
+ units::second_t historySize)
+ : m_historySize(historySize),
+ m_interpolatingFunc([](const Pose2d& start, const Pose2d& end, double t) {
+ if (t < 0) {
+ return start;
+ } else if (t >= 1) {
+ return end;
+ } else {
+ Twist2d twist = start.Log(end);
+ Twist2d scaledTwist = twist * t;
+ return start.Exp(scaledTwist);
+ }
+ }) {}
+
+} // namespace frc
diff --git a/third_party/allwpilib/wpimath/src/main/native/cpp/kinematics/DifferentialDriveWheelSpeeds.cpp b/third_party/allwpilib/wpimath/src/main/native/cpp/kinematics/DifferentialDriveWheelSpeeds.cpp
index 42d3018..33c390d 100644
--- a/third_party/allwpilib/wpimath/src/main/native/cpp/kinematics/DifferentialDriveWheelSpeeds.cpp
+++ b/third_party/allwpilib/wpimath/src/main/native/cpp/kinematics/DifferentialDriveWheelSpeeds.cpp
@@ -8,7 +8,7 @@
using namespace frc;
-void DifferentialDriveWheelSpeeds::Normalize(
+void DifferentialDriveWheelSpeeds::Desaturate(
units::meters_per_second_t attainableMaxSpeed) {
auto realMaxSpeed =
units::math::max(units::math::abs(left), units::math::abs(right));
diff --git a/third_party/allwpilib/wpimath/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp b/third_party/allwpilib/wpimath/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp
index fc47461..dd30263 100644
--- a/third_party/allwpilib/wpimath/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp
+++ b/third_party/allwpilib/wpimath/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp
@@ -12,7 +12,7 @@
using namespace frc;
-void MecanumDriveWheelSpeeds::Normalize(
+void MecanumDriveWheelSpeeds::Desaturate(
units::meters_per_second_t attainableMaxSpeed) {
std::array<units::meters_per_second_t, 4> wheelSpeeds{frontLeft, frontRight,
rearLeft, rearRight};
diff --git a/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp b/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
index db419f7..ecb36c2 100644
--- a/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
+++ b/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
@@ -6,6 +6,7 @@
#include <algorithm>
+#include <wpi/MathExtras.h>
#include <wpi/json.h>
#include "units/math.h"
@@ -25,7 +26,7 @@
Trajectory::State Trajectory::State::Interpolate(State endValue,
double i) const {
// Find the new [t] value.
- const auto newT = Lerp(t, endValue.t, i);
+ const auto newT = wpi::Lerp(t, endValue.t, i);
// Find the delta time between the current state and the interpolated state.
const auto deltaT = newT - t;
@@ -58,8 +59,8 @@
newS / endValue.pose.Translation().Distance(pose.Translation());
return {newT, newV, acceleration,
- Lerp(pose, endValue.pose, interpolationFrac),
- Lerp(curvature, endValue.curvature, interpolationFrac)};
+ wpi::Lerp(pose, endValue.pose, interpolationFrac),
+ wpi::Lerp(curvature, endValue.curvature, interpolationFrac)};
}
Trajectory::Trajectory(const std::vector<State>& states) : m_states(states) {
diff --git a/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp b/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
index 2e2771d..1884758 100644
--- a/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
+++ b/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
@@ -141,3 +141,8 @@
config.EndVelocity(), config.MaxVelocity(), config.MaxAcceleration(),
config.IsReversed());
}
+
+void TrajectoryGenerator::SetErrorHandler(
+ std::function<void(const char*)> func) {
+ s_errorFunc = std::move(func);
+}
diff --git a/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp b/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
index d1c2f6f..2a308db 100644
--- a/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
+++ b/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
@@ -16,7 +16,7 @@
units::meters_per_second_t velocity) const {
auto wheelSpeeds =
m_kinematics.ToWheelSpeeds({velocity, 0_mps, velocity * curvature});
- wheelSpeeds.Normalize(m_maxSpeed);
+ wheelSpeeds.Desaturate(m_maxSpeed);
return m_kinematics.ToChassisSpeeds(wheelSpeeds).vx;
}
diff --git a/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/constraint/MecanumDriveKinematicsConstraint.cpp b/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/constraint/MecanumDriveKinematicsConstraint.cpp
index 418a904..391b99f 100644
--- a/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/constraint/MecanumDriveKinematicsConstraint.cpp
+++ b/third_party/allwpilib/wpimath/src/main/native/cpp/trajectory/constraint/MecanumDriveKinematicsConstraint.cpp
@@ -20,7 +20,7 @@
auto yVelocity = velocity * pose.Rotation().Sin();
auto wheelSpeeds =
m_kinematics.ToWheelSpeeds({xVelocity, yVelocity, velocity * curvature});
- wheelSpeeds.Normalize(m_maxSpeed);
+ wheelSpeeds.Desaturate(m_maxSpeed);
auto normSpeeds = m_kinematics.ToChassisSpeeds(wheelSpeeds);
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/drake/common/drake_assert.h b/third_party/allwpilib/wpimath/src/main/native/include/drake/common/drake_assert.h
index 88587fa..e9c3aa2 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/drake/common/drake_assert.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/drake/common/drake_assert.h
@@ -88,14 +88,6 @@
// Report an assertion failure; will either Abort(...) or throw.
[[noreturn]] void AssertionFailed(const char* condition, const char* func,
const char* file, int line);
-template <bool>
-constexpr void DrakeAssertWasUsedWithRawPointer() {}
-template<>
-[[deprecated("\nDRAKE DEPRECATED: When using DRAKE_ASSERT or DRAKE_DEMAND on"
-" a raw pointer, always write out DRAKE_ASSERT(foo != nullptr), do not write"
-" DRAKE_ASSERT(foo) and rely on implicit pointer-to-bool conversion."
-"\nThe deprecated code will be removed from Drake on or after 2021-12-01.")]]
-constexpr void DrakeAssertWasUsedWithRawPointer<true>() {}
} // namespace internal
namespace assert {
// Allows for specialization of how to bool-convert Conditions used in
@@ -122,8 +114,11 @@
typedef ::drake::assert::ConditionTraits< \
typename std::remove_cv_t<decltype(condition)>> Trait; \
static_assert(Trait::is_valid, "Condition should be bool-convertible."); \
- ::drake::internal::DrakeAssertWasUsedWithRawPointer< \
- std::is_pointer_v<decltype(condition)>>(); \
+ static_assert( \
+ !std::is_pointer_v<decltype(condition)>, \
+ "When using DRAKE_DEMAND on a raw pointer, always write out " \
+ "DRAKE_DEMAND(foo != nullptr), do not write DRAKE_DEMAND(foo) " \
+ "and rely on implicit pointer-to-bool conversion."); \
if (!Trait::Evaluate(condition)) { \
::drake::internal::AssertionFailed( \
#condition, __func__, __FILE__, __LINE__); \
@@ -149,13 +144,15 @@
constexpr bool kDrakeAssertIsArmed = false;
constexpr bool kDrakeAssertIsDisarmed = true;
} // namespace drake
-# define DRAKE_ASSERT(condition) do { \
- static_assert( \
- ::drake::assert::ConditionTraits< \
- typename std::remove_cv_t<decltype(condition)>>::is_valid, \
- "Condition should be bool-convertible."); \
- ::drake::internal::DrakeAssertWasUsedWithRawPointer< \
- std::is_pointer_v<decltype(condition)>>(); \
+# define DRAKE_ASSERT(condition) do { \
+ typedef ::drake::assert::ConditionTraits< \
+ typename std::remove_cv_t<decltype(condition)>> Trait; \
+ static_assert(Trait::is_valid, "Condition should be bool-convertible."); \
+ static_assert( \
+ !std::is_pointer_v<decltype(condition)>, \
+ "When using DRAKE_ASSERT on a raw pointer, always write out " \
+ "DRAKE_ASSERT(foo != nullptr), do not write DRAKE_ASSERT(foo) " \
+ "and rely on implicit pointer-to-bool conversion."); \
} while (0)
# define DRAKE_ASSERT_VOID(expression) static_assert( \
std::is_convertible_v<decltype(expression), void>, \
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/drake/common/drake_throw.h b/third_party/allwpilib/wpimath/src/main/native/include/drake/common/drake_throw.h
index bb4bae8..fdd07a2 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/drake/common/drake_throw.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/drake/common/drake_throw.h
@@ -14,16 +14,6 @@
// Throw an error message.
[[noreturn]] void Throw(const char* condition, const char* func,
const char* file, int line);
-
-template <bool>
-constexpr void DrakeThrowUnlessWasUsedWithRawPointer() {}
-template<>
-[[deprecated("\nDRAKE DEPRECATED: When using DRAKE_THROW_UNLESS on a raw"
-" pointer, always write out DRAKE_THROW_UNLESS(foo != nullptr), do not write"
-" DRAKE_THROW_UNLESS(foo) and rely on implicit pointer-to-bool conversion."
-"\nThe deprecated code will be removed from Drake on or after 2021-12-01.")]]
-constexpr void DrakeThrowUnlessWasUsedWithRawPointer<true>() {}
-
} // namespace internal
} // namespace drake
@@ -41,14 +31,17 @@
/// users, we should err on the side of extra detail about the failure. The
/// meaning of "foo" isolated within error message text does not make it
/// clear that a null pointer is the proximate cause of the problem.
-#define DRAKE_THROW_UNLESS(condition) \
- do { \
- typedef ::drake::assert::ConditionTraits< \
- typename std::remove_cv_t<decltype(condition)>> Trait; \
- static_assert(Trait::is_valid, "Condition should be bool-convertible."); \
- ::drake::internal::DrakeThrowUnlessWasUsedWithRawPointer< \
- std::is_pointer_v<decltype(condition)>>(); \
- if (!Trait::Evaluate(condition)) { \
- ::drake::internal::Throw(#condition, __func__, __FILE__, __LINE__); \
- } \
+#define DRAKE_THROW_UNLESS(condition) \
+ do { \
+ typedef ::drake::assert::ConditionTraits< \
+ typename std::remove_cv_t<decltype(condition)>> Trait; \
+ static_assert(Trait::is_valid, "Condition should be bool-convertible."); \
+ static_assert( \
+ !std::is_pointer_v<decltype(condition)>, \
+ "When using DRAKE_THROW_UNLESS on a raw pointer, always write out " \
+ "DRAKE_THROW_UNLESS(foo != nullptr), do not write DRAKE_THROW_UNLESS" \
+ "(foo) and rely on implicit pointer-to-bool conversion."); \
+ if (!Trait::Evaluate(condition)) { \
+ ::drake::internal::Throw(#condition, __func__, __FILE__, __LINE__); \
+ } \
} while (0)
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/StateSpaceUtil.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/StateSpaceUtil.h
index 730c4b9..5fdd18c 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/StateSpaceUtil.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/StateSpaceUtil.h
@@ -336,8 +336,8 @@
}
/**
- * Normalize all inputs if any excedes the maximum magnitude. Useful for systems
- * such as differential drivetrains.
+ * Renormalize all inputs if any exceeds the maximum magnitude. Useful for
+ * systems such as differential drivetrains.
*
* @tparam Inputs The number of inputs.
* @param u The input vector.
@@ -345,7 +345,7 @@
* @return The normalizedInput
*/
template <int Inputs>
-Eigen::Vector<double, Inputs> NormalizeInputVector(
+Eigen::Vector<double, Inputs> DesaturateInputVector(
const Eigen::Vector<double, Inputs>& u, double maxMagnitude) {
double maxValue = u.template lpNorm<Eigen::Infinity>();
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
index eb7cb76..1f0e407 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
@@ -35,14 +35,14 @@
* Creates a new ArmFeedforward with the specified gains.
*
* @param kS The static gain, in volts.
- * @param kCos The gravity gain, in volts.
+ * @param kG The gravity gain, in volts.
* @param kV The velocity gain, in volt seconds per radian.
* @param kA The acceleration gain, in volt seconds^2 per radian.
*/
constexpr ArmFeedforward(
- units::volt_t kS, units::volt_t kCos, units::unit_t<kv_unit> kV,
+ units::volt_t kS, units::volt_t kG, units::unit_t<kv_unit> kV,
units::unit_t<ka_unit> kA = units::unit_t<ka_unit>(0))
- : kS(kS), kCos(kCos), kV(kV), kA(kA) {}
+ : kS(kS), kG(kG), kV(kV), kA(kA) {}
/**
* Calculates the feedforward from the gains and setpoints.
@@ -56,7 +56,7 @@
units::unit_t<Velocity> velocity,
units::unit_t<Acceleration> acceleration =
units::unit_t<Acceleration>(0)) const {
- return kS * wpi::sgn(velocity) + kCos * units::math::cos(angle) +
+ return kS * wpi::sgn(velocity) + kG * units::math::cos(angle) +
kV * velocity + kA * acceleration;
}
@@ -79,7 +79,7 @@
units::volt_t maxVoltage, units::unit_t<Angle> angle,
units::unit_t<Acceleration> acceleration) {
// Assume max velocity is positive
- return (maxVoltage - kS - kCos * units::math::cos(angle) -
+ return (maxVoltage - kS - kG * units::math::cos(angle) -
kA * acceleration) /
kV;
}
@@ -100,7 +100,7 @@
units::volt_t maxVoltage, units::unit_t<Angle> angle,
units::unit_t<Acceleration> acceleration) {
// Assume min velocity is negative, ks flips sign
- return (-maxVoltage + kS - kCos * units::math::cos(angle) -
+ return (-maxVoltage + kS - kG * units::math::cos(angle) -
kA * acceleration) /
kV;
}
@@ -121,7 +121,7 @@
units::volt_t maxVoltage, units::unit_t<Angle> angle,
units::unit_t<Velocity> velocity) {
return (maxVoltage - kS * wpi::sgn(velocity) -
- kCos * units::math::cos(angle) - kV * velocity) /
+ kG * units::math::cos(angle) - kV * velocity) /
kA;
}
@@ -144,7 +144,7 @@
}
units::volt_t kS{0};
- units::volt_t kCos{0};
+ units::volt_t kG{0};
units::unit_t<kv_unit> kV{0};
units::unit_t<ka_unit> kA{0};
};
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/BangBangController.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/BangBangController.h
new file mode 100644
index 0000000..6058c81
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/BangBangController.h
@@ -0,0 +1,121 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <limits>
+
+#include <wpi/SymbolExports.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
+namespace frc {
+
+/**
+ * Implements a bang-bang controller, which outputs either 0 or 1 depending on
+ * whether the measurement is less than the setpoint. This maximally-aggressive
+ * control approach works very well for velocity control of high-inertia
+ * mechanisms, and poorly on most other things.
+ *
+ * <p>Note that this is an *asymmetric* bang-bang controller - it will not exert
+ * any control effort in the reverse direction (e.g. it won't try to slow down
+ * an over-speeding shooter wheel). This asymmetry is *extremely important.*
+ * Bang-bang control is extremely simple, but also potentially hazardous. Always
+ * ensure that your motor controllers are set to "coast" before attempting to
+ * control them with a bang-bang controller.
+ */
+class WPILIB_DLLEXPORT BangBangController
+ : public wpi::Sendable,
+ public wpi::SendableHelper<BangBangController> {
+ public:
+ /**
+ * Creates a new bang-bang controller.
+ *
+ * <p>Always ensure that your motor controllers are set to "coast" before
+ * attempting to control them with a bang-bang controller.
+ *
+ * @param tolerance Tolerance for atSetpoint.
+ */
+ explicit BangBangController(
+ double tolerance = std::numeric_limits<double>::infinity());
+
+ /**
+ * Sets the setpoint for the bang-bang controller.
+ *
+ * @param setpoint The desired setpoint.
+ */
+ void SetSetpoint(double setpoint);
+
+ /**
+ * Returns the current setpoint of the bang-bang controller.
+ *
+ * @return The current setpoint.
+ */
+ double GetSetpoint() const;
+
+ /**
+ * Returns true if the error is within the tolerance of the setpoint.
+ *
+ * @return Whether the error is within the acceptable bounds.
+ */
+ bool AtSetpoint() const;
+
+ /**
+ * Sets the error within which AtSetpoint will return true.
+ *
+ * @param tolerance Position error which is tolerable.
+ */
+ void SetTolerance(double tolerance);
+
+ /**
+ * Returns the current tolerance of the controller.
+ *
+ * @return The current tolerance.
+ */
+ double GetTolerance() const;
+
+ /**
+ * Returns the current measurement of the process variable.
+ *
+ * @return The current measurement of the process variable.
+ */
+ double GetMeasurement() const;
+
+ /**
+ * Returns the current error.
+ *
+ * @return The current error.
+ */
+ double GetError() const;
+
+ /**
+ * Returns the calculated control output.
+ *
+ * <p>Always ensure that your motor controllers are set to "coast" before
+ * attempting to control them with a bang-bang controller.
+ *
+ * @param measurement The most recent measurement of the process variable.
+ * @param setpoint The setpoint for the process variable.
+ * @return The calculated motor output (0 or 1).
+ */
+ double Calculate(double measurement, double setpoint);
+
+ /**
+ * Returns the calculated control output.
+ *
+ * @param measurement The most recent measurement of the process variable.
+ * @return The calculated motor output (0 or 1).
+ */
+ double Calculate(double measurement);
+
+ void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+ double m_tolerance;
+
+ double m_setpoint = 0;
+ double m_measurement = 0;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
index c934e0a..44a8501 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
@@ -135,7 +135,7 @@
drake::math::DiscreteAlgebraicRiccatiEquation(discA, discB, Q, R, N);
// K = (BᵀSB + R)⁻¹(BᵀSA + Nᵀ)
- m_K = (B.transpose() * S * B + R)
+ m_K = (discB.transpose() * S * discB + R)
.llt()
.solve(discB.transpose() * S * discA + N.transpose());
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/RamseteController.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/RamseteController.h
index 022fff9..bb23f46 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/RamseteController.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/controller/RamseteController.h
@@ -5,11 +5,13 @@
#pragma once
#include <wpi/SymbolExports.h>
+#include <wpi/deprecated.h>
#include "frc/geometry/Pose2d.h"
#include "frc/kinematics/ChassisSpeeds.h"
#include "frc/trajectory/Trajectory.h"
#include "units/angular_velocity.h"
+#include "units/length.h"
#include "units/velocity.h"
namespace frc {
@@ -43,22 +45,38 @@
*/
class WPILIB_DLLEXPORT RamseteController {
public:
+ using b_unit =
+ units::compound_unit<units::squared<units::radians>,
+ units::inverse<units::squared<units::meters>>>;
+ using zeta_unit = units::inverse<units::radians>;
+
/**
* Construct a Ramsete unicycle controller.
*
- * @param b Tuning parameter (b > 0) for which larger values make
+ * @param b Tuning parameter (b > 0 rad²/m²) for which larger values make
* convergence more aggressive like a proportional term.
- * @param zeta Tuning parameter (0 < zeta < 1) for which larger values provide
- * more damping in response.
+ * @param zeta Tuning parameter (0 rad⁻¹ < zeta < 1 rad⁻¹) for which larger
+ * values provide more damping in response.
*/
+ WPI_DEPRECATED("Use unit-safe constructor instead")
RamseteController(double b, double zeta);
/**
- * Construct a Ramsete unicycle controller. The default arguments for
- * b and zeta of 2.0 and 0.7 have been well-tested to produce desirable
- * results.
+ * Construct a Ramsete unicycle controller.
+ *
+ * @param b Tuning parameter (b > 0 rad²/m²) for which larger values make
+ * convergence more aggressive like a proportional term.
+ * @param zeta Tuning parameter (0 rad⁻¹ < zeta < 1 rad⁻¹) for which larger
+ * values provide more damping in response.
*/
- RamseteController() : RamseteController(2.0, 0.7) {}
+ RamseteController(units::unit_t<b_unit> b, units::unit_t<zeta_unit> zeta);
+
+ /**
+ * Construct a Ramsete unicycle controller. The default arguments for
+ * b and zeta of 2.0 rad²/m² and 0.7 rad⁻¹ have been well-tested to produce
+ * desirable results.
+ */
+ RamseteController();
/**
* Returns true if the pose error is within tolerance of the reference.
@@ -109,8 +127,8 @@
void SetEnabled(bool enabled);
private:
- double m_b;
- double m_zeta;
+ units::unit_t<b_unit> m_b;
+ units::unit_t<zeta_unit> m_zeta;
Pose2d m_poseError;
Pose2d m_poseTolerance;
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
index b957c1e..12810fa 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
@@ -38,8 +38,8 @@
* system containing x position, y position, heading, left encoder distance,
* and right encoder distance.
*
- * <strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity,
- * right wheel velocity, and change in gyro heading.
+ * <strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity,
+ * and angular velocity in the field coordinate system.
*
* NB: Using velocities make things considerably easier, because it means that
* teams don't have to worry about getting an accurate model. Basically, we
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/KalmanFilterLatencyCompensator.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/KalmanFilterLatencyCompensator.h
index aabb8ec..5cb8eb2 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/KalmanFilterLatencyCompensator.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/KalmanFilterLatencyCompensator.h
@@ -86,26 +86,46 @@
return;
}
- // We will perform a binary search to find the index of the element in the
- // vector that has a timestamp that is equal to or greater than the vision
- // measurement timestamp.
- auto lowerBoundIter = std::lower_bound(
+ // Perform a binary search to find the index of first snapshot whose
+ // timestamp is greater than or equal to the global measurement timestamp
+ auto it = std::lower_bound(
m_pastObserverSnapshots.cbegin(), m_pastObserverSnapshots.cend(),
timestamp,
[](const auto& entry, const auto& ts) { return entry.first < ts; });
- int index = std::distance(m_pastObserverSnapshots.cbegin(), lowerBoundIter);
- // High and Low should be the same. The sampled timestamp is greater than or
- // equal to the vision pose timestamp. We will now find the entry which is
- // closest in time to the requested timestamp.
+ size_t indexOfClosestEntry;
- size_t indexOfClosestEntry =
- units::math::abs(
- timestamp - m_pastObserverSnapshots[std::max(index - 1, 0)].first) <
- units::math::abs(timestamp -
- m_pastObserverSnapshots[index].first)
- ? index - 1
- : index;
+ if (it == m_pastObserverSnapshots.cbegin()) {
+ // If the global measurement is older than any snapshot, throw out the
+ // measurement because there's no state estimate into which to incorporate
+ // the measurement
+ if (timestamp < it->first) {
+ return;
+ }
+
+ // If the first snapshot has same timestamp as the global measurement, use
+ // that snapshot
+ indexOfClosestEntry = 0;
+ } else if (it == m_pastObserverSnapshots.cend()) {
+ // If all snapshots are older than the global measurement, use the newest
+ // snapshot
+ indexOfClosestEntry = m_pastObserverSnapshots.size() - 1;
+ } else {
+ // Index of snapshot taken after the global measurement
+ int nextIdx = std::distance(m_pastObserverSnapshots.cbegin(), it);
+
+ // Index of snapshot taken before the global measurement. Since we already
+ // handled the case where the index points to the first snapshot, this
+ // computation is guaranteed to be nonnegative.
+ int prevIdx = nextIdx - 1;
+
+ // Find the snapshot closest in time to global measurement
+ units::second_t prevTimeDiff =
+ units::math::abs(timestamp - m_pastObserverSnapshots[prevIdx].first);
+ units::second_t nextTimeDiff =
+ units::math::abs(timestamp - m_pastObserverSnapshots[nextIdx].first);
+ indexOfClosestEntry = prevTimeDiff < nextTimeDiff ? prevIdx : nextIdx;
+ }
units::second_t lastTimestamp =
m_pastObserverSnapshots[indexOfClosestEntry].first - nominalDt;
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
index 93c9f1e..e9817ef 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
@@ -38,8 +38,8 @@
* <strong> x = [x, y, theta]ᵀ </strong> in the field coordinate system
* containing x position, y position, and heading.
*
- * <strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity,
- * right wheel velocity, and change in gyro heading.
+ * <strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity,
+ * and angular velocity in the field coordinate system.
*
* <strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y
* position, and heading; or <strong> y = [theta]ᵀ </strong> containing gyro
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
index 91e0e50..7422a3c 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -40,8 +40,8 @@
* <strong> x = [x, y, theta]ᵀ </strong> in the field coordinate system
* containing x position, y position, and heading.
*
- * <strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity,
- * right wheel velocity, and change in gyro heading.
+ * <strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity,
+ * and angular velocity in the field coordinate system.
*
* <strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y
* position, and heading; or <strong> y = [theta]ᵀ </strong> containing gyro
diff --git a/third_party/allwpilib/wpilibc/src/main/native/include/frc/Debouncer.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/filter/Debouncer.h
similarity index 87%
rename from third_party/allwpilib/wpilibc/src/main/native/include/frc/Debouncer.h
rename to third_party/allwpilib/wpimath/src/main/native/include/frc/filter/Debouncer.h
index 8f583f0..7307102 100644
--- a/third_party/allwpilib/wpilibc/src/main/native/include/frc/Debouncer.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/filter/Debouncer.h
@@ -4,9 +4,9 @@
#pragma once
-#include <units/time.h>
+#include <wpi/timestamp.h>
-#include "frc/Timer.h"
+#include "units/time.h"
namespace frc {
/**
@@ -14,7 +14,7 @@
* change value from baseline for a specified period of time before the filtered
* value changes.
*/
-class Debouncer {
+class WPILIB_DLLEXPORT Debouncer {
public:
enum DebounceType { kRising, kFalling, kBoth };
@@ -38,9 +38,14 @@
bool Calculate(bool input);
private:
- frc::Timer m_timer;
units::second_t m_debounceTime;
bool m_baseline;
DebounceType m_debounceType;
+
+ units::second_t m_prevTime;
+
+ void ResetTimer();
+
+ bool HasElapsed() const;
};
} // namespace frc
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/filter/LinearFilter.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/filter/LinearFilter.h
index 92d8bdc..6295327 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/filter/LinearFilter.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/filter/LinearFilter.h
@@ -10,6 +10,7 @@
#include <stdexcept>
#include <vector>
+#include <wpi/array.h>
#include <wpi/circular_buffer.h>
#include <wpi/span.h>
@@ -167,6 +168,73 @@
}
/**
+ * Creates a finite difference filter that computes the nth derivative of the
+ * input given the specified stencil points.
+ *
+ * Stencil points are the indices of the samples to use in the finite
+ * difference. 0 is the current sample, -1 is the previous sample, -2 is the
+ * sample before that, etc. Don't use positive stencil points (samples from
+ * the future) if the LinearFilter will be used for stream-based online
+ * filtering.
+ *
+ * @tparam Derivative The order of the derivative to compute.
+ * @tparam Samples The number of samples to use to compute the given
+ * derivative. This must be one more than the order of
+ * derivative or higher.
+ * @param stencil List of stencil points.
+ * @param period The period in seconds between samples taken by the user.
+ */
+ template <int Derivative, int Samples>
+ static LinearFilter<T> FiniteDifference(
+ const wpi::array<int, Samples> stencil, units::second_t period) {
+ // See
+ // https://en.wikipedia.org/wiki/Finite_difference_coefficient#Arbitrary_stencil_points
+ //
+ // For a given list of stencil points s of length n and the order of
+ // derivative d < n, the finite difference coefficients can be obtained by
+ // solving the following linear system for the vector a.
+ //
+ // [s₁⁰ ⋯ sₙ⁰ ][a₁] [ δ₀,d ]
+ // [ ⋮ ⋱ ⋮ ][⋮ ] = d! [ ⋮ ]
+ // [s₁ⁿ⁻¹ ⋯ sₙⁿ⁻¹][aₙ] [δₙ₋₁,d]
+ //
+ // where δᵢ,ⱼ are the Kronecker delta. The FIR gains are the elements of the
+ // vector a in reverse order divided by hᵈ.
+ //
+ // The order of accuracy of the approximation is of the form O(hⁿ⁻ᵈ).
+
+ static_assert(Derivative >= 1,
+ "Order of derivative must be greater than or equal to one.");
+ static_assert(Samples > 0, "Number of samples must be greater than zero.");
+ static_assert(Derivative < Samples,
+ "Order of derivative must be less than number of samples.");
+
+ Eigen::Matrix<double, Samples, Samples> S;
+ for (int row = 0; row < Samples; ++row) {
+ for (int col = 0; col < Samples; ++col) {
+ S(row, col) = std::pow(stencil[col], row);
+ }
+ }
+
+ // Fill in Kronecker deltas: https://en.wikipedia.org/wiki/Kronecker_delta
+ Eigen::Vector<double, Samples> d;
+ for (int i = 0; i < Samples; ++i) {
+ d(i) = (i == Derivative) ? Factorial(Derivative) : 0.0;
+ }
+
+ Eigen::Vector<double, Samples> a =
+ S.householderQr().solve(d) / std::pow(period.value(), Derivative);
+
+ // Reverse gains list
+ std::vector<double> ffGains;
+ for (int i = Samples - 1; i >= 0; --i) {
+ ffGains.push_back(a(i));
+ }
+
+ return LinearFilter(ffGains, {});
+ }
+
+ /**
* Creates a backward finite difference filter that computes the nth
* derivative of the input given the specified number of samples.
*
@@ -184,56 +252,14 @@
* @param period The period in seconds between samples taken by the user.
*/
template <int Derivative, int Samples>
- static auto BackwardFiniteDifference(units::second_t period) {
- // See
- // https://en.wikipedia.org/wiki/Finite_difference_coefficient#Arbitrary_stencil_points
- //
- // For a given list of stencil points s of length n and the order of
- // derivative d < n, the finite difference coefficients can be obtained by
- // solving the following linear system for the vector a.
- //
- // @verbatim
- // [s₁⁰ ⋯ sₙ⁰ ][a₁] [ δ₀,d ]
- // [ ⋮ ⋱ ⋮ ][⋮ ] = d! [ ⋮ ]
- // [s₁ⁿ⁻¹ ⋯ sₙⁿ⁻¹][aₙ] [δₙ₋₁,d]
- // @endverbatim
- //
- // where δᵢ,ⱼ are the Kronecker delta. For backward finite difference, the
- // stencil points are the range [-n + 1, 0]. The FIR gains are the elements
- // of the vector a in reverse order divided by hᵈ.
- //
- // The order of accuracy of the approximation is of the form O(hⁿ⁻ᵈ).
-
- static_assert(Derivative >= 1,
- "Order of derivative must be greater than or equal to one.");
- static_assert(Samples > 0, "Number of samples must be greater than zero.");
- static_assert(Derivative < Samples,
- "Order of derivative must be less than number of samples.");
-
- Eigen::Matrix<double, Samples, Samples> S;
- for (int row = 0; row < Samples; ++row) {
- for (int col = 0; col < Samples; ++col) {
- double s = 1 - Samples + col;
- S(row, col) = std::pow(s, row);
- }
- }
-
- // Fill in Kronecker deltas: https://en.wikipedia.org/wiki/Kronecker_delta
- Eigen::Vector<double, Samples> d;
+ static LinearFilter<T> BackwardFiniteDifference(units::second_t period) {
+ // Generate stencil points from -(samples - 1) to 0
+ wpi::array<int, Samples> stencil{wpi::empty_array};
for (int i = 0; i < Samples; ++i) {
- d(i) = (i == Derivative) ? Factorial(Derivative) : 0.0;
+ stencil[i] = -(Samples - 1) + i;
}
- Eigen::Vector<double, Samples> a =
- S.householderQr().solve(d) / std::pow(period.value(), Derivative);
-
- // Reverse gains list
- std::vector<double> gains;
- for (int i = Samples - 1; i >= 0; --i) {
- gains.push_back(a(i));
- }
-
- return LinearFilter(gains, {});
+ return FiniteDifference<Derivative, Samples>(stencil, period);
}
/**
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/geometry/Twist2d.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/geometry/Twist2d.h
index 9d7a856..6ad2b38 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/geometry/Twist2d.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/geometry/Twist2d.h
@@ -53,5 +53,15 @@
* @return Whether the two objects are not equal.
*/
bool operator!=(const Twist2d& other) const { return !operator==(other); }
+
+ /**
+ * Scale this by a given factor.
+ *
+ * @param factor The factor by which to scale.
+ * @return The scaled Twist2d.
+ */
+ Twist2d operator*(double factor) const {
+ return Twist2d{dx * factor, dy * factor, dtheta * factor};
+ }
};
} // namespace frc
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h
new file mode 100644
index 0000000..a049e40
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h
@@ -0,0 +1,128 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <array>
+#include <functional>
+#include <map>
+#include <utility>
+#include <vector>
+
+#include <wpi/MathExtras.h>
+#include <wpi/SymbolExports.h>
+
+#include "frc/geometry/Pose2d.h"
+#include "units/time.h"
+
+namespace frc {
+
+/**
+ * The TimeInterpolatableBuffer provides an easy way to estimate past
+ * measurements. One application might be in conjunction with the
+ * DifferentialDrivePoseEstimator, where knowledge of the robot pose at the time
+ * when vision or other global measurement were recorded is necessary, or for
+ * recording the past angles of mechanisms as measured by encoders.
+ *
+ * When sampling this buffer, a user-provided function or wpi::Lerp can be
+ * used. For Pose2ds, we use Twists.
+ *
+ * @tparam T The type stored in this buffer.
+ */
+template <typename T>
+class TimeInterpolatableBuffer {
+ public:
+ /**
+ * Create a new TimeInterpolatableBuffer.
+ *
+ * @param historySize The history size of the buffer.
+ * @param func The function used to interpolate between values.
+ */
+ TimeInterpolatableBuffer(units::second_t historySize,
+ std::function<T(const T&, const T&, double)> func)
+ : m_historySize(historySize), m_interpolatingFunc(func) {}
+
+ /**
+ * Create a new TimeInterpolatableBuffer. By default, the interpolation
+ * function is wpi::Lerp except for Pose2d, which uses the pose exponential.
+ *
+ * @param historySize The history size of the buffer.
+ */
+ explicit TimeInterpolatableBuffer(units::second_t historySize)
+ : m_historySize(historySize),
+ m_interpolatingFunc([](const T& start, const T& end, double t) {
+ return wpi::Lerp(start, end, t);
+ }) {}
+
+ /**
+ * Add a sample to the buffer.
+ *
+ * @param time The timestamp of the sample.
+ * @param sample The sample object.
+ */
+ void AddSample(units::second_t time, T sample) {
+ // Add the new state into the vector.
+ if (m_pastSnapshots.size() == 0 || time > m_pastSnapshots.back().first) {
+ m_pastSnapshots.emplace_back(time, sample);
+ } else {
+ m_pastSnapshots.insert(
+ std::upper_bound(
+ m_pastSnapshots.begin(), m_pastSnapshots.end(), time,
+ [](auto t, const auto& pair) { return t < pair.first; }),
+ std::pair(time, sample));
+ }
+ while (time - m_pastSnapshots[0].first > m_historySize) {
+ m_pastSnapshots.erase(m_pastSnapshots.begin());
+ }
+ }
+
+ /** Clear all old samples. */
+ void Clear() { m_pastSnapshots.clear(); }
+
+ /**
+ * Sample the buffer at the given time. If there are no elements in the
+ * buffer, calling this function results in undefined behavior.
+ *
+ * @param time The time at which to sample the buffer.
+ */
+ T Sample(units::second_t time) {
+ // We will perform a binary search to find the index of the element in the
+ // vector that has a timestamp that is equal to or greater than the vision
+ // measurement timestamp.
+
+ if (time <= m_pastSnapshots.front().first) {
+ return m_pastSnapshots.front().second;
+ }
+ if (time > m_pastSnapshots.back().first) {
+ return m_pastSnapshots.back().second;
+ }
+ if (m_pastSnapshots.size() < 2) {
+ return m_pastSnapshots[0].second;
+ }
+
+ // Get the iterator which has a key no less than the requested key.
+ auto upper_bound = std::lower_bound(
+ m_pastSnapshots.begin(), m_pastSnapshots.end(), time,
+ [](const auto& pair, auto t) { return t > pair.first; });
+
+ auto lower_bound = upper_bound - 1;
+
+ double t = ((time - lower_bound->first) /
+ (upper_bound->first - lower_bound->first));
+
+ return m_interpolatingFunc(lower_bound->second, upper_bound->second, t);
+ }
+
+ private:
+ units::second_t m_historySize;
+ std::vector<std::pair<units::second_t, T>> m_pastSnapshots;
+ std::function<T(const T&, const T&, double)> m_interpolatingFunc;
+};
+
+// Template specialization to ensure that Pose2d uses pose exponential
+template <>
+WPILIB_DLLEXPORT TimeInterpolatableBuffer<Pose2d>::TimeInterpolatableBuffer(
+ units::second_t historySize);
+
+} // namespace frc
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
index 70179de..8e992ef 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
@@ -6,7 +6,6 @@
#include <wpi/SymbolExports.h>
-#include "DifferentialDriveKinematics.h"
#include "frc/geometry/Pose2d.h"
#include "units/length.h"
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
index 2bf9fb9..fce2b96 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
@@ -24,15 +24,17 @@
units::meters_per_second_t right = 0_mps;
/**
- * Normalizes the wheel speeds using some max attainable speed. Sometimes,
- * after inverse kinematics, the requested speed from a/several modules may be
- * above the max attainable speed for the driving motor on that module. To fix
- * this issue, one can "normalize" all the wheel speeds to make sure that all
- * requested module speeds are below the absolute threshold, while maintaining
- * the ratio of speeds between modules.
+ * Renormalizes the wheel speeds if either side is above the specified
+ * maximum.
+ *
+ * Sometimes, after inverse kinematics, the requested speed from one or more
+ * wheels may be above the max attainable speed for the driving motor on that
+ * wheel. To fix this issue, one can reduce all the wheel speeds to make sure
+ * that all requested module speeds are at-or-below the absolute threshold,
+ * while maintaining the ratio of speeds between wheels.
*
* @param attainableMaxSpeed The absolute max speed that a wheel can reach.
*/
- void Normalize(units::meters_per_second_t attainableMaxSpeed);
+ void Desaturate(units::meters_per_second_t attainableMaxSpeed);
};
} // namespace frc
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
index c24b134..e698c5f 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
@@ -34,15 +34,17 @@
units::meters_per_second_t rearRight = 0_mps;
/**
- * Normalizes the wheel speeds using some max attainable speed. Sometimes,
- * after inverse kinematics, the requested speed from a/several modules may be
- * above the max attainable speed for the driving motor on that module. To fix
- * this issue, one can "normalize" all the wheel speeds to make sure that all
- * requested module speeds are below the absolute threshold, while maintaining
- * the ratio of speeds between modules.
+ * Renormalizes the wheel speeds if any individual speed is above the
+ * specified maximum.
+ *
+ * Sometimes, after inverse kinematics, the requested speed from one or
+ * more wheels may be above the max attainable speed for the driving motor on
+ * that wheel. To fix this issue, one can reduce all the wheel speeds to make
+ * sure that all requested module speeds are at-or-below the absolute
+ * threshold, while maintaining the ratio of speeds between wheels.
*
* @param attainableMaxSpeed The absolute max speed that a wheel can reach.
*/
- void Normalize(units::meters_per_second_t attainableMaxSpeed);
+ void Desaturate(units::meters_per_second_t attainableMaxSpeed);
};
} // namespace frc
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
index 84057ac..9801092 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
@@ -114,7 +114,7 @@
* @return An array containing the module states. Use caution because these
* module states are not normalized. Sometimes, a user input may cause one of
* the module speeds to go above the attainable max velocity. Use the
- * NormalizeWheelSpeeds(wpi::array<SwerveModuleState, NumModules>*,
+ * DesaturateWheelSpeeds(wpi::array<SwerveModuleState, NumModules>*,
* units::meters_per_second_t) function to rectify this issue. In addition,
* you can leverage the power of C++17 to directly assign the module states to
* variables:
@@ -159,18 +159,21 @@
wpi::array<SwerveModuleState, NumModules> moduleStates) const;
/**
- * Normalizes the wheel speeds using some max attainable speed. Sometimes,
- * after inverse kinematics, the requested speed from a/several modules may be
- * above the max attainable speed for the driving motor on that module. To fix
- * this issue, one can "normalize" all the wheel speeds to make sure that all
- * requested module speeds are below the absolute threshold, while maintaining
- * the ratio of speeds between modules.
+ * Renormalizes the wheel speeds if any individual speed is above the
+ * specified maximum.
+ *
+ * Sometimes, after inverse kinematics, the requested speed
+ * from one or more modules may be above the max attainable speed for the
+ * driving motor on that module. To fix this issue, one can reduce all the
+ * wheel speeds to make sure that all requested module speeds are at-or-below
+ * the absolute threshold, while maintaining the ratio of speeds between
+ * modules.
*
* @param moduleStates Reference to array of module states. The array will be
* mutated with the normalized speeds!
* @param attainableMaxSpeed The absolute max speed that a module can reach.
*/
- static void NormalizeWheelSpeeds(
+ static void DesaturateWheelSpeeds(
wpi::array<SwerveModuleState, NumModules>* moduleStates,
units::meters_per_second_t attainableMaxSpeed);
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc b/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
index 1747453..7b958c1 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
@@ -88,7 +88,7 @@
}
template <size_t NumModules>
-void SwerveDriveKinematics<NumModules>::NormalizeWheelSpeeds(
+void SwerveDriveKinematics<NumModules>::DesaturateWheelSpeeds(
wpi::array<SwerveModuleState, NumModules>* moduleStates,
units::meters_per_second_t attainableMaxSpeed) {
auto& states = *moduleStates;
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h
index 9ee2ea2..a18c03b 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h
@@ -54,7 +54,7 @@
: LinearSystemLoop(
plant, controller, observer,
[=](const Eigen::Vector<double, Inputs>& u) {
- return frc::NormalizeInputVector<Inputs>(u, maxVoltage.value());
+ return frc::DesaturateInputVector<Inputs>(u, maxVoltage.value());
},
dt) {}
@@ -99,7 +99,7 @@
KalmanFilter<States, Inputs, Outputs>& observer, units::volt_t maxVoltage)
: LinearSystemLoop(controller, feedforward, observer,
[=](const Eigen::Vector<double, Inputs>& u) {
- return frc::NormalizeInputVector<Inputs>(
+ return frc::DesaturateInputVector<Inputs>(
u, maxVoltage.value());
}) {}
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
index c0f4506..26142bf 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
@@ -283,7 +283,7 @@
// omega = 2/trackwidth v
//
// So multiplying by 2/trackwidth converts the angular gains from V/(rad/s)
- // to V/m/s).
+ // to V/(m/s).
return IdentifyDrivetrainSystem(kVlinear, kAlinear,
kVangular * 2.0 / trackwidth * 1_rad,
kAangular * 2.0 / trackwidth * 1_rad);
@@ -321,6 +321,38 @@
}
/**
+ * Constructs the state-space model for a DC motor motor.
+ *
+ * States: [[angular position, angular velocity]]
+ * Inputs: [[voltage]]
+ * Outputs: [[angular position, angular velocity]]
+ *
+ * @param motor Instance of DCMotor.
+ * @param J Moment of inertia.
+ * @param G Gear ratio from motor to carriage.
+ * @throws std::domain_error if J <= 0 or G <= 0.
+ */
+ static LinearSystem<2, 1, 2> DCMotorSystem(DCMotor motor,
+ units::kilogram_square_meter_t J,
+ double G) {
+ if (J <= 0_kg_sq_m) {
+ throw std::domain_error("J must be greater than zero.");
+ }
+ if (G <= 0.0) {
+ throw std::domain_error("G must be greater than zero.");
+ }
+
+ Eigen::Matrix<double, 2, 2> A{
+ {0.0, 1.0},
+ {0.0, (-std::pow(G, 2) * motor.Kt / (motor.Kv * motor.R * J)).value()}};
+ Eigen::Matrix<double, 2, 1> B{0.0, (G * motor.Kt / (motor.R * J)).value()};
+ Eigen::Matrix<double, 2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
+ Eigen::Matrix<double, 2, 1> D{0.0, 0.0};
+
+ return LinearSystem<2, 1, 2>(A, B, C, D);
+ }
+
+ /**
* Constructs the state-space model for a drivetrain.
*
* States: [[left velocity], [right velocity]]
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/Trajectory.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/Trajectory.h
index 2fad345..d071ca3 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/Trajectory.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/Trajectory.h
@@ -157,20 +157,6 @@
private:
std::vector<State> m_states;
units::second_t m_totalTime = 0_s;
-
- /**
- * Linearly interpolates between two values.
- *
- * @param startValue The start value.
- * @param endValue The end value.
- * @param t The fraction for interpolation.
- *
- * @return The interpolated value.
- */
- template <typename T>
- static T Lerp(const T& startValue, const T& endValue, const double t) {
- return startValue + (endValue - startValue) * t;
- }
};
WPILIB_DLLEXPORT
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/TrajectoryGenerator.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/TrajectoryGenerator.h
index 84ec0e0..3df6c89 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/TrajectoryGenerator.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/TrajectoryGenerator.h
@@ -119,9 +119,7 @@
*
* @param func Error reporting function.
*/
- static void SetErrorHandler(std::function<void(const char*)> func) {
- s_errorFunc = std::move(func);
- }
+ static void SetErrorHandler(std::function<void(const char*)> func);
private:
static void ReportError(const char* error);
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
index 47a598e..4ec0f42 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
@@ -104,8 +104,6 @@
endAccel = units::math::max(endAccel, 0_s);
endFullSpeed = units::math::max(endFullSpeed, 0_s);
- units::second_t endDeccel = m_endDeccel - endAccel - endFullSpeed;
- endDeccel = units::math::max(endDeccel, 0_s);
const Acceleration_t acceleration = m_constraints.maxAcceleration;
const Acceleration_t decceleration = -m_constraints.maxAcceleration;
@@ -127,20 +125,16 @@
deccelVelocity = velocity;
}
- Distance_t deccelDist =
- deccelVelocity * endDeccel + 0.5 * decceleration * endDeccel * endDeccel;
-
- deccelDist = units::math::max(deccelDist, Distance_t(0));
-
Distance_t fullSpeedDist = m_constraints.maxVelocity * endFullSpeed;
+ Distance_t deccelDist;
if (accelDist > distToTarget) {
accelDist = distToTarget;
- fullSpeedDist = Distance_t(0);
- deccelDist = Distance_t(0);
+ fullSpeedDist = Distance_t{0};
+ deccelDist = Distance_t{0};
} else if (accelDist + fullSpeedDist > distToTarget) {
fullSpeedDist = distToTarget - accelDist;
- deccelDist = Distance_t(0);
+ deccelDist = Distance_t{0};
} else {
deccelDist = distToTarget - fullSpeedDist - accelDist;
}
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
index ad643bf..0edd8cc 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
@@ -32,7 +32,7 @@
units::meters_per_second_t speed) const override;
private:
- const DifferentialDriveKinematics& m_kinematics;
+ DifferentialDriveKinematics m_kinematics;
units::meters_per_second_t m_maxSpeed;
};
} // namespace frc
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
index 06d0e50..40a0d8e 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
@@ -44,8 +44,8 @@
units::meters_per_second_t speed) const override;
private:
- const SimpleMotorFeedforward<units::meter>& m_feedforward;
- const DifferentialDriveKinematics& m_kinematics;
+ SimpleMotorFeedforward<units::meter> m_feedforward;
+ DifferentialDriveKinematics m_kinematics;
units::volt_t m_maxVoltage;
};
} // namespace frc
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h
index 816d8ef..ac47dbf 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h
@@ -33,7 +33,7 @@
units::meters_per_second_t speed) const override;
private:
- const MecanumDriveKinematics& m_kinematics;
+ MecanumDriveKinematics m_kinematics;
units::meters_per_second_t m_maxSpeed;
};
} // namespace frc
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h
index 67e9fc9..d264977 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h
@@ -32,7 +32,7 @@
units::meters_per_second_t speed) const override;
private:
- const frc::SwerveDriveKinematics<NumModules>& m_kinematics;
+ frc::SwerveDriveKinematics<NumModules> m_kinematics;
units::meters_per_second_t m_maxSpeed;
};
} // namespace frc
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
index 1a1e4b8..5c4e5ac 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
+++ b/third_party/allwpilib/wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
@@ -24,7 +24,7 @@
auto yVelocity = velocity * pose.Rotation().Sin();
auto wheelSpeeds = m_kinematics.ToSwerveModuleStates(
{xVelocity, yVelocity, velocity * curvature});
- m_kinematics.NormalizeWheelSpeeds(&wheelSpeeds, m_maxSpeed);
+ m_kinematics.DesaturateWheelSpeeds(&wheelSpeeds, m_maxSpeed);
auto normSpeeds = m_kinematics.ToChassisSpeeds(wheelSpeeds);
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/units/angular_velocity.h b/third_party/allwpilib/wpimath/src/main/native/include/units/angular_velocity.h
index 16f39e1..c9cc567 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/units/angular_velocity.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/units/angular_velocity.h
@@ -46,6 +46,8 @@
unit<std::ratio<1>, units::category::angular_velocity_unit>)
UNIT_ADD(angular_velocity, degrees_per_second, degrees_per_second, deg_per_s,
compound_unit<angle::degrees, inverse<time::seconds>>)
+UNIT_ADD(angular_velocity, turns_per_second, turns_per_second, tps,
+ compound_unit<angle::turns, inverse<time::seconds>>)
UNIT_ADD(angular_velocity, revolutions_per_minute, revolutions_per_minute, rpm,
unit<std::ratio<2, 60>, radians_per_second, std::ratio<1>>)
UNIT_ADD(angular_velocity, milliarcseconds_per_year, milliarcseconds_per_year,
diff --git a/third_party/allwpilib/wpimath/src/main/native/include/units/base.h b/third_party/allwpilib/wpimath/src/main/native/include/units/base.h
index f2d45cf..bc9fb44 100644
--- a/third_party/allwpilib/wpimath/src/main/native/include/units/base.h
+++ b/third_party/allwpilib/wpimath/src/main/native/include/units/base.h
@@ -366,6 +366,7 @@
namespace traits\
{\
template<typename... T> struct is_ ## unitCategory ## _unit : std::integral_constant<bool, units::all_true<units::traits::detail::is_ ## unitCategory ## _unit_impl<std::decay_t<T>>::value...>::value> {};\
+ template<typename... T> inline constexpr bool is_ ## unitCategory ## _unit_v = is_ ## unitCategory ## _unit<T...>::value;\
}
#else
#define UNIT_ADD_IS_UNIT_CATEGORY_TRAIT(unitCategory)\
@@ -375,6 +376,8 @@
struct is_ ## unitCategory ## _unit : std::integral_constant<bool, units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T1>::type>::value &&\
units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T2>::type>::value &&\
units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T3>::type>::value>{};\
+ template<typename T1, typename T2 = T1, typename T3 = T1>\
+ inline constexpr bool is_ ## unitCategory ## _unit_v = is_ ## unitCategory ## _unit<T1, T2, T3>::value;\
}
#endif
@@ -589,6 +592,8 @@
has_num<T>::value &&
has_den<T>::value>
{};
+ template<class T>
+ inline constexpr bool is_ratio_v = is_ratio<T>::value;
}
//------------------------------
@@ -613,6 +618,8 @@
*/
template<bool... Args>
struct all_true : std::is_same<units::bool_pack<true, Args...>, units::bool_pack<Args..., true>> {};
+ template<bool... Args>
+ inline constexpr bool all_true_t_v = all_true<Args...>::type::value;
/** @endcond */ // DOXYGEN IGNORE
/**
@@ -713,6 +720,8 @@
*/
template<class T>
struct is_unit : std::is_base_of<units::detail::_unit, T>::type {};
+ template<class T>
+ inline constexpr bool is_unit_v = is_unit<T>::value;
}
/** @} */ // end of TypeTraits
@@ -1521,6 +1530,8 @@
template<class U1, class U2>
struct is_convertible_unit : std::is_same <traits::base_unit_of<typename units::traits::unit_traits<U1>::base_unit_type>,
base_unit_of<typename units::traits::unit_traits<U2>::base_unit_type >> {};
+ template<class U1, class U2>
+ inline constexpr bool is_convertible_unit_v = is_convertible_unit<U1, U2>::value;
}
//------------------------------
@@ -1714,6 +1725,8 @@
*/
template<class T, class Ret>
struct has_value_member : traits::detail::has_value_member_impl<T, Ret>::type {};
+ template<class T, class Ret>
+ inline constexpr bool has_value_member_v = has_value_member<T, Ret>::value;
}
/** @endcond */ // END DOXYGEN IGNORE
@@ -1852,6 +1865,8 @@
*/
template<class T>
struct is_unit_t : std::is_base_of<units::detail::_unit_t, T>::type {};
+ template<class T>
+ inline constexpr bool is_unit_t_v = is_unit_t<T>::value;
}
/**
@@ -2401,12 +2416,16 @@
#if !defined(_MSC_VER) || _MSC_VER > 1800 // bug in VS2013 prevents this from working
template<typename... T>
struct has_linear_scale : std::integral_constant<bool, units::all_true<std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T>::underlying_type>, T>::value...>::value > {};
+ template<typename... T>
+ inline constexpr bool has_linear_scale_v = has_linear_scale<T...>::value;
#else
template<typename T1, typename T2 = T1, typename T3 = T1>
struct has_linear_scale : std::integral_constant<bool,
std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T1>::underlying_type>, T1>::value &&
std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T2>::value &&
std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T3>::underlying_type>, T3>::value> {};
+ template<typename T1, typename T2 = T1, typename T3 = T1>
+ inline constexpr bool has_linear_scale_v = has_linear_scale<T1, T2, T3>::value;
#endif
/**
@@ -2419,12 +2438,16 @@
#if !defined(_MSC_VER) || _MSC_VER > 1800 // bug in VS2013 prevents this from working
template<typename... T>
struct has_decibel_scale : std::integral_constant<bool, units::all_true<std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T>::underlying_type>, T>::value...>::value> {};
+ template<typename... T>
+ inline constexpr bool has_decibel_scale_v = has_decibel_scale<T...>::value;
#else
template<typename T1, typename T2 = T1, typename T3 = T1>
struct has_decibel_scale : std::integral_constant<bool,
std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T1>::underlying_type>, T1>::value &&
std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T2>::value &&
std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T3>::value> {};
+ template<typename T1, typename T2 = T1, typename T3 = T1>
+ inline constexpr bool has_decibel_scale_v = has_decibel_scale<T1, T2, T3>::value;
#endif
/**
@@ -2439,6 +2462,8 @@
struct is_same_scale : std::integral_constant<bool,
std::is_same<typename units::traits::unit_t_traits<T1>::non_linear_scale_type, typename units::traits::unit_t_traits<T2>::non_linear_scale_type>::value>
{};
+ template<typename T1, typename T2>
+ inline constexpr bool is_same_scale_v = is_same_scale<T1, T2>::value;
}
//----------------------------------
@@ -3033,6 +3058,8 @@
struct is_unit_value_t : std::integral_constant<bool,
std::is_base_of<units::detail::_unit_value_t<Units>, T>::value>
{};
+ template<typename T, typename Units = typename traits::unit_value_t_traits<T>::unit_type>
+ inline constexpr bool is_unit_value_t_v = is_unit_value_t<T, Units>::value;
/**
* @ingroup TypeTraits
@@ -3045,6 +3072,8 @@
{
static_assert(is_base_unit<Category>::value, "Template parameter `Category` must be a `base_unit` type.");
};
+ template<typename Category, typename T>
+ inline constexpr bool is_unit_value_t_category_v = is_unit_value_t_category<Category, T>::value;
}
/** @cond */ // DOXYGEN IGNORE
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java
index 4140fae..66daf3d 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java
@@ -11,7 +11,7 @@
import org.junit.jupiter.api.Test;
@SuppressWarnings({"ParameterName", "LocalVariableName"})
-public class DrakeTest {
+class DrakeTest {
public static void assertMatrixEqual(SimpleMatrix A, SimpleMatrix B) {
for (int i = 0; i < A.numRows(); i++) {
for (int j = 0; j < A.numCols(); j++) {
@@ -49,7 +49,7 @@
}
@Test
- public void testDiscreteAlgebraicRicattiEquation() {
+ void testDiscreteAlgebraicRicattiEquation() {
int n1 = 4;
int m1 = 1;
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/MatrixTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/MatrixTest.java
index 45df8fe..8ee11e5 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/MatrixTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/MatrixTest.java
@@ -15,7 +15,7 @@
import org.ejml.data.SingularMatrixException;
import org.junit.jupiter.api.Test;
-public class MatrixTest {
+class MatrixTest {
@Test
void testMatrixMultiplication() {
var mat1 = Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 1.0, 0.0, 1.0);
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java
index 456506c..8cd1e5a 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java
@@ -18,9 +18,9 @@
import org.ejml.simple.SimpleMatrix;
import org.junit.jupiter.api.Test;
-public class StateSpaceUtilTest {
+class StateSpaceUtilTest {
@Test
- public void testCostArray() {
+ void testCostArray() {
var mat = StateSpaceUtil.makeCostMatrix(VecBuilder.fill(1.0, 2.0, 3.0));
assertEquals(1.0, mat.get(0, 0), 1e-3);
@@ -35,7 +35,7 @@
}
@Test
- public void testCovArray() {
+ void testCovArray() {
var mat = StateSpaceUtil.makeCovarianceMatrix(Nat.N3(), VecBuilder.fill(1.0, 2.0, 3.0));
assertEquals(1.0, mat.get(0, 0), 1e-3);
@@ -51,7 +51,7 @@
@Test
@SuppressWarnings("LocalVariableName")
- public void testIsStabilizable() {
+ void testIsStabilizable() {
Matrix<N2, N2> A;
Matrix<N2, N1> B = VecBuilder.fill(0, 1);
@@ -78,7 +78,7 @@
@Test
@SuppressWarnings("LocalVariableName")
- public void testIsDetectable() {
+ void testIsDetectable() {
Matrix<N2, N2> A;
Matrix<N1, N2> C = Matrix.mat(Nat.N1(), Nat.N2()).fill(0, 1);
@@ -104,7 +104,7 @@
}
@Test
- public void testMakeWhiteNoiseVector() {
+ void testMakeWhiteNoiseVector() {
var firstData = new ArrayList<Double>();
var secondData = new ArrayList<Double>();
for (int i = 0; i < 1000; i++) {
@@ -135,7 +135,7 @@
}
@Test
- public void testMatrixExp() {
+ void testMatrixExp() {
Matrix<N2, N2> wrappedMatrix = Matrix.eye(Nat.N2());
var wrappedResult = wrappedMatrix.exp();
@@ -152,7 +152,7 @@
}
@Test
- public void testSimpleMatrixExp() {
+ void testSimpleMatrixExp() {
SimpleMatrix matrix = SimpleMatrixUtils.eye(2);
var result = SimpleMatrixUtils.exp(matrix);
@@ -175,7 +175,7 @@
}
@Test
- public void testPoseToVector() {
+ void testPoseToVector() {
Pose2d pose = new Pose2d(1, 2, new Rotation2d(3));
var vector = StateSpaceUtil.poseToVector(pose);
assertEquals(pose.getTranslation().getX(), vector.get(0, 0), 1e-6);
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/BangBangInputOutputTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/BangBangInputOutputTest.java
new file mode 100644
index 0000000..9e1f6f2
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/BangBangInputOutputTest.java
@@ -0,0 +1,29 @@
+// 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.
+
+package edu.wpi.first.math.controller;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+class BangBangInputOutputTest {
+ private BangBangController m_controller;
+
+ @BeforeEach
+ void setUp() {
+ m_controller = new BangBangController();
+ }
+
+ @Test
+ void shouldOutput() {
+ assertEquals(m_controller.calculate(0, 1), 1);
+ }
+
+ @Test
+ void shouldNotOutput() {
+ assertEquals(m_controller.calculate(1, 0), 0);
+ }
+}
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/BangBangToleranceTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/BangBangToleranceTest.java
new file mode 100644
index 0000000..bcf688b
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/BangBangToleranceTest.java
@@ -0,0 +1,34 @@
+// 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.
+
+package edu.wpi.first.math.controller;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+class BangBangToleranceTest {
+ private BangBangController m_controller;
+
+ @BeforeEach
+ void setUp() {
+ m_controller = new BangBangController(0.1);
+ }
+
+ @Test
+ void inTolerance() {
+ m_controller.setSetpoint(1);
+ m_controller.calculate(1);
+ assertTrue(m_controller.atSetpoint());
+ }
+
+ @Test
+ void outOfTolerance() {
+ m_controller.setSetpoint(1);
+ m_controller.calculate(0);
+ assertFalse(m_controller.atSetpoint());
+ }
+}
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
index 5d9c2b8..93b89c8 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
@@ -6,15 +6,19 @@
import static org.junit.jupiter.api.Assertions.assertEquals;
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.Nat;
+import edu.wpi.first.math.Num;
import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.system.Discretization;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import org.junit.jupiter.api.Test;
-public class LinearQuadraticRegulatorTest {
+class LinearQuadraticRegulatorTest {
@Test
@SuppressWarnings("LocalVariableName")
- public void testLQROnElevator() {
+ void testLQROnElevator() {
var motors = DCMotor.getVex775Pro(2);
var m = 5.0;
@@ -27,32 +31,32 @@
var rElms = VecBuilder.fill(12.0);
var dt = 0.00505;
- var controller = new LinearQuadraticRegulator<>(plant, qElms, rElms, dt);
+ var K = new LinearQuadraticRegulator<>(plant, qElms, rElms, dt).getK();
- var k = controller.getK();
-
- assertEquals(522.153, k.get(0, 0), 0.1);
- assertEquals(38.2, k.get(0, 1), 0.1);
+ assertEquals(522.153, K.get(0, 0), 0.1);
+ assertEquals(38.2, K.get(0, 1), 0.1);
}
@Test
- public void testFourMotorElevator() {
+ @SuppressWarnings("LocalVariableName")
+ void testFourMotorElevator() {
var dt = 0.020;
var plant =
LinearSystemId.createElevatorSystem(
DCMotor.getVex775Pro(4), 8.0, 0.75 * 25.4 / 1000.0, 14.67);
- var regulator =
- new LinearQuadraticRegulator<>(plant, VecBuilder.fill(0.1, 0.2), VecBuilder.fill(12.0), dt);
+ var K =
+ new LinearQuadraticRegulator<>(plant, VecBuilder.fill(0.1, 0.2), VecBuilder.fill(12.0), dt)
+ .getK();
- assertEquals(10.381, regulator.getK().get(0, 0), 1e-2);
- assertEquals(0.6929, regulator.getK().get(0, 1), 1e-2);
+ assertEquals(10.381, K.get(0, 0), 1e-2);
+ assertEquals(0.6929, K.get(0, 1), 1e-2);
}
@Test
@SuppressWarnings("LocalVariableName")
- public void testLQROnArm() {
+ void testLQROnArm() {
var motors = DCMotor.getVex775Pro(2);
var m = 4.0;
@@ -65,16 +69,99 @@
var rElms = VecBuilder.fill(12.0);
var dt = 0.00505;
- var controller = new LinearQuadraticRegulator<>(plant, qElms, rElms, dt);
+ var K = new LinearQuadraticRegulator<>(plant, qElms, rElms, dt).getK();
- var k = controller.getK();
+ assertEquals(19.16, K.get(0, 0), 0.1);
+ assertEquals(3.32, K.get(0, 1), 0.1);
+ }
- assertEquals(19.16, k.get(0, 0), 0.1);
- assertEquals(3.32, k.get(0, 1), 0.1);
+ /**
+ * Returns feedback control gain for implicit model following.
+ *
+ * <p>This is used to test the QRN overload of LQR.
+ *
+ * @param States Number of states.
+ * @param Inputs Number of inputs.
+ * @param A State matrix.
+ * @param B Input matrix.
+ * @param Q State cost matrix.
+ * @param R Input cost matrix.
+ * @param Aref Desired state matrix.
+ * @param dtSeconds Discretization timestep in seconds.
+ */
+ @SuppressWarnings({"LocalVariableName", "MethodTypeParameterName", "ParameterName"})
+ <States extends Num, Inputs extends Num> Matrix<Inputs, States> getImplicitModelFollowingK(
+ Matrix<States, States> A,
+ Matrix<States, Inputs> B,
+ Matrix<States, States> Q,
+ Matrix<Inputs, Inputs> R,
+ Matrix<States, States> Aref,
+ double dtSeconds) {
+ // Discretize real dynamics
+ var discABPair = Discretization.discretizeAB(A, B, dtSeconds);
+ var discA = discABPair.getFirst();
+ var discB = discABPair.getSecond();
+
+ // Discretize desired dynamics
+ var discAref = Discretization.discretizeA(Aref, dtSeconds);
+
+ Matrix<States, States> Qimf =
+ (discA.minus(discAref)).transpose().times(Q).times(discA.minus(discAref));
+ Matrix<Inputs, Inputs> Rimf = discB.transpose().times(Q).times(discB).plus(R);
+ Matrix<States, Inputs> Nimf = (discA.minus(discAref)).transpose().times(Q).times(discB);
+
+ return new LinearQuadraticRegulator<>(A, B, Qimf, Rimf, Nimf, dtSeconds).getK();
}
@Test
- public void testLatencyCompensate() {
+ @SuppressWarnings("LocalVariableName")
+ void testMatrixOverloadsWithSingleIntegrator() {
+ var A = Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 0, 0, 0);
+ var B = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
+ var Q = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
+ var R = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
+
+ // QR overload
+ var K = new LinearQuadraticRegulator<>(A, B, Q, R, 0.005).getK();
+ assertEquals(0.99750312499512261, K.get(0, 0), 1e-10);
+ assertEquals(0.0, K.get(0, 1), 1e-10);
+ assertEquals(0.0, K.get(1, 0), 1e-10);
+ assertEquals(0.99750312499512261, K.get(1, 1), 1e-10);
+
+ // QRN overload
+ var N = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
+ var Kimf = new LinearQuadraticRegulator<>(A, B, Q, R, N, 0.005).getK();
+ assertEquals(1.0, Kimf.get(0, 0), 1e-10);
+ assertEquals(0.0, Kimf.get(0, 1), 1e-10);
+ assertEquals(0.0, Kimf.get(1, 0), 1e-10);
+ assertEquals(1.0, Kimf.get(1, 1), 1e-10);
+ }
+
+ @Test
+ @SuppressWarnings("LocalVariableName")
+ void testMatrixOverloadsWithDoubleIntegrator() {
+ double Kv = 3.02;
+ double Ka = 0.642;
+
+ var A = Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -Kv / Ka);
+ var B = Matrix.mat(Nat.N2(), Nat.N1()).fill(0, 1.0 / Ka);
+ var Q = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 0.2);
+ var R = Matrix.mat(Nat.N1(), Nat.N1()).fill(0.25);
+
+ // QR overload
+ var K = new LinearQuadraticRegulator<>(A, B, Q, R, 0.005).getK();
+ assertEquals(1.9960017786537287, K.get(0, 0), 1e-10);
+ assertEquals(0.51182128351092726, K.get(0, 1), 1e-10);
+
+ // QRN overload
+ var Aref = Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -Kv / (Ka * 2.0));
+ var Kimf = getImplicitModelFollowingK(A, B, Q, R, Aref, 0.005);
+ assertEquals(0.0, Kimf.get(0, 0), 1e-10);
+ assertEquals(-5.367540084534802e-05, Kimf.get(0, 1), 1e-10);
+ }
+
+ @Test
+ void testLatencyCompensate() {
var dt = 0.02;
var plant =
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
index 597ae7f..5fa4939 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
@@ -21,8 +21,8 @@
import java.util.Random;
import org.junit.jupiter.api.Test;
-public class LinearSystemLoopTest {
- public static final double kDt = 0.00505;
+class LinearSystemLoopTest {
+ private static final double kDt = 0.00505;
private static final double kPositionStddev = 0.0001;
private static final Random random = new Random();
@@ -51,7 +51,7 @@
@Test
@SuppressWarnings("LocalVariableName")
- public void testStateSpaceEnabled() {
+ void testStateSpaceEnabled() {
m_loop.reset(VecBuilder.fill(0, 0));
Matrix<N2, N1> references = VecBuilder.fill(2.0, 0.0);
var constraints = new TrapezoidProfile.Constraints(4, 3);
@@ -80,7 +80,7 @@
@Test
@SuppressWarnings("LocalVariableName")
- public void testFlywheelEnabled() {
+ void testFlywheelEnabled() {
LinearSystem<N1, N1, N1> plant =
LinearSystemId.createFlywheelSystem(DCMotor.getNEO(2), 0.00289, 1.0);
KalmanFilter<N1, N1, N1> observer =
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/AngleStatisticsTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/AngleStatisticsTest.java
index 9fcf5e3..c36e72f 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/AngleStatisticsTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/AngleStatisticsTest.java
@@ -11,9 +11,9 @@
import edu.wpi.first.math.VecBuilder;
import org.junit.jupiter.api.Test;
-public class AngleStatisticsTest {
+class AngleStatisticsTest {
@Test
- public void testMean() {
+ void testMean() {
// 3 states, 2 sigmas
var sigmas =
Matrix.mat(Nat.N3(), Nat.N2()).fill(1, 1.2, Math.toRadians(359), Math.toRadians(3), 1, 2);
@@ -27,7 +27,7 @@
}
@Test
- public void testResidual() {
+ void testResidual() {
var first = VecBuilder.fill(1, Math.toRadians(1), 2);
var second = VecBuilder.fill(1, Math.toRadians(359), 1);
assertTrue(
@@ -36,7 +36,7 @@
}
@Test
- public void testAdd() {
+ void testAdd() {
var first = VecBuilder.fill(1, Math.toRadians(1), 2);
var second = VecBuilder.fill(1, Math.toRadians(359), 1);
assertTrue(AngleStatistics.angleAdd(first, second, 1).isEqual(VecBuilder.fill(2, 0, 3), 1e-6));
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
index 6e4b261..78908e4 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
@@ -21,10 +21,10 @@
import java.util.Random;
import org.junit.jupiter.api.Test;
-public class DifferentialDrivePoseEstimatorTest {
+class DifferentialDrivePoseEstimatorTest {
@SuppressWarnings("LocalVariableName")
@Test
- public void testAccuracy() {
+ void testAccuracy() {
var estimator =
new DifferentialDrivePoseEstimator(
new Rotation2d(),
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
index 18b095b..5b07ebc 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
@@ -27,8 +27,8 @@
import org.junit.jupiter.api.Test;
@SuppressWarnings("ParameterName")
-public class ExtendedKalmanFilterTest {
- public static Matrix<N5, N1> getDynamics(final Matrix<N5, N1> x, final Matrix<N2, N1> u) {
+class ExtendedKalmanFilterTest {
+ private static Matrix<N5, N1> getDynamics(final Matrix<N5, N1> x, final Matrix<N2, N1> u) {
final var motors = DCMotor.getCIM(2);
final var gr = 7.08; // Gear ratio
@@ -58,17 +58,19 @@
return result;
}
- public static Matrix<N3, N1> getLocalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
+ @SuppressWarnings("PMD.UnusedFormalParameter")
+ private static Matrix<N3, N1> getLocalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
return VecBuilder.fill(x.get(2, 0), x.get(3, 0), x.get(4, 0));
}
- public static Matrix<N5, N1> getGlobalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
+ @SuppressWarnings("PMD.UnusedFormalParameter")
+ private static Matrix<N5, N1> getGlobalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
return VecBuilder.fill(x.get(0, 0), x.get(1, 0), x.get(2, 0), x.get(3, 0), x.get(4, 0));
}
@SuppressWarnings("LocalVariableName")
@Test
- public void testInit() {
+ void testInit() {
double dtSeconds = 0.00505;
assertDoesNotThrow(
@@ -99,7 +101,7 @@
@SuppressWarnings("LocalVariableName")
@Test
- public void testConvergence() {
+ void testConvergence() {
double dtSeconds = 0.00505;
double rbMeters = 0.8382 / 2.0; // Robot radius
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
index 0a18497..4d709be 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
@@ -25,7 +25,7 @@
import java.util.Random;
import org.junit.jupiter.api.Test;
-public class KalmanFilterTest {
+class KalmanFilterTest {
private static LinearSystem<N2, N1, N1> elevatorPlant;
private static final double kDt = 0.00505;
@@ -35,7 +35,7 @@
}
@SuppressWarnings("LocalVariableName")
- public static void createElevator() {
+ private static void createElevator() {
var motors = DCMotor.getVex775Pro(2);
var m = 5.0;
@@ -62,7 +62,7 @@
@Test
@SuppressWarnings("LocalVariableName")
- public void testElevatorKalmanFilter() {
+ void testElevatorKalmanFilter() {
var Q = VecBuilder.fill(0.05, 1.0);
var R = VecBuilder.fill(0.0001);
@@ -70,7 +70,7 @@
}
@Test
- public void testSwerveKFStationary() {
+ void testSwerveKFStationary() {
var random = new Random();
var filter =
@@ -99,7 +99,7 @@
}
@Test
- public void testSwerveKFMovingWithoutAccelerating() {
+ void testSwerveKFMovingWithoutAccelerating() {
var random = new Random();
var filter =
@@ -137,7 +137,7 @@
@Test
@SuppressWarnings("LocalVariableName")
- public void testSwerveKFMovingOverTrajectory() {
+ void testSwerveKFMovingOverTrajectory() {
var random = new Random();
var filter =
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
index 38b0d20..d8756f0 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
@@ -18,10 +18,10 @@
import java.util.Random;
import org.junit.jupiter.api.Test;
-public class MecanumDrivePoseEstimatorTest {
+class MecanumDrivePoseEstimatorTest {
@Test
@SuppressWarnings("LocalVariableName")
- public void testAccuracy() {
+ void testAccuracy() {
var kinematics =
new MecanumDriveKinematics(
new Translation2d(1, 1), new Translation2d(1, -1),
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/MerweScaledSigmaPointsTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/MerweScaledSigmaPointsTest.java
index b6e32fc..3c51d6c 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/MerweScaledSigmaPointsTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/MerweScaledSigmaPointsTest.java
@@ -11,9 +11,9 @@
import edu.wpi.first.math.VecBuilder;
import org.junit.jupiter.api.Test;
-public class MerweScaledSigmaPointsTest {
+class MerweScaledSigmaPointsTest {
@Test
- public void testZeroMeanPoints() {
+ void testZeroMeanPoints() {
var merweScaledSigmaPoints = new MerweScaledSigmaPoints<>(Nat.N2());
var points =
merweScaledSigmaPoints.sigmaPoints(
@@ -28,7 +28,7 @@
}
@Test
- public void testNonzeroMeanPoints() {
+ void testNonzeroMeanPoints() {
var merweScaledSigmaPoints = new MerweScaledSigmaPoints<>(Nat.N2());
var points =
merweScaledSigmaPoints.sigmaPoints(
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
index 607e8de..c6126c6 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
@@ -18,10 +18,10 @@
import java.util.Random;
import org.junit.jupiter.api.Test;
-public class SwerveDrivePoseEstimatorTest {
+class SwerveDrivePoseEstimatorTest {
@Test
@SuppressWarnings("LocalVariableName")
- public void testAccuracy() {
+ void testAccuracy() {
var kinematics =
new SwerveDriveKinematics(
new Translation2d(1, 1),
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
index 1264591..25def49 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
@@ -29,9 +29,9 @@
import java.util.List;
import org.junit.jupiter.api.Test;
-public class UnscentedKalmanFilterTest {
+class UnscentedKalmanFilterTest {
@SuppressWarnings({"LocalVariableName", "ParameterName"})
- public static Matrix<N6, N1> getDynamics(Matrix<N6, N1> x, Matrix<N2, N1> u) {
+ private static Matrix<N6, N1> getDynamics(Matrix<N6, N1> x, Matrix<N2, N1> u) {
var motors = DCMotor.getCIM(2);
var gHigh = 7.08;
@@ -69,19 +69,19 @@
k2 * ((C1 * vl) + (C2 * Vl)) + k1 * ((C1 * vr) + (C2 * Vr)));
}
- @SuppressWarnings("ParameterName")
- public static Matrix<N4, N1> getLocalMeasurementModel(Matrix<N6, N1> x, Matrix<N2, N1> u) {
+ @SuppressWarnings({"PMD.UnusedFormalParameter", "ParameterName"})
+ private static Matrix<N4, N1> getLocalMeasurementModel(Matrix<N6, N1> x, Matrix<N2, N1> u) {
return VecBuilder.fill(x.get(2, 0), x.get(3, 0), x.get(4, 0), x.get(5, 0));
}
- @SuppressWarnings("ParameterName")
- public static Matrix<N6, N1> getGlobalMeasurementModel(Matrix<N6, N1> x, Matrix<N2, N1> u) {
+ @SuppressWarnings({"PMD.UnusedFormalParameter", "ParameterName"})
+ private static Matrix<N6, N1> getGlobalMeasurementModel(Matrix<N6, N1> x, Matrix<N2, N1> u) {
return x.copy();
}
@Test
@SuppressWarnings("LocalVariableName")
- public void testInit() {
+ void testInit() {
assertDoesNotThrow(
() -> {
UnscentedKalmanFilter<N6, N2, N4> observer =
@@ -104,7 +104,7 @@
@SuppressWarnings("LocalVariableName")
@Test
- public void testConvergence() {
+ void testConvergence() {
double dtSeconds = 0.00505;
double rbMeters = 0.8382 / 2.0; // Robot radius
@@ -206,7 +206,7 @@
@Test
@SuppressWarnings({"LocalVariableName", "ParameterName"})
- public void testLinearUKF() {
+ void testLinearUKF() {
var dt = 0.020;
var plant = LinearSystemId.identifyVelocitySystem(0.02, 0.006);
var observer =
@@ -236,7 +236,7 @@
}
@Test
- public void testUnscentedTransform() {
+ void testUnscentedTransform() {
// From FilterPy
var ret =
UnscentedKalmanFilter.unscentedTransform(
diff --git a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DebouncerTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/DebouncerTest.java
similarity index 67%
rename from third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DebouncerTest.java
rename to third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/DebouncerTest.java
index 5a51f6c..b6334de 100644
--- a/third_party/allwpilib/wpilibj/src/test/java/edu/wpi/first/wpilibj/DebouncerTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/DebouncerTest.java
@@ -2,15 +2,29 @@
// 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.
-package edu.wpi.first.wpilibj;
+package edu.wpi.first.math.filter;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
-import edu.wpi.first.wpilibj.simulation.SimHooks;
+import edu.wpi.first.util.WPIUtilJNI;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
-public class DebouncerTest {
+class DebouncerTest {
+ @BeforeEach
+ void setUp() {
+ WPIUtilJNI.enableMockTime();
+ WPIUtilJNI.setMockTime(0L);
+ }
+
+ @AfterEach
+ void tearDown() {
+ WPIUtilJNI.setMockTime(0L);
+ WPIUtilJNI.disableMockTime();
+ }
+
@Test
void debounceRisingTest() {
var debouncer = new Debouncer(0.02, Debouncer.DebounceType.kRising);
@@ -18,7 +32,7 @@
debouncer.calculate(false);
assertFalse(debouncer.calculate(true));
- SimHooks.stepTiming(0.1);
+ WPIUtilJNI.setMockTime(1000000L);
assertTrue(debouncer.calculate(true));
}
@@ -30,9 +44,11 @@
debouncer.calculate(true);
assertTrue(debouncer.calculate(false));
- SimHooks.stepTiming(0.1);
+ WPIUtilJNI.setMockTime(1000000L);
assertFalse(debouncer.calculate(false));
+
+ WPIUtilJNI.setMockTime(0L);
}
@Test
@@ -42,12 +58,12 @@
debouncer.calculate(false);
assertFalse(debouncer.calculate(true));
- SimHooks.stepTiming(0.1);
+ WPIUtilJNI.setMockTime(1000000L);
assertTrue(debouncer.calculate(true));
assertTrue(debouncer.calculate(false));
- SimHooks.stepTiming(0.1);
+ WPIUtilJNI.setMockTime(2000000L);
assertFalse(debouncer.calculate(false));
}
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/LinearFilterTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/LinearFilterTest.java
index 805129f..f0b39c6 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/LinearFilterTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/LinearFilterTest.java
@@ -109,12 +109,84 @@
0.0));
}
+ /** Test central finite difference. */
+ @Test
+ void centralFiniteDifferenceTest() {
+ double h = 0.005;
+
+ assertCentralResults(
+ 1,
+ 3,
+ // f(x) = x²
+ (double x) -> x * x,
+ // df/dx = 2x
+ (double x) -> 2.0 * x,
+ h,
+ -20.0,
+ 20.0);
+
+ assertCentralResults(
+ 1,
+ 3,
+ // f(x) = sin(x)
+ (double x) -> Math.sin(x),
+ // df/dx = cos(x)
+ (double x) -> Math.cos(x),
+ h,
+ -20.0,
+ 20.0);
+
+ assertCentralResults(
+ 1,
+ 3,
+ // f(x) = ln(x)
+ (double x) -> Math.log(x),
+ // df/dx = 1 / x
+ (double x) -> 1.0 / x,
+ h,
+ 1.0,
+ 20.0);
+
+ assertCentralResults(
+ 2,
+ 5,
+ // f(x) = x²
+ (double x) -> x * x,
+ // d²f/dx² = 2
+ (double x) -> 2.0,
+ h,
+ -20.0,
+ 20.0);
+
+ assertCentralResults(
+ 2,
+ 5,
+ // f(x) = sin(x)
+ (double x) -> Math.sin(x),
+ // d²f/dx² = -sin(x)
+ (double x) -> -Math.sin(x),
+ h,
+ -20.0,
+ 20.0);
+
+ assertCentralResults(
+ 2,
+ 5,
+ // f(x) = ln(x)
+ (double x) -> Math.log(x),
+ // d²f/dx² = -1 / x²
+ (double x) -> -1.0 / (x * x),
+ h,
+ 1.0,
+ 20.0);
+ }
+
/** Test backward finite difference. */
@Test
void backwardFiniteDifferenceTest() {
double h = 0.005;
- assertResults(
+ assertBackwardResults(
1,
2,
// f(x) = x²
@@ -125,7 +197,7 @@
-20.0,
20.0);
- assertResults(
+ assertBackwardResults(
1,
2,
// f(x) = sin(x)
@@ -136,7 +208,7 @@
-20.0,
20.0);
- assertResults(
+ assertBackwardResults(
1,
2,
// f(x) = ln(x)
@@ -147,7 +219,7 @@
1.0,
20.0);
- assertResults(
+ assertBackwardResults(
2,
4,
// f(x) = x²
@@ -158,7 +230,7 @@
-20.0,
20.0);
- assertResults(
+ assertBackwardResults(
2,
4,
// f(x) = sin(x)
@@ -169,7 +241,7 @@
-20.0,
20.0);
- assertResults(
+ assertBackwardResults(
2,
4,
// f(x) = ln(x)
@@ -182,6 +254,53 @@
}
/**
+ * Helper for checking results of central finite difference.
+ *
+ * @param derivative The order of the derivative.
+ * @param samples The number of sample points.
+ * @param f Function of which to take derivative.
+ * @param dfdx Derivative of f.
+ * @param h Sample period in seconds.
+ * @param min Minimum of f's domain to test.
+ * @param max Maximum of f's domain to test.
+ */
+ void assertCentralResults(
+ int derivative,
+ int samples,
+ DoubleFunction<Double> f,
+ DoubleFunction<Double> dfdx,
+ double h,
+ double min,
+ double max) {
+ if (samples % 2 == 0) {
+ throw new IllegalArgumentException("Number of samples must be odd.");
+ }
+
+ // Generate stencil points from -(samples - 1)/2 to (samples - 1)/2
+ int[] stencil = new int[samples];
+ for (int i = 0; i < samples; ++i) {
+ stencil[i] = -(samples - 1) / 2 + i;
+ }
+
+ var filter = LinearFilter.finiteDifference(derivative, samples, stencil, h);
+
+ for (int i = (int) (min / h); i < (int) (max / h); ++i) {
+ // Let filter initialize
+ if (i < (int) (min / h) + samples) {
+ filter.calculate(f.apply(i * h));
+ continue;
+ }
+
+ // The order of accuracy is O(h^(N - d)) where N is number of stencil
+ // points and d is order of derivative
+ assertEquals(
+ dfdx.apply((i - samples / 2) * h),
+ filter.calculate(f.apply(i * h)),
+ Math.pow(h, samples - derivative));
+ }
+ }
+
+ /**
* Helper for checking results of backward finite difference.
*
* @param derivative The order of the derivative.
@@ -192,7 +311,7 @@
* @param min Minimum of f's domain to test.
* @param max Maximum of f's domain to test.
*/
- void assertResults(
+ void assertBackwardResults(
int derivative,
int samples,
DoubleFunction<Double> f,
@@ -209,6 +328,8 @@
continue;
}
+ // For central finite difference, the derivative computed at this point is
+ // half the window size in the past.
// The order of accuracy is O(h^(N - d)) where N is number of stencil
// points and d is order of derivative
assertEquals(
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/MedianFilterTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/MedianFilterTest.java
index 06b3d01..1d6e008 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/MedianFilterTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/MedianFilterTest.java
@@ -8,7 +8,7 @@
import org.junit.jupiter.api.Test;
-public class MedianFilterTest {
+class MedianFilterTest {
@Test
void medianFilterNotFullTestEven() {
MedianFilter filter = new MedianFilter(10);
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/SlewRateLimiterTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/SlewRateLimiterTest.java
index 9c1f2f3..e7ec644 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/SlewRateLimiterTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/filter/SlewRateLimiterTest.java
@@ -8,28 +8,34 @@
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.util.WPIUtilJNI;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
-public class SlewRateLimiterTest {
+class SlewRateLimiterTest {
+ @BeforeEach
+ void setUp() {
+ WPIUtilJNI.enableMockTime();
+ WPIUtilJNI.setMockTime(0L);
+ }
+
+ @AfterEach
+ void tearDown() {
+ WPIUtilJNI.setMockTime(0L);
+ WPIUtilJNI.disableMockTime();
+ }
+
@Test
void slewRateLimitTest() {
- WPIUtilJNI.enableMockTime();
-
var limiter = new SlewRateLimiter(1);
WPIUtilJNI.setMockTime(1000000L);
assertTrue(limiter.calculate(2) < 2);
-
- WPIUtilJNI.setMockTime(0L);
}
@Test
void slewRateNoLimitTest() {
- WPIUtilJNI.enableMockTime();
-
var limiter = new SlewRateLimiter(1);
WPIUtilJNI.setMockTime(1000000L);
assertEquals(limiter.calculate(0.5), 0.5);
-
- WPIUtilJNI.setMockTime(0L);
}
}
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose2dTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose2dTest.java
index b6e66af..5a314b1 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose2dTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose2dTest.java
@@ -53,6 +53,7 @@
assertNotEquals(one, two);
}
+ @Test
void testMinus() {
var initial = new Pose2d(0.0, 0.0, Rotation2d.fromDegrees(45.0));
var last = new Pose2d(5.0, 5.0, Rotation2d.fromDegrees(45.0));
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java
index c13bb09..69a4c86 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java
@@ -60,6 +60,7 @@
assertNotEquals(one, two);
}
+ @Test
void testPose2dLog() {
final var start = new Pose2d();
final var end = new Pose2d(5.0, 5.0, Rotation2d.fromDegrees(90.0));
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/interpolation/TimeInterpolatableBufferTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/interpolation/TimeInterpolatableBufferTest.java
new file mode 100644
index 0000000..7b0e334
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/interpolation/TimeInterpolatableBufferTest.java
@@ -0,0 +1,43 @@
+// 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.
+
+package edu.wpi.first.math.interpolation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import org.junit.jupiter.api.Test;
+
+class TimeInterpolatableBufferTest {
+ @Test
+ void testInterpolation() {
+ TimeInterpolatableBuffer<Rotation2d> buffer = TimeInterpolatableBuffer.createBuffer(10);
+
+ buffer.addSample(0, new Rotation2d());
+ assertEquals(0, buffer.getSample(0).getRadians(), 0.001);
+ buffer.addSample(1, new Rotation2d(1));
+ assertEquals(0.5, buffer.getSample(0.5).getRadians(), 0.001);
+ assertEquals(1.0, buffer.getSample(1.0).getRadians(), 0.001);
+ buffer.addSample(3, new Rotation2d(2));
+ assertEquals(1.5, buffer.getSample(2).getRadians(), 0.001);
+
+ buffer.addSample(10.5, new Rotation2d(2));
+ assertEquals(new Rotation2d(1), buffer.getSample(0));
+ }
+
+ @Test
+ void testPose2d() {
+ TimeInterpolatableBuffer<Pose2d> buffer = TimeInterpolatableBuffer.createBuffer(10);
+
+ // We expect to be at (1 - 1/Math.sqrt(2), 1/Math.sqrt(2), 45deg) at t=0.5
+ buffer.addSample(0, new Pose2d(0, 0, Rotation2d.fromDegrees(90)));
+ buffer.addSample(1, new Pose2d(1, 1, Rotation2d.fromDegrees(0)));
+ Pose2d sample = buffer.getSample(0.5);
+
+ assertEquals(1 - 1 / Math.sqrt(2), sample.getTranslation().getX(), 0.01);
+ assertEquals(1 / Math.sqrt(2), sample.getTranslation().getY(), 0.01);
+ assertEquals(45, sample.getRotation().getDegrees(), 0.01);
+ }
+}
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java
index d334679..b3546f5 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java
@@ -160,9 +160,9 @@
}
@Test
- void testNormalize() {
+ void testDesaturate() {
var wheelSpeeds = new MecanumDriveWheelSpeeds(5, 6, 4, 7);
- wheelSpeeds.normalize(5.5);
+ wheelSpeeds.desaturate(5.5);
double factor = 5.5 / 7.0;
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
index eec6aa2..574e086 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
@@ -229,14 +229,14 @@
}
@Test
- void testNormalize() {
+ void testDesaturate() {
SwerveModuleState fl = new SwerveModuleState(5, new Rotation2d());
SwerveModuleState fr = new SwerveModuleState(6, new Rotation2d());
SwerveModuleState bl = new SwerveModuleState(4, new Rotation2d());
SwerveModuleState br = new SwerveModuleState(7, new Rotation2d());
SwerveModuleState[] arr = {fl, fr, bl, br};
- SwerveDriveKinematics.normalizeWheelSpeeds(arr, 5.5);
+ SwerveDriveKinematics.desaturateWheelSpeeds(arr, 5.5);
double factor = 5.5 / 7.0;
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/DiscretizationTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/DiscretizationTest.java
index add1afb..3dff90b 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/DiscretizationTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/DiscretizationTest.java
@@ -14,11 +14,11 @@
import edu.wpi.first.math.numbers.N2;
import org.junit.jupiter.api.Test;
-public class DiscretizationTest {
+class DiscretizationTest {
// Check that for a simple second-order system that we can easily analyze
// analytically,
@Test
- public void testDiscretizeA() {
+ void testDiscretizeA() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
final var x0 = VecBuilder.fill(1, 1);
@@ -36,7 +36,7 @@
// Check that for a simple second-order system that we can easily analyze
// analytically,
@Test
- public void testDiscretizeAB() {
+ void testDiscretizeAB() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
final var contB = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0, 1);
@@ -62,7 +62,7 @@
// Test that the discrete approximation of Q ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
@Test
- public void testDiscretizeSlowModelAQ() {
+ void testDiscretizeSlowModelAQ() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
@@ -91,7 +91,7 @@
// Test that the discrete approximation of Q ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
@Test
- public void testDiscretizeFastModelAQ() {
+ void testDiscretizeFastModelAQ() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, -1406.29);
final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0.0025, 0, 0, 1);
@@ -118,7 +118,7 @@
// Test that the Taylor series discretization produces nearly identical results.
@Test
- public void testDiscretizeSlowModelAQTaylor() {
+ void testDiscretizeSlowModelAQTaylor() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
@@ -161,7 +161,7 @@
// Test that the Taylor series discretization produces nearly identical results.
@Test
- public void testDiscretizeFastModelAQTaylor() {
+ void testDiscretizeFastModelAQTaylor() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, -1500);
final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0.0025, 0, 0, 1);
@@ -204,7 +204,7 @@
// Test that DiscretizeR() works
@Test
- public void testDiscretizeR() {
+ void testDiscretizeR() {
var contR = Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 0.0, 0.0, 1.0);
var discRTruth = Matrix.mat(Nat.N2(), Nat.N2()).fill(4.0, 0.0, 0.0, 2.0);
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/LinearSystemIDTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/LinearSystemIDTest.java
index 37cb1ec..3f316b3 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/LinearSystemIDTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/LinearSystemIDTest.java
@@ -16,7 +16,7 @@
class LinearSystemIDTest {
@Test
- public void testDrivetrainVelocitySystem() {
+ void testDrivetrainVelocitySystem() {
var model =
LinearSystemId.createDrivetrainVelocitySystem(DCMotor.getNEO(4), 70, 0.05, 0.4, 6.0, 6);
assertTrue(
@@ -40,7 +40,7 @@
}
@Test
- public void testElevatorSystem() {
+ void testElevatorSystem() {
var model = LinearSystemId.createElevatorSystem(DCMotor.getNEO(2), 5, 0.05, 12);
assertTrue(
model.getA().isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -99.05473), 0.001));
@@ -53,7 +53,7 @@
}
@Test
- public void testFlywheelSystem() {
+ void testFlywheelSystem() {
var model = LinearSystemId.createFlywheelSystem(DCMotor.getNEO(2), 0.00032, 1.0);
assertTrue(model.getA().isEqual(VecBuilder.fill(-26.87032), 0.001));
@@ -65,7 +65,20 @@
}
@Test
- public void testIdentifyPositionSystem() {
+ void testDCMotorSystem() {
+ var model = LinearSystemId.createDCMotorSystem(DCMotor.getNEO(2), 0.00032, 1.0);
+ assertTrue(
+ model.getA().isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -26.87032), 0.001));
+
+ assertTrue(model.getB().isEqual(VecBuilder.fill(0, 1354.166667), 0.001));
+
+ assertTrue(model.getC().isEqual(Matrix.eye(Nat.N2()), 0.001));
+
+ assertTrue(model.getD().isEqual(new Matrix<>(Nat.N2(), Nat.N1()), 0.001));
+ }
+
+ @Test
+ void testIdentifyPositionSystem() {
// By controls engineering in frc,
// x-dot = [0 1 | 0 -kv/ka] x = [0 | 1/ka] u
var kv = 1.0;
@@ -77,7 +90,7 @@
}
@Test
- public void testIdentifyVelocitySystem() {
+ void testIdentifyVelocitySystem() {
// By controls engineering in frc,
// V = kv * velocity + ka * acceleration
// x-dot = -kv/ka * v + 1/ka \cdot V
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java
index b3fe7e6..6671963 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java
@@ -12,9 +12,9 @@
import edu.wpi.first.math.numbers.N1;
import org.junit.jupiter.api.Test;
-public class NumericalIntegrationTest {
+class NumericalIntegrationTest {
@Test
- public void testExponential() {
+ void testExponential() {
Matrix<N1, N1> y0 = VecBuilder.fill(0.0);
var y1 =
@@ -31,7 +31,7 @@
}
@Test
- public void testExponentialRKF45() {
+ void testExponentialRKF45() {
Matrix<N1, N1> y0 = VecBuilder.fill(0.0);
var y1 =
@@ -49,7 +49,7 @@
}
@Test
- public void testExponentialRKDP() {
+ void testExponentialRKDP() {
Matrix<N1, N1> y0 = VecBuilder.fill(0.0);
var y1 =
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/RungeKuttaTimeVaryingTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/RungeKuttaTimeVaryingTest.java
index ee843ab..e4df93f 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/RungeKuttaTimeVaryingTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/system/RungeKuttaTimeVaryingTest.java
@@ -12,7 +12,7 @@
import edu.wpi.first.math.numbers.N1;
import org.junit.jupiter.api.Test;
-public class RungeKuttaTimeVaryingTest {
+class RungeKuttaTimeVaryingTest {
private static Matrix<N1, N1> rungeKuttaTimeVaryingSolution(double t) {
return new MatBuilder<>(Nat.N1(), Nat.N1())
.fill(12.0 * Math.exp(t) / (Math.pow(Math.exp(t) + 1.0, 2.0)));
@@ -26,7 +26,7 @@
//
// x(t) = 12 * e^t / ((e^t + 1)^2)
@Test
- public void rungeKuttaTimeVaryingTest() {
+ void rungeKuttaTimeVaryingTest() {
final var y0 = rungeKuttaTimeVaryingSolution(5.0);
final var y1 =
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java
index f9e3c18..039b3f7 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java
@@ -16,7 +16,7 @@
import java.util.List;
import org.junit.jupiter.api.Test;
-public class EllipticalRegionConstraintTest {
+class EllipticalRegionConstraintTest {
@Test
void testConstraint() {
// Create constraints
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java
index 1ab826e..390a6c2 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java
@@ -16,7 +16,7 @@
import java.util.List;
import org.junit.jupiter.api.Test;
-public class RectangularRegionConstraintTest {
+class RectangularRegionConstraintTest {
@Test
void testConstraint() {
// Create constraints
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryJsonTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryJsonTest.java
index bb72601..3c6627f 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryJsonTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryJsonTest.java
@@ -12,11 +12,11 @@
import java.util.List;
import org.junit.jupiter.api.Test;
-public class TrajectoryJsonTest {
+class TrajectoryJsonTest {
@Test
void deserializeMatches() {
var config =
- List.of(new DifferentialDriveKinematicsConstraint(new DifferentialDriveKinematics(20), 3));
+ List.of(new DifferentialDriveKinematicsConstraint(new DifferentialDriveKinematics(0.5), 3));
var trajectory = TrajectoryGeneratorTest.getTrajectory(config);
var deserialized =
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java
index 062563f..ee6cc8f 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java
@@ -201,7 +201,7 @@
for (int i = 0; i < 400; i++) {
profile = new TrapezoidProfile(constraints, goal, state);
state = profile.calculate(kDt);
- if (!reachedGoal && (Math.abs(state.velocity - 1) < 10e-5)) {
+ if (!reachedGoal && Math.abs(state.velocity - 1) < 10e-5) {
assertNear(predictedTimeLeft, i / 100.0, 2e-2);
reachedGoal = true;
}
@@ -244,7 +244,7 @@
for (int i = 0; i < 400; i++) {
profile = new TrapezoidProfile(constraints, goal, state);
state = profile.calculate(kDt);
- if (!reachedGoal && (Math.abs(state.velocity + 1) < 10e-5)) {
+ if (!reachedGoal && Math.abs(state.velocity + 1) < 10e-5) {
assertNear(predictedTimeLeft, i / 100.0, 2e-2);
reachedGoal = true;
}
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java
index 99a8b5a..06c2bc7 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java
@@ -64,6 +64,7 @@
assertEquals(1500, Units.secondsToMilliseconds(1.5), 1e-2);
}
+ @Test
void kilogramsToLbsTest() {
assertEquals(2.20462, Units.kilogramsToLbs(1), 1e-2);
}
diff --git a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
index 8eed93f..0501f6d 100644
--- a/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
+++ b/third_party/allwpilib/wpimath/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
@@ -34,19 +34,20 @@
}
@Test
- public void singleConstructorTest() {
+ void singleConstructorTest() {
assertEquals(1, m_clazz.getDeclaredConstructors().length, "More than one constructor defined");
}
@Test
- public void constructorPrivateTest() {
+ void constructorPrivateTest() {
Constructor<?> constructor = m_clazz.getDeclaredConstructors()[0];
assertFalse(constructor.canAccess(null), "Constructor is not private");
}
@Test
- public void constructorReflectionTest() {
+ @SuppressWarnings("PMD.AvoidAccessibilityAlteration")
+ void constructorReflectionTest() {
Constructor<?> constructor = m_clazz.getDeclaredConstructors()[0];
constructor.setAccessible(true);
assertThrows(InvocationTargetException.class, constructor::newInstance);
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/UnitsTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/UnitsTest.cpp
index ec38a47..d5ba717 100644
--- a/third_party/allwpilib/wpimath/src/test/native/cpp/UnitsTest.cpp
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/UnitsTest.cpp
@@ -164,8 +164,8 @@
} // namespace
TEST_F(TypeTraits, isRatio) {
- EXPECT_TRUE(traits::is_ratio<std::ratio<1>>::value);
- EXPECT_FALSE(traits::is_ratio<double>::value);
+ EXPECT_TRUE(traits::is_ratio_v<std::ratio<1>>);
+ EXPECT_FALSE(traits::is_ratio_v<double>);
}
TEST_F(TypeTraits, ratio_sqrt) {
@@ -210,77 +210,77 @@
5e-9);
}
-TEST_F(TypeTraits, is_unit) {
- EXPECT_FALSE(traits::is_unit<std::ratio<1>>::value);
- EXPECT_FALSE(traits::is_unit<double>::value);
- EXPECT_TRUE(traits::is_unit<meters>::value);
- EXPECT_TRUE(traits::is_unit<feet>::value);
- EXPECT_TRUE(traits::is_unit<degrees_squared>::value);
- EXPECT_FALSE(traits::is_unit<meter_t>::value);
+TEST_F(TypeTraits, is_unit_v) {
+ EXPECT_FALSE(traits::is_unit_v<std::ratio<1>>);
+ EXPECT_FALSE(traits::is_unit_v<double>);
+ EXPECT_TRUE(traits::is_unit_v<meters>);
+ EXPECT_TRUE(traits::is_unit_v<feet>);
+ EXPECT_TRUE(traits::is_unit_v<degrees_squared>);
+ EXPECT_FALSE(traits::is_unit_v<meter_t>);
}
TEST_F(TypeTraits, is_unit_t) {
- EXPECT_FALSE(traits::is_unit_t<std::ratio<1>>::value);
- EXPECT_FALSE(traits::is_unit_t<double>::value);
- EXPECT_FALSE(traits::is_unit_t<meters>::value);
- EXPECT_FALSE(traits::is_unit_t<feet>::value);
- EXPECT_FALSE(traits::is_unit_t<degrees_squared>::value);
- EXPECT_TRUE(traits::is_unit_t<meter_t>::value);
+ EXPECT_FALSE(traits::is_unit_t_v<std::ratio<1>>);
+ EXPECT_FALSE(traits::is_unit_t_v<double>);
+ EXPECT_FALSE(traits::is_unit_t_v<meters>);
+ EXPECT_FALSE(traits::is_unit_t_v<feet>);
+ EXPECT_FALSE(traits::is_unit_t_v<degrees_squared>);
+ EXPECT_TRUE(traits::is_unit_t_v<meter_t>);
}
TEST_F(TypeTraits, unit_traits) {
EXPECT_TRUE(
- (std::is_same<void,
- traits::unit_traits<double>::conversion_ratio>::value));
- EXPECT_FALSE(
- (std::is_same<void,
- traits::unit_traits<meters>::conversion_ratio>::value));
+ (std::is_same_v<void,
+ traits::unit_traits<double>::conversion_ratio>));
+ EXPECT_TRUE(
+ !(std::is_same_v<void,
+ traits::unit_traits<meters>::conversion_ratio>));
}
TEST_F(TypeTraits, unit_t_traits) {
EXPECT_TRUE(
- (std::is_same<void,
- traits::unit_t_traits<double>::underlying_type>::value));
+ (std::is_same_v<void,
+ traits::unit_t_traits<double>::underlying_type>));
EXPECT_TRUE(
- (std::is_same<UNIT_LIB_DEFAULT_TYPE,
- traits::unit_t_traits<meter_t>::underlying_type>::value));
+ (std::is_same_v<UNIT_LIB_DEFAULT_TYPE,
+ traits::unit_t_traits<meter_t>::underlying_type>));
EXPECT_TRUE(
- (std::is_same<void, traits::unit_t_traits<double>::value_type>::value));
+ (std::is_same_v<void, traits::unit_t_traits<double>::value_type>));
EXPECT_TRUE(
- (std::is_same<UNIT_LIB_DEFAULT_TYPE,
- traits::unit_t_traits<meter_t>::value_type>::value));
+ (std::is_same_v<UNIT_LIB_DEFAULT_TYPE,
+ traits::unit_t_traits<meter_t>::value_type>));
}
TEST_F(TypeTraits, all_true) {
- EXPECT_TRUE(all_true<true>::type::value);
- EXPECT_TRUE((all_true<true, true>::type::value));
- EXPECT_TRUE((all_true<true, true, true>::type::value));
- EXPECT_FALSE(all_true<false>::type::value);
- EXPECT_FALSE((all_true<true, false>::type::value));
- EXPECT_FALSE((all_true<true, true, false>::type::value));
- EXPECT_FALSE((all_true<false, false, false>::type::value));
+ EXPECT_TRUE(all_true_t_v<true>);
+ EXPECT_TRUE((all_true_t_v<true, true>));
+ EXPECT_TRUE((all_true_t_v<true, true, true>));
+ EXPECT_FALSE(all_true_t_v<false>);
+ EXPECT_FALSE((all_true_t_v<true, false>));
+ EXPECT_FALSE((all_true_t_v<true, true, false>));
+ EXPECT_FALSE((all_true_t_v<false, false, false>));
}
TEST_F(TypeTraits, is_convertible_unit) {
- EXPECT_TRUE((traits::is_convertible_unit<meters, meters>::value));
- EXPECT_TRUE((traits::is_convertible_unit<meters, astronicalUnits>::value));
- EXPECT_TRUE((traits::is_convertible_unit<meters, parsecs>::value));
+ EXPECT_TRUE((traits::is_convertible_unit_v<meters, meters>));
+ EXPECT_TRUE((traits::is_convertible_unit_v<meters, astronicalUnits>));
+ EXPECT_TRUE((traits::is_convertible_unit_v<meters, parsecs>));
- EXPECT_TRUE((traits::is_convertible_unit<meters, meters>::value));
- EXPECT_TRUE((traits::is_convertible_unit<astronicalUnits, meters>::value));
- EXPECT_TRUE((traits::is_convertible_unit<parsecs, meters>::value));
- EXPECT_TRUE((traits::is_convertible_unit<years, weeks>::value));
+ EXPECT_TRUE((traits::is_convertible_unit_v<meters, meters>));
+ EXPECT_TRUE((traits::is_convertible_unit_v<astronicalUnits, meters>));
+ EXPECT_TRUE((traits::is_convertible_unit_v<parsecs, meters>));
+ EXPECT_TRUE((traits::is_convertible_unit_v<years, weeks>));
- EXPECT_FALSE((traits::is_convertible_unit<meters, seconds>::value));
- EXPECT_FALSE((traits::is_convertible_unit<seconds, meters>::value));
- EXPECT_FALSE((traits::is_convertible_unit<years, meters>::value));
+ EXPECT_FALSE((traits::is_convertible_unit_v<meters, seconds>));
+ EXPECT_FALSE((traits::is_convertible_unit_v<seconds, meters>));
+ EXPECT_FALSE((traits::is_convertible_unit_v<years, meters>));
}
TEST_F(TypeTraits, inverse) {
double test;
using htz = inverse<seconds>;
- bool shouldBeTrue = std::is_same<htz, hertz>::value;
+ bool shouldBeTrue = std::is_same_v<htz, hertz>;
EXPECT_TRUE(shouldBeTrue);
test = convert<inverse<celsius>, inverse<fahrenheit>>(1.0);
@@ -292,564 +292,564 @@
TEST_F(TypeTraits, base_unit_of) {
using base = traits::base_unit_of<years>;
- bool shouldBeTrue = std::is_same<base, category::time_unit>::value;
+ bool shouldBeTrue = std::is_same_v<base, category::time_unit>;
EXPECT_TRUE(shouldBeTrue);
}
TEST_F(TypeTraits, has_linear_scale) {
- EXPECT_TRUE((traits::has_linear_scale<scalar_t>::value));
- EXPECT_TRUE((traits::has_linear_scale<meter_t>::value));
- EXPECT_TRUE((traits::has_linear_scale<foot_t>::value));
- EXPECT_TRUE((traits::has_linear_scale<watt_t, scalar_t>::value));
- EXPECT_TRUE((traits::has_linear_scale<scalar_t, meter_t>::value));
- EXPECT_TRUE((traits::has_linear_scale<meters_per_second_t>::value));
- EXPECT_FALSE((traits::has_linear_scale<dB_t>::value));
- EXPECT_FALSE((traits::has_linear_scale<dB_t, meters_per_second_t>::value));
+ EXPECT_TRUE((traits::has_linear_scale_v<scalar_t>));
+ EXPECT_TRUE((traits::has_linear_scale_v<meter_t>));
+ EXPECT_TRUE((traits::has_linear_scale_v<foot_t>));
+ EXPECT_TRUE((traits::has_linear_scale_v<watt_t, scalar_t>));
+ EXPECT_TRUE((traits::has_linear_scale_v<scalar_t, meter_t>));
+ EXPECT_TRUE((traits::has_linear_scale_v<meters_per_second_t>));
+ EXPECT_FALSE((traits::has_linear_scale_v<dB_t>));
+ EXPECT_FALSE((traits::has_linear_scale_v<dB_t, meters_per_second_t>));
}
TEST_F(TypeTraits, has_decibel_scale) {
- EXPECT_FALSE((traits::has_decibel_scale<scalar_t>::value));
- EXPECT_FALSE((traits::has_decibel_scale<meter_t>::value));
- EXPECT_FALSE((traits::has_decibel_scale<foot_t>::value));
- EXPECT_TRUE((traits::has_decibel_scale<dB_t>::value));
- EXPECT_TRUE((traits::has_decibel_scale<dBW_t>::value));
+ EXPECT_FALSE((traits::has_decibel_scale_v<scalar_t>));
+ EXPECT_FALSE((traits::has_decibel_scale_v<meter_t>));
+ EXPECT_FALSE((traits::has_decibel_scale_v<foot_t>));
+ EXPECT_TRUE((traits::has_decibel_scale_v<dB_t>));
+ EXPECT_TRUE((traits::has_decibel_scale_v<dBW_t>));
- EXPECT_TRUE((traits::has_decibel_scale<dBW_t, dB_t>::value));
- EXPECT_TRUE((traits::has_decibel_scale<dBW_t, dBm_t>::value));
- EXPECT_TRUE((traits::has_decibel_scale<dB_t, dB_t>::value));
- EXPECT_TRUE((traits::has_decibel_scale<dB_t, dB_t, dB_t>::value));
- EXPECT_FALSE((traits::has_decibel_scale<dB_t, dB_t, meter_t>::value));
- EXPECT_FALSE((traits::has_decibel_scale<meter_t, dB_t>::value));
+ EXPECT_TRUE((traits::has_decibel_scale_v<dBW_t, dB_t>));
+ EXPECT_TRUE((traits::has_decibel_scale_v<dBW_t, dBm_t>));
+ EXPECT_TRUE((traits::has_decibel_scale_v<dB_t, dB_t>));
+ EXPECT_TRUE((traits::has_decibel_scale_v<dB_t, dB_t, dB_t>));
+ EXPECT_FALSE((traits::has_decibel_scale_v<dB_t, dB_t, meter_t>));
+ EXPECT_FALSE((traits::has_decibel_scale_v<meter_t, dB_t>));
}
TEST_F(TypeTraits, is_same_scale) {
- EXPECT_TRUE((traits::is_same_scale<scalar_t, dimensionless_t>::value));
- EXPECT_TRUE((traits::is_same_scale<dB_t, dBW_t>::value));
- EXPECT_FALSE((traits::is_same_scale<dB_t, scalar_t>::value));
+ EXPECT_TRUE((traits::is_same_scale_v<scalar_t, dimensionless_t>));
+ EXPECT_TRUE((traits::is_same_scale_v<dB_t, dBW_t>));
+ EXPECT_FALSE((traits::is_same_scale_v<dB_t, scalar_t>));
}
TEST_F(TypeTraits, is_dimensionless_unit) {
- EXPECT_TRUE((traits::is_dimensionless_unit<scalar_t>::value));
- EXPECT_TRUE((traits::is_dimensionless_unit<const scalar_t>::value));
- EXPECT_TRUE((traits::is_dimensionless_unit<const scalar_t&>::value));
- EXPECT_TRUE((traits::is_dimensionless_unit<dimensionless_t>::value));
- EXPECT_TRUE((traits::is_dimensionless_unit<dB_t>::value));
- EXPECT_TRUE((traits::is_dimensionless_unit<dB_t, scalar_t>::value));
- EXPECT_TRUE((traits::is_dimensionless_unit<ppm_t>::value));
- EXPECT_FALSE((traits::is_dimensionless_unit<meter_t>::value));
- EXPECT_FALSE((traits::is_dimensionless_unit<dBW_t>::value));
- EXPECT_FALSE((traits::is_dimensionless_unit<dBW_t, scalar_t>::value));
+ EXPECT_TRUE((traits::is_dimensionless_unit_v<scalar_t>));
+ EXPECT_TRUE((traits::is_dimensionless_unit_v<const scalar_t>));
+ EXPECT_TRUE((traits::is_dimensionless_unit_v<const scalar_t&>));
+ EXPECT_TRUE((traits::is_dimensionless_unit_v<dimensionless_t>));
+ EXPECT_TRUE((traits::is_dimensionless_unit_v<dB_t>));
+ EXPECT_TRUE((traits::is_dimensionless_unit_v<dB_t, scalar_t>));
+ EXPECT_TRUE((traits::is_dimensionless_unit_v<ppm_t>));
+ EXPECT_FALSE((traits::is_dimensionless_unit_v<meter_t>));
+ EXPECT_FALSE((traits::is_dimensionless_unit_v<dBW_t>));
+ EXPECT_FALSE((traits::is_dimensionless_unit_v<dBW_t, scalar_t>));
}
TEST_F(TypeTraits, is_length_unit) {
- EXPECT_TRUE((traits::is_length_unit<meter>::value));
- EXPECT_TRUE((traits::is_length_unit<cubit>::value));
- EXPECT_FALSE((traits::is_length_unit<year>::value));
- EXPECT_FALSE((traits::is_length_unit<double>::value));
+ EXPECT_TRUE((traits::is_length_unit_v<meter>));
+ EXPECT_TRUE((traits::is_length_unit_v<cubit>));
+ EXPECT_FALSE((traits::is_length_unit_v<year>));
+ EXPECT_FALSE((traits::is_length_unit_v<double>));
- EXPECT_TRUE((traits::is_length_unit<meter_t>::value));
- EXPECT_TRUE((traits::is_length_unit<const meter_t>::value));
- EXPECT_TRUE((traits::is_length_unit<const meter_t&>::value));
- EXPECT_TRUE((traits::is_length_unit<cubit_t>::value));
- EXPECT_FALSE((traits::is_length_unit<year_t>::value));
- EXPECT_TRUE((traits::is_length_unit<meter_t, cubit_t>::value));
- EXPECT_FALSE((traits::is_length_unit<meter_t, year_t>::value));
+ EXPECT_TRUE((traits::is_length_unit_v<meter_t>));
+ EXPECT_TRUE((traits::is_length_unit_v<const meter_t>));
+ EXPECT_TRUE((traits::is_length_unit_v<const meter_t&>));
+ EXPECT_TRUE((traits::is_length_unit_v<cubit_t>));
+ EXPECT_FALSE((traits::is_length_unit_v<year_t>));
+ EXPECT_TRUE((traits::is_length_unit_v<meter_t, cubit_t>));
+ EXPECT_FALSE((traits::is_length_unit_v<meter_t, year_t>));
}
TEST_F(TypeTraits, is_mass_unit) {
- EXPECT_TRUE((traits::is_mass_unit<kilogram>::value));
- EXPECT_TRUE((traits::is_mass_unit<stone>::value));
- EXPECT_FALSE((traits::is_mass_unit<meter>::value));
- EXPECT_FALSE((traits::is_mass_unit<double>::value));
+ EXPECT_TRUE((traits::is_mass_unit_v<kilogram>));
+ EXPECT_TRUE((traits::is_mass_unit_v<stone>));
+ EXPECT_FALSE((traits::is_mass_unit_v<meter>));
+ EXPECT_FALSE((traits::is_mass_unit_v<double>));
- EXPECT_TRUE((traits::is_mass_unit<kilogram_t>::value));
- EXPECT_TRUE((traits::is_mass_unit<const kilogram_t>::value));
- EXPECT_TRUE((traits::is_mass_unit<const kilogram_t&>::value));
- EXPECT_TRUE((traits::is_mass_unit<stone_t>::value));
- EXPECT_FALSE((traits::is_mass_unit<meter_t>::value));
- EXPECT_TRUE((traits::is_mass_unit<kilogram_t, stone_t>::value));
- EXPECT_FALSE((traits::is_mass_unit<kilogram_t, meter_t>::value));
+ EXPECT_TRUE((traits::is_mass_unit_v<kilogram_t>));
+ EXPECT_TRUE((traits::is_mass_unit_v<const kilogram_t>));
+ EXPECT_TRUE((traits::is_mass_unit_v<const kilogram_t&>));
+ EXPECT_TRUE((traits::is_mass_unit_v<stone_t>));
+ EXPECT_FALSE((traits::is_mass_unit_v<meter_t>));
+ EXPECT_TRUE((traits::is_mass_unit_v<kilogram_t, stone_t>));
+ EXPECT_FALSE((traits::is_mass_unit_v<kilogram_t, meter_t>));
}
TEST_F(TypeTraits, is_time_unit) {
- EXPECT_TRUE((traits::is_time_unit<second>::value));
- EXPECT_TRUE((traits::is_time_unit<year>::value));
- EXPECT_FALSE((traits::is_time_unit<meter>::value));
- EXPECT_FALSE((traits::is_time_unit<double>::value));
+ EXPECT_TRUE((traits::is_time_unit_v<second>));
+ EXPECT_TRUE((traits::is_time_unit_v<year>));
+ EXPECT_FALSE((traits::is_time_unit_v<meter>));
+ EXPECT_FALSE((traits::is_time_unit_v<double>));
- EXPECT_TRUE((traits::is_time_unit<second_t>::value));
- EXPECT_TRUE((traits::is_time_unit<const second_t>::value));
- EXPECT_TRUE((traits::is_time_unit<const second_t&>::value));
- EXPECT_TRUE((traits::is_time_unit<year_t>::value));
- EXPECT_FALSE((traits::is_time_unit<meter_t>::value));
- EXPECT_TRUE((traits::is_time_unit<second_t, year_t>::value));
- EXPECT_FALSE((traits::is_time_unit<second_t, meter_t>::value));
+ EXPECT_TRUE((traits::is_time_unit_v<second_t>));
+ EXPECT_TRUE((traits::is_time_unit_v<const second_t>));
+ EXPECT_TRUE((traits::is_time_unit_v<const second_t&>));
+ EXPECT_TRUE((traits::is_time_unit_v<year_t>));
+ EXPECT_FALSE((traits::is_time_unit_v<meter_t>));
+ EXPECT_TRUE((traits::is_time_unit_v<second_t, year_t>));
+ EXPECT_FALSE((traits::is_time_unit_v<second_t, meter_t>));
}
TEST_F(TypeTraits, is_angle_unit) {
- EXPECT_TRUE((traits::is_angle_unit<angle::radian>::value));
- EXPECT_TRUE((traits::is_angle_unit<angle::degree>::value));
- EXPECT_FALSE((traits::is_angle_unit<watt>::value));
- EXPECT_FALSE((traits::is_angle_unit<double>::value));
+ EXPECT_TRUE((traits::is_angle_unit_v<angle::radian>));
+ EXPECT_TRUE((traits::is_angle_unit_v<angle::degree>));
+ EXPECT_FALSE((traits::is_angle_unit_v<watt>));
+ EXPECT_FALSE((traits::is_angle_unit_v<double>));
- EXPECT_TRUE((traits::is_angle_unit<angle::radian_t>::value));
- EXPECT_TRUE((traits::is_angle_unit<const angle::radian_t>::value));
- EXPECT_TRUE((traits::is_angle_unit<const angle::radian_t&>::value));
- EXPECT_TRUE((traits::is_angle_unit<angle::degree_t>::value));
- EXPECT_FALSE((traits::is_angle_unit<watt_t>::value));
- EXPECT_TRUE((traits::is_angle_unit<angle::radian_t, angle::degree_t>::value));
- EXPECT_FALSE((traits::is_angle_unit<angle::radian_t, watt_t>::value));
+ EXPECT_TRUE((traits::is_angle_unit_v<angle::radian_t>));
+ EXPECT_TRUE((traits::is_angle_unit_v<const angle::radian_t>));
+ EXPECT_TRUE((traits::is_angle_unit_v<const angle::radian_t&>));
+ EXPECT_TRUE((traits::is_angle_unit_v<angle::degree_t>));
+ EXPECT_FALSE((traits::is_angle_unit_v<watt_t>));
+ EXPECT_TRUE((traits::is_angle_unit_v<angle::radian_t, angle::degree_t>));
+ EXPECT_FALSE((traits::is_angle_unit_v<angle::radian_t, watt_t>));
}
TEST_F(TypeTraits, is_current_unit) {
- EXPECT_TRUE((traits::is_current_unit<current::ampere>::value));
- EXPECT_FALSE((traits::is_current_unit<volt>::value));
- EXPECT_FALSE((traits::is_current_unit<double>::value));
+ EXPECT_TRUE((traits::is_current_unit_v<current::ampere>));
+ EXPECT_FALSE((traits::is_current_unit_v<volt>));
+ EXPECT_FALSE((traits::is_current_unit_v<double>));
- EXPECT_TRUE((traits::is_current_unit<current::ampere_t>::value));
- EXPECT_TRUE((traits::is_current_unit<const current::ampere_t>::value));
- EXPECT_TRUE((traits::is_current_unit<const current::ampere_t&>::value));
- EXPECT_FALSE((traits::is_current_unit<volt_t>::value));
- EXPECT_TRUE((traits::is_current_unit<current::ampere_t,
- current::milliampere_t>::value));
- EXPECT_FALSE((traits::is_current_unit<current::ampere_t, volt_t>::value));
+ EXPECT_TRUE((traits::is_current_unit_v<current::ampere_t>));
+ EXPECT_TRUE((traits::is_current_unit_v<const current::ampere_t>));
+ EXPECT_TRUE((traits::is_current_unit_v<const current::ampere_t&>));
+ EXPECT_FALSE((traits::is_current_unit_v<volt_t>));
+ EXPECT_TRUE((traits::is_current_unit_v<current::ampere_t,
+ current::milliampere_t>));
+ EXPECT_FALSE((traits::is_current_unit_v<current::ampere_t, volt_t>));
}
TEST_F(TypeTraits, is_temperature_unit) {
- EXPECT_TRUE((traits::is_temperature_unit<fahrenheit>::value));
- EXPECT_TRUE((traits::is_temperature_unit<kelvin>::value));
- EXPECT_FALSE((traits::is_temperature_unit<cubit>::value));
- EXPECT_FALSE((traits::is_temperature_unit<double>::value));
+ EXPECT_TRUE((traits::is_temperature_unit_v<fahrenheit>));
+ EXPECT_TRUE((traits::is_temperature_unit_v<kelvin>));
+ EXPECT_FALSE((traits::is_temperature_unit_v<cubit>));
+ EXPECT_FALSE((traits::is_temperature_unit_v<double>));
- EXPECT_TRUE((traits::is_temperature_unit<fahrenheit_t>::value));
- EXPECT_TRUE((traits::is_temperature_unit<const fahrenheit_t>::value));
- EXPECT_TRUE((traits::is_temperature_unit<const fahrenheit_t&>::value));
- EXPECT_TRUE((traits::is_temperature_unit<kelvin_t>::value));
- EXPECT_FALSE((traits::is_temperature_unit<cubit_t>::value));
- EXPECT_TRUE((traits::is_temperature_unit<fahrenheit_t, kelvin_t>::value));
- EXPECT_FALSE((traits::is_temperature_unit<cubit_t, fahrenheit_t>::value));
+ EXPECT_TRUE((traits::is_temperature_unit_v<fahrenheit_t>));
+ EXPECT_TRUE((traits::is_temperature_unit_v<const fahrenheit_t>));
+ EXPECT_TRUE((traits::is_temperature_unit_v<const fahrenheit_t&>));
+ EXPECT_TRUE((traits::is_temperature_unit_v<kelvin_t>));
+ EXPECT_FALSE((traits::is_temperature_unit_v<cubit_t>));
+ EXPECT_TRUE((traits::is_temperature_unit_v<fahrenheit_t, kelvin_t>));
+ EXPECT_FALSE((traits::is_temperature_unit_v<cubit_t, fahrenheit_t>));
}
TEST_F(TypeTraits, is_substance_unit) {
- EXPECT_TRUE((traits::is_substance_unit<substance::mol>::value));
- EXPECT_FALSE((traits::is_substance_unit<year>::value));
- EXPECT_FALSE((traits::is_substance_unit<double>::value));
+ EXPECT_TRUE((traits::is_substance_unit_v<substance::mol>));
+ EXPECT_FALSE((traits::is_substance_unit_v<year>));
+ EXPECT_FALSE((traits::is_substance_unit_v<double>));
- EXPECT_TRUE((traits::is_substance_unit<substance::mole_t>::value));
- EXPECT_TRUE((traits::is_substance_unit<const substance::mole_t>::value));
- EXPECT_TRUE((traits::is_substance_unit<const substance::mole_t&>::value));
- EXPECT_FALSE((traits::is_substance_unit<year_t>::value));
+ EXPECT_TRUE((traits::is_substance_unit_v<substance::mole_t>));
+ EXPECT_TRUE((traits::is_substance_unit_v<const substance::mole_t>));
+ EXPECT_TRUE((traits::is_substance_unit_v<const substance::mole_t&>));
+ EXPECT_FALSE((traits::is_substance_unit_v<year_t>));
EXPECT_TRUE(
- (traits::is_substance_unit<substance::mole_t, substance::mole_t>::value));
- EXPECT_FALSE((traits::is_substance_unit<year_t, substance::mole_t>::value));
+ (traits::is_substance_unit_v<substance::mole_t, substance::mole_t>));
+ EXPECT_FALSE((traits::is_substance_unit_v<year_t, substance::mole_t>));
}
TEST_F(TypeTraits, is_luminous_intensity_unit) {
- EXPECT_TRUE((traits::is_luminous_intensity_unit<candela>::value));
+ EXPECT_TRUE((traits::is_luminous_intensity_unit_v<candela>));
EXPECT_FALSE(
- (traits::is_luminous_intensity_unit<units::radiation::rad>::value));
- EXPECT_FALSE((traits::is_luminous_intensity_unit<double>::value));
+ (traits::is_luminous_intensity_unit_v<units::radiation::rad>));
+ EXPECT_FALSE((traits::is_luminous_intensity_unit_v<double>));
- EXPECT_TRUE((traits::is_luminous_intensity_unit<candela_t>::value));
- EXPECT_TRUE((traits::is_luminous_intensity_unit<const candela_t>::value));
- EXPECT_TRUE((traits::is_luminous_intensity_unit<const candela_t&>::value));
- EXPECT_FALSE((traits::is_luminous_intensity_unit<rad_t>::value));
+ EXPECT_TRUE((traits::is_luminous_intensity_unit_v<candela_t>));
+ EXPECT_TRUE((traits::is_luminous_intensity_unit_v<const candela_t>));
+ EXPECT_TRUE((traits::is_luminous_intensity_unit_v<const candela_t&>));
+ EXPECT_FALSE((traits::is_luminous_intensity_unit_v<rad_t>));
EXPECT_TRUE(
- (traits::is_luminous_intensity_unit<candela_t, candela_t>::value));
- EXPECT_FALSE((traits::is_luminous_intensity_unit<rad_t, candela_t>::value));
+ (traits::is_luminous_intensity_unit_v<candela_t, candela_t>));
+ EXPECT_FALSE((traits::is_luminous_intensity_unit_v<rad_t, candela_t>));
}
TEST_F(TypeTraits, is_solid_angle_unit) {
- EXPECT_TRUE((traits::is_solid_angle_unit<steradian>::value));
- EXPECT_TRUE((traits::is_solid_angle_unit<degree_squared>::value));
- EXPECT_FALSE((traits::is_solid_angle_unit<angle::degree>::value));
- EXPECT_FALSE((traits::is_solid_angle_unit<double>::value));
+ EXPECT_TRUE((traits::is_solid_angle_unit_v<steradian>));
+ EXPECT_TRUE((traits::is_solid_angle_unit_v<degree_squared>));
+ EXPECT_FALSE((traits::is_solid_angle_unit_v<angle::degree>));
+ EXPECT_FALSE((traits::is_solid_angle_unit_v<double>));
- EXPECT_TRUE((traits::is_solid_angle_unit<steradian_t>::value));
- EXPECT_TRUE((traits::is_solid_angle_unit<const steradian_t>::value));
- EXPECT_TRUE((traits::is_solid_angle_unit<const degree_squared_t&>::value));
- EXPECT_FALSE((traits::is_solid_angle_unit<angle::degree_t>::value));
+ EXPECT_TRUE((traits::is_solid_angle_unit_v<steradian_t>));
+ EXPECT_TRUE((traits::is_solid_angle_unit_v<const steradian_t>));
+ EXPECT_TRUE((traits::is_solid_angle_unit_v<const degree_squared_t&>));
+ EXPECT_FALSE((traits::is_solid_angle_unit_v<angle::degree_t>));
EXPECT_TRUE(
- (traits::is_solid_angle_unit<degree_squared_t, steradian_t>::value));
+ (traits::is_solid_angle_unit_v<degree_squared_t, steradian_t>));
EXPECT_FALSE(
- (traits::is_solid_angle_unit<angle::degree_t, steradian_t>::value));
+ (traits::is_solid_angle_unit_v<angle::degree_t, steradian_t>));
}
TEST_F(TypeTraits, is_frequency_unit) {
- EXPECT_TRUE((traits::is_frequency_unit<hertz>::value));
- EXPECT_FALSE((traits::is_frequency_unit<second>::value));
- EXPECT_FALSE((traits::is_frequency_unit<double>::value));
+ EXPECT_TRUE((traits::is_frequency_unit_v<hertz>));
+ EXPECT_FALSE((traits::is_frequency_unit_v<second>));
+ EXPECT_FALSE((traits::is_frequency_unit_v<double>));
- EXPECT_TRUE((traits::is_frequency_unit<hertz_t>::value));
- EXPECT_TRUE((traits::is_frequency_unit<const hertz_t>::value));
- EXPECT_TRUE((traits::is_frequency_unit<const hertz_t&>::value));
- EXPECT_FALSE((traits::is_frequency_unit<second_t>::value));
- EXPECT_TRUE((traits::is_frequency_unit<const hertz_t&, gigahertz_t>::value));
- EXPECT_FALSE((traits::is_frequency_unit<second_t, hertz_t>::value));
+ EXPECT_TRUE((traits::is_frequency_unit_v<hertz_t>));
+ EXPECT_TRUE((traits::is_frequency_unit_v<const hertz_t>));
+ EXPECT_TRUE((traits::is_frequency_unit_v<const hertz_t&>));
+ EXPECT_FALSE((traits::is_frequency_unit_v<second_t>));
+ EXPECT_TRUE((traits::is_frequency_unit_v<const hertz_t&, gigahertz_t>));
+ EXPECT_FALSE((traits::is_frequency_unit_v<second_t, hertz_t>));
}
TEST_F(TypeTraits, is_velocity_unit) {
- EXPECT_TRUE((traits::is_velocity_unit<meters_per_second>::value));
- EXPECT_TRUE((traits::is_velocity_unit<miles_per_hour>::value));
- EXPECT_FALSE((traits::is_velocity_unit<meters_per_second_squared>::value));
- EXPECT_FALSE((traits::is_velocity_unit<double>::value));
+ EXPECT_TRUE((traits::is_velocity_unit_v<meters_per_second>));
+ EXPECT_TRUE((traits::is_velocity_unit_v<miles_per_hour>));
+ EXPECT_FALSE((traits::is_velocity_unit_v<meters_per_second_squared>));
+ EXPECT_FALSE((traits::is_velocity_unit_v<double>));
- EXPECT_TRUE((traits::is_velocity_unit<meters_per_second_t>::value));
- EXPECT_TRUE((traits::is_velocity_unit<const meters_per_second_t>::value));
- EXPECT_TRUE((traits::is_velocity_unit<const meters_per_second_t&>::value));
- EXPECT_TRUE((traits::is_velocity_unit<miles_per_hour_t>::value));
- EXPECT_FALSE((traits::is_velocity_unit<meters_per_second_squared_t>::value));
+ EXPECT_TRUE((traits::is_velocity_unit_v<meters_per_second_t>));
+ EXPECT_TRUE((traits::is_velocity_unit_v<const meters_per_second_t>));
+ EXPECT_TRUE((traits::is_velocity_unit_v<const meters_per_second_t&>));
+ EXPECT_TRUE((traits::is_velocity_unit_v<miles_per_hour_t>));
+ EXPECT_FALSE((traits::is_velocity_unit_v<meters_per_second_squared_t>));
EXPECT_TRUE(
- (traits::is_velocity_unit<miles_per_hour_t, meters_per_second_t>::value));
- EXPECT_FALSE((traits::is_velocity_unit<meters_per_second_squared_t,
- meters_per_second_t>::value));
+ (traits::is_velocity_unit_v<miles_per_hour_t, meters_per_second_t>));
+ EXPECT_FALSE((traits::is_velocity_unit_v<meters_per_second_squared_t,
+ meters_per_second_t>));
}
TEST_F(TypeTraits, is_acceleration_unit) {
- EXPECT_TRUE((traits::is_acceleration_unit<meters_per_second_squared>::value));
+ EXPECT_TRUE((traits::is_acceleration_unit_v<meters_per_second_squared>));
EXPECT_TRUE(
- (traits::is_acceleration_unit<acceleration::standard_gravity>::value));
- EXPECT_FALSE((traits::is_acceleration_unit<inch>::value));
- EXPECT_FALSE((traits::is_acceleration_unit<double>::value));
+ (traits::is_acceleration_unit_v<acceleration::standard_gravity>));
+ EXPECT_FALSE((traits::is_acceleration_unit_v<inch>));
+ EXPECT_FALSE((traits::is_acceleration_unit_v<double>));
EXPECT_TRUE(
- (traits::is_acceleration_unit<meters_per_second_squared_t>::value));
+ (traits::is_acceleration_unit_v<meters_per_second_squared_t>));
EXPECT_TRUE(
- (traits::is_acceleration_unit<const meters_per_second_squared_t>::value));
+ (traits::is_acceleration_unit_v<const meters_per_second_squared_t>));
EXPECT_TRUE((
- traits::is_acceleration_unit<const meters_per_second_squared_t&>::value));
- EXPECT_TRUE((traits::is_acceleration_unit<standard_gravity_t>::value));
- EXPECT_FALSE((traits::is_acceleration_unit<inch_t>::value));
+ traits::is_acceleration_unit_v<const meters_per_second_squared_t&>));
+ EXPECT_TRUE((traits::is_acceleration_unit_v<standard_gravity_t>));
+ EXPECT_FALSE((traits::is_acceleration_unit_v<inch_t>));
EXPECT_TRUE(
- (traits::is_acceleration_unit<standard_gravity_t,
- meters_per_second_squared_t>::value));
+ (traits::is_acceleration_unit_v<standard_gravity_t,
+ meters_per_second_squared_t>));
EXPECT_FALSE(
- (traits::is_acceleration_unit<inch_t,
- meters_per_second_squared_t>::value));
+ (traits::is_acceleration_unit_v<inch_t,
+ meters_per_second_squared_t>));
}
TEST_F(TypeTraits, is_force_unit) {
- EXPECT_TRUE((traits::is_force_unit<units::force::newton>::value));
- EXPECT_TRUE((traits::is_force_unit<units::force::dynes>::value));
- EXPECT_FALSE((traits::is_force_unit<meter>::value));
- EXPECT_FALSE((traits::is_force_unit<double>::value));
+ EXPECT_TRUE((traits::is_force_unit_v<units::force::newton>));
+ EXPECT_TRUE((traits::is_force_unit_v<units::force::dynes>));
+ EXPECT_FALSE((traits::is_force_unit_v<meter>));
+ EXPECT_FALSE((traits::is_force_unit_v<double>));
- EXPECT_TRUE((traits::is_force_unit<units::force::newton_t>::value));
- EXPECT_TRUE((traits::is_force_unit<const units::force::newton_t>::value));
- EXPECT_TRUE((traits::is_force_unit<const units::force::newton_t&>::value));
- EXPECT_TRUE((traits::is_force_unit<units::force::dyne_t>::value));
- EXPECT_FALSE((traits::is_force_unit<watt_t>::value));
- EXPECT_TRUE((traits::is_force_unit<units::force::dyne_t,
- units::force::newton_t>::value));
- EXPECT_FALSE((traits::is_force_unit<watt_t, units::force::newton_t>::value));
+ EXPECT_TRUE((traits::is_force_unit_v<units::force::newton_t>));
+ EXPECT_TRUE((traits::is_force_unit_v<const units::force::newton_t>));
+ EXPECT_TRUE((traits::is_force_unit_v<const units::force::newton_t&>));
+ EXPECT_TRUE((traits::is_force_unit_v<units::force::dyne_t>));
+ EXPECT_FALSE((traits::is_force_unit_v<watt_t>));
+ EXPECT_TRUE((traits::is_force_unit_v<units::force::dyne_t,
+ units::force::newton_t>));
+ EXPECT_FALSE((traits::is_force_unit_v<watt_t, units::force::newton_t>));
}
TEST_F(TypeTraits, is_pressure_unit) {
- EXPECT_TRUE((traits::is_pressure_unit<pressure::pascals>::value));
- EXPECT_TRUE((traits::is_pressure_unit<atmosphere>::value));
- EXPECT_FALSE((traits::is_pressure_unit<year>::value));
- EXPECT_FALSE((traits::is_pressure_unit<double>::value));
+ EXPECT_TRUE((traits::is_pressure_unit_v<pressure::pascals>));
+ EXPECT_TRUE((traits::is_pressure_unit_v<atmosphere>));
+ EXPECT_FALSE((traits::is_pressure_unit_v<year>));
+ EXPECT_FALSE((traits::is_pressure_unit_v<double>));
- EXPECT_TRUE((traits::is_pressure_unit<pascal_t>::value));
- EXPECT_TRUE((traits::is_pressure_unit<const pascal_t>::value));
- EXPECT_TRUE((traits::is_pressure_unit<const pascal_t&>::value));
- EXPECT_TRUE((traits::is_pressure_unit<atmosphere_t>::value));
- EXPECT_FALSE((traits::is_pressure_unit<year_t>::value));
+ EXPECT_TRUE((traits::is_pressure_unit_v<pascal_t>));
+ EXPECT_TRUE((traits::is_pressure_unit_v<const pascal_t>));
+ EXPECT_TRUE((traits::is_pressure_unit_v<const pascal_t&>));
+ EXPECT_TRUE((traits::is_pressure_unit_v<atmosphere_t>));
+ EXPECT_FALSE((traits::is_pressure_unit_v<year_t>));
EXPECT_TRUE(
- (traits::is_pressure_unit<atmosphere_t, pressure::pascal_t>::value));
- EXPECT_FALSE((traits::is_pressure_unit<year_t, pressure::pascal_t>::value));
+ (traits::is_pressure_unit_v<atmosphere_t, pressure::pascal_t>));
+ EXPECT_FALSE((traits::is_pressure_unit_v<year_t, pressure::pascal_t>));
}
TEST_F(TypeTraits, is_charge_unit) {
- EXPECT_TRUE((traits::is_charge_unit<coulomb>::value));
- EXPECT_FALSE((traits::is_charge_unit<watt>::value));
- EXPECT_FALSE((traits::is_charge_unit<double>::value));
+ EXPECT_TRUE((traits::is_charge_unit_v<coulomb>));
+ EXPECT_FALSE((traits::is_charge_unit_v<watt>));
+ EXPECT_FALSE((traits::is_charge_unit_v<double>));
- EXPECT_TRUE((traits::is_charge_unit<coulomb_t>::value));
- EXPECT_TRUE((traits::is_charge_unit<const coulomb_t>::value));
- EXPECT_TRUE((traits::is_charge_unit<const coulomb_t&>::value));
- EXPECT_FALSE((traits::is_charge_unit<watt_t>::value));
- EXPECT_TRUE((traits::is_charge_unit<const coulomb_t&, coulomb_t>::value));
- EXPECT_FALSE((traits::is_charge_unit<watt_t, coulomb_t>::value));
+ EXPECT_TRUE((traits::is_charge_unit_v<coulomb_t>));
+ EXPECT_TRUE((traits::is_charge_unit_v<const coulomb_t>));
+ EXPECT_TRUE((traits::is_charge_unit_v<const coulomb_t&>));
+ EXPECT_FALSE((traits::is_charge_unit_v<watt_t>));
+ EXPECT_TRUE((traits::is_charge_unit_v<const coulomb_t&, coulomb_t>));
+ EXPECT_FALSE((traits::is_charge_unit_v<watt_t, coulomb_t>));
}
TEST_F(TypeTraits, is_energy_unit) {
- EXPECT_TRUE((traits::is_energy_unit<joule>::value));
- EXPECT_TRUE((traits::is_energy_unit<calorie>::value));
- EXPECT_FALSE((traits::is_energy_unit<watt>::value));
- EXPECT_FALSE((traits::is_energy_unit<double>::value));
+ EXPECT_TRUE((traits::is_energy_unit_v<joule>));
+ EXPECT_TRUE((traits::is_energy_unit_v<calorie>));
+ EXPECT_FALSE((traits::is_energy_unit_v<watt>));
+ EXPECT_FALSE((traits::is_energy_unit_v<double>));
- EXPECT_TRUE((traits::is_energy_unit<joule_t>::value));
- EXPECT_TRUE((traits::is_energy_unit<const joule_t>::value));
- EXPECT_TRUE((traits::is_energy_unit<const joule_t&>::value));
- EXPECT_TRUE((traits::is_energy_unit<calorie_t>::value));
- EXPECT_FALSE((traits::is_energy_unit<watt_t>::value));
- EXPECT_TRUE((traits::is_energy_unit<calorie_t, joule_t>::value));
- EXPECT_FALSE((traits::is_energy_unit<watt_t, joule_t>::value));
+ EXPECT_TRUE((traits::is_energy_unit_v<joule_t>));
+ EXPECT_TRUE((traits::is_energy_unit_v<const joule_t>));
+ EXPECT_TRUE((traits::is_energy_unit_v<const joule_t&>));
+ EXPECT_TRUE((traits::is_energy_unit_v<calorie_t>));
+ EXPECT_FALSE((traits::is_energy_unit_v<watt_t>));
+ EXPECT_TRUE((traits::is_energy_unit_v<calorie_t, joule_t>));
+ EXPECT_FALSE((traits::is_energy_unit_v<watt_t, joule_t>));
}
TEST_F(TypeTraits, is_power_unit) {
- EXPECT_TRUE((traits::is_power_unit<watt>::value));
- EXPECT_FALSE((traits::is_power_unit<henry>::value));
- EXPECT_FALSE((traits::is_power_unit<double>::value));
+ EXPECT_TRUE((traits::is_power_unit_v<watt>));
+ EXPECT_FALSE((traits::is_power_unit_v<henry>));
+ EXPECT_FALSE((traits::is_power_unit_v<double>));
- EXPECT_TRUE((traits::is_power_unit<watt_t>::value));
- EXPECT_TRUE((traits::is_power_unit<const watt_t>::value));
- EXPECT_TRUE((traits::is_power_unit<const watt_t&>::value));
- EXPECT_FALSE((traits::is_power_unit<henry_t>::value));
- EXPECT_TRUE((traits::is_power_unit<const watt_t&, watt_t>::value));
- EXPECT_FALSE((traits::is_power_unit<henry_t, watt_t>::value));
+ EXPECT_TRUE((traits::is_power_unit_v<watt_t>));
+ EXPECT_TRUE((traits::is_power_unit_v<const watt_t>));
+ EXPECT_TRUE((traits::is_power_unit_v<const watt_t&>));
+ EXPECT_FALSE((traits::is_power_unit_v<henry_t>));
+ EXPECT_TRUE((traits::is_power_unit_v<const watt_t&, watt_t>));
+ EXPECT_FALSE((traits::is_power_unit_v<henry_t, watt_t>));
}
TEST_F(TypeTraits, is_voltage_unit) {
- EXPECT_TRUE((traits::is_voltage_unit<volt>::value));
- EXPECT_FALSE((traits::is_voltage_unit<henry>::value));
- EXPECT_FALSE((traits::is_voltage_unit<double>::value));
+ EXPECT_TRUE((traits::is_voltage_unit_v<volt>));
+ EXPECT_FALSE((traits::is_voltage_unit_v<henry>));
+ EXPECT_FALSE((traits::is_voltage_unit_v<double>));
- EXPECT_TRUE((traits::is_voltage_unit<volt_t>::value));
- EXPECT_TRUE((traits::is_voltage_unit<const volt_t>::value));
- EXPECT_TRUE((traits::is_voltage_unit<const volt_t&>::value));
- EXPECT_FALSE((traits::is_voltage_unit<henry_t>::value));
- EXPECT_TRUE((traits::is_voltage_unit<const volt_t&, volt_t>::value));
- EXPECT_FALSE((traits::is_voltage_unit<henry_t, volt_t>::value));
+ EXPECT_TRUE((traits::is_voltage_unit_v<volt_t>));
+ EXPECT_TRUE((traits::is_voltage_unit_v<const volt_t>));
+ EXPECT_TRUE((traits::is_voltage_unit_v<const volt_t&>));
+ EXPECT_FALSE((traits::is_voltage_unit_v<henry_t>));
+ EXPECT_TRUE((traits::is_voltage_unit_v<const volt_t&, volt_t>));
+ EXPECT_FALSE((traits::is_voltage_unit_v<henry_t, volt_t>));
}
TEST_F(TypeTraits, is_capacitance_unit) {
- EXPECT_TRUE((traits::is_capacitance_unit<farad>::value));
- EXPECT_FALSE((traits::is_capacitance_unit<ohm>::value));
- EXPECT_FALSE((traits::is_capacitance_unit<double>::value));
+ EXPECT_TRUE((traits::is_capacitance_unit_v<farad>));
+ EXPECT_FALSE((traits::is_capacitance_unit_v<ohm>));
+ EXPECT_FALSE((traits::is_capacitance_unit_v<double>));
- EXPECT_TRUE((traits::is_capacitance_unit<farad_t>::value));
- EXPECT_TRUE((traits::is_capacitance_unit<const farad_t>::value));
- EXPECT_TRUE((traits::is_capacitance_unit<const farad_t&>::value));
- EXPECT_FALSE((traits::is_capacitance_unit<ohm_t>::value));
+ EXPECT_TRUE((traits::is_capacitance_unit_v<farad_t>));
+ EXPECT_TRUE((traits::is_capacitance_unit_v<const farad_t>));
+ EXPECT_TRUE((traits::is_capacitance_unit_v<const farad_t&>));
+ EXPECT_FALSE((traits::is_capacitance_unit_v<ohm_t>));
EXPECT_TRUE(
- (traits::is_capacitance_unit<const farad_t&, millifarad_t>::value));
- EXPECT_FALSE((traits::is_capacitance_unit<ohm_t, farad_t>::value));
+ (traits::is_capacitance_unit_v<const farad_t&, millifarad_t>));
+ EXPECT_FALSE((traits::is_capacitance_unit_v<ohm_t, farad_t>));
}
TEST_F(TypeTraits, is_impedance_unit) {
- EXPECT_TRUE((traits::is_impedance_unit<ohm>::value));
- EXPECT_FALSE((traits::is_impedance_unit<farad>::value));
- EXPECT_FALSE((traits::is_impedance_unit<double>::value));
+ EXPECT_TRUE((traits::is_impedance_unit_v<ohm>));
+ EXPECT_FALSE((traits::is_impedance_unit_v<farad>));
+ EXPECT_FALSE((traits::is_impedance_unit_v<double>));
- EXPECT_TRUE((traits::is_impedance_unit<ohm_t>::value));
- EXPECT_TRUE((traits::is_impedance_unit<const ohm_t>::value));
- EXPECT_TRUE((traits::is_impedance_unit<const ohm_t&>::value));
- EXPECT_FALSE((traits::is_impedance_unit<farad_t>::value));
- EXPECT_TRUE((traits::is_impedance_unit<const ohm_t&, milliohm_t>::value));
- EXPECT_FALSE((traits::is_impedance_unit<farad_t, ohm_t>::value));
+ EXPECT_TRUE((traits::is_impedance_unit_v<ohm_t>));
+ EXPECT_TRUE((traits::is_impedance_unit_v<const ohm_t>));
+ EXPECT_TRUE((traits::is_impedance_unit_v<const ohm_t&>));
+ EXPECT_FALSE((traits::is_impedance_unit_v<farad_t>));
+ EXPECT_TRUE((traits::is_impedance_unit_v<const ohm_t&, milliohm_t>));
+ EXPECT_FALSE((traits::is_impedance_unit_v<farad_t, ohm_t>));
}
TEST_F(TypeTraits, is_conductance_unit) {
- EXPECT_TRUE((traits::is_conductance_unit<siemens>::value));
- EXPECT_FALSE((traits::is_conductance_unit<volt>::value));
- EXPECT_FALSE((traits::is_conductance_unit<double>::value));
+ EXPECT_TRUE((traits::is_conductance_unit_v<siemens>));
+ EXPECT_FALSE((traits::is_conductance_unit_v<volt>));
+ EXPECT_FALSE((traits::is_conductance_unit_v<double>));
- EXPECT_TRUE((traits::is_conductance_unit<siemens_t>::value));
- EXPECT_TRUE((traits::is_conductance_unit<const siemens_t>::value));
- EXPECT_TRUE((traits::is_conductance_unit<const siemens_t&>::value));
- EXPECT_FALSE((traits::is_conductance_unit<volt_t>::value));
+ EXPECT_TRUE((traits::is_conductance_unit_v<siemens_t>));
+ EXPECT_TRUE((traits::is_conductance_unit_v<const siemens_t>));
+ EXPECT_TRUE((traits::is_conductance_unit_v<const siemens_t&>));
+ EXPECT_FALSE((traits::is_conductance_unit_v<volt_t>));
EXPECT_TRUE(
- (traits::is_conductance_unit<const siemens_t&, millisiemens_t>::value));
- EXPECT_FALSE((traits::is_conductance_unit<volt_t, siemens_t>::value));
+ (traits::is_conductance_unit_v<const siemens_t&, millisiemens_t>));
+ EXPECT_FALSE((traits::is_conductance_unit_v<volt_t, siemens_t>));
}
TEST_F(TypeTraits, is_magnetic_flux_unit) {
- EXPECT_TRUE((traits::is_magnetic_flux_unit<weber>::value));
- EXPECT_TRUE((traits::is_magnetic_flux_unit<maxwell>::value));
- EXPECT_FALSE((traits::is_magnetic_flux_unit<inch>::value));
- EXPECT_FALSE((traits::is_magnetic_flux_unit<double>::value));
+ EXPECT_TRUE((traits::is_magnetic_flux_unit_v<weber>));
+ EXPECT_TRUE((traits::is_magnetic_flux_unit_v<maxwell>));
+ EXPECT_FALSE((traits::is_magnetic_flux_unit_v<inch>));
+ EXPECT_FALSE((traits::is_magnetic_flux_unit_v<double>));
- EXPECT_TRUE((traits::is_magnetic_flux_unit<weber_t>::value));
- EXPECT_TRUE((traits::is_magnetic_flux_unit<const weber_t>::value));
- EXPECT_TRUE((traits::is_magnetic_flux_unit<const weber_t&>::value));
- EXPECT_TRUE((traits::is_magnetic_flux_unit<maxwell_t>::value));
- EXPECT_FALSE((traits::is_magnetic_flux_unit<inch_t>::value));
- EXPECT_TRUE((traits::is_magnetic_flux_unit<maxwell_t, weber_t>::value));
- EXPECT_FALSE((traits::is_magnetic_flux_unit<inch_t, weber_t>::value));
+ EXPECT_TRUE((traits::is_magnetic_flux_unit_v<weber_t>));
+ EXPECT_TRUE((traits::is_magnetic_flux_unit_v<const weber_t>));
+ EXPECT_TRUE((traits::is_magnetic_flux_unit_v<const weber_t&>));
+ EXPECT_TRUE((traits::is_magnetic_flux_unit_v<maxwell_t>));
+ EXPECT_FALSE((traits::is_magnetic_flux_unit_v<inch_t>));
+ EXPECT_TRUE((traits::is_magnetic_flux_unit_v<maxwell_t, weber_t>));
+ EXPECT_FALSE((traits::is_magnetic_flux_unit_v<inch_t, weber_t>));
}
TEST_F(TypeTraits, is_magnetic_field_strength_unit) {
- EXPECT_TRUE((traits::is_magnetic_field_strength_unit<
- units::magnetic_field_strength::tesla>::value));
- EXPECT_TRUE((traits::is_magnetic_field_strength_unit<gauss>::value));
- EXPECT_FALSE((traits::is_magnetic_field_strength_unit<volt>::value));
- EXPECT_FALSE((traits::is_magnetic_field_strength_unit<double>::value));
+ EXPECT_TRUE((traits::is_magnetic_field_strength_unit_v<
+ units::magnetic_field_strength::tesla>));
+ EXPECT_TRUE((traits::is_magnetic_field_strength_unit_v<gauss>));
+ EXPECT_FALSE((traits::is_magnetic_field_strength_unit_v<volt>));
+ EXPECT_FALSE((traits::is_magnetic_field_strength_unit_v<double>));
- EXPECT_TRUE((traits::is_magnetic_field_strength_unit<tesla_t>::value));
- EXPECT_TRUE((traits::is_magnetic_field_strength_unit<const tesla_t>::value));
- EXPECT_TRUE((traits::is_magnetic_field_strength_unit<const tesla_t&>::value));
- EXPECT_TRUE((traits::is_magnetic_field_strength_unit<gauss_t>::value));
- EXPECT_FALSE((traits::is_magnetic_field_strength_unit<volt_t>::value));
+ EXPECT_TRUE((traits::is_magnetic_field_strength_unit_v<tesla_t>));
+ EXPECT_TRUE((traits::is_magnetic_field_strength_unit_v<const tesla_t>));
+ EXPECT_TRUE((traits::is_magnetic_field_strength_unit_v<const tesla_t&>));
+ EXPECT_TRUE((traits::is_magnetic_field_strength_unit_v<gauss_t>));
+ EXPECT_FALSE((traits::is_magnetic_field_strength_unit_v<volt_t>));
EXPECT_TRUE(
- (traits::is_magnetic_field_strength_unit<gauss_t, tesla_t>::value));
+ (traits::is_magnetic_field_strength_unit_v<gauss_t, tesla_t>));
EXPECT_FALSE(
- (traits::is_magnetic_field_strength_unit<volt_t, tesla_t>::value));
+ (traits::is_magnetic_field_strength_unit_v<volt_t, tesla_t>));
}
TEST_F(TypeTraits, is_inductance_unit) {
- EXPECT_TRUE((traits::is_inductance_unit<henry>::value));
- EXPECT_FALSE((traits::is_inductance_unit<farad>::value));
- EXPECT_FALSE((traits::is_inductance_unit<double>::value));
+ EXPECT_TRUE((traits::is_inductance_unit_v<henry>));
+ EXPECT_FALSE((traits::is_inductance_unit_v<farad>));
+ EXPECT_FALSE((traits::is_inductance_unit_v<double>));
- EXPECT_TRUE((traits::is_inductance_unit<henry_t>::value));
- EXPECT_TRUE((traits::is_inductance_unit<const henry_t>::value));
- EXPECT_TRUE((traits::is_inductance_unit<const henry_t&>::value));
- EXPECT_FALSE((traits::is_inductance_unit<farad_t>::value));
+ EXPECT_TRUE((traits::is_inductance_unit_v<henry_t>));
+ EXPECT_TRUE((traits::is_inductance_unit_v<const henry_t>));
+ EXPECT_TRUE((traits::is_inductance_unit_v<const henry_t&>));
+ EXPECT_FALSE((traits::is_inductance_unit_v<farad_t>));
EXPECT_TRUE(
- (traits::is_inductance_unit<const henry_t&, millihenry_t>::value));
- EXPECT_FALSE((traits::is_inductance_unit<farad_t, henry_t>::value));
+ (traits::is_inductance_unit_v<const henry_t&, millihenry_t>));
+ EXPECT_FALSE((traits::is_inductance_unit_v<farad_t, henry_t>));
}
TEST_F(TypeTraits, is_luminous_flux_unit) {
- EXPECT_TRUE((traits::is_luminous_flux_unit<lumen>::value));
- EXPECT_FALSE((traits::is_luminous_flux_unit<pound>::value));
- EXPECT_FALSE((traits::is_luminous_flux_unit<double>::value));
+ EXPECT_TRUE((traits::is_luminous_flux_unit_v<lumen>));
+ EXPECT_FALSE((traits::is_luminous_flux_unit_v<pound>));
+ EXPECT_FALSE((traits::is_luminous_flux_unit_v<double>));
- EXPECT_TRUE((traits::is_luminous_flux_unit<lumen_t>::value));
- EXPECT_TRUE((traits::is_luminous_flux_unit<const lumen_t>::value));
- EXPECT_TRUE((traits::is_luminous_flux_unit<const lumen_t&>::value));
- EXPECT_FALSE((traits::is_luminous_flux_unit<pound_t>::value));
+ EXPECT_TRUE((traits::is_luminous_flux_unit_v<lumen_t>));
+ EXPECT_TRUE((traits::is_luminous_flux_unit_v<const lumen_t>));
+ EXPECT_TRUE((traits::is_luminous_flux_unit_v<const lumen_t&>));
+ EXPECT_FALSE((traits::is_luminous_flux_unit_v<pound_t>));
EXPECT_TRUE(
- (traits::is_luminous_flux_unit<const lumen_t&, millilumen_t>::value));
- EXPECT_FALSE((traits::is_luminous_flux_unit<pound_t, lumen_t>::value));
+ (traits::is_luminous_flux_unit_v<const lumen_t&, millilumen_t>));
+ EXPECT_FALSE((traits::is_luminous_flux_unit_v<pound_t, lumen_t>));
}
TEST_F(TypeTraits, is_illuminance_unit) {
- EXPECT_TRUE((traits::is_illuminance_unit<illuminance::footcandle>::value));
- EXPECT_TRUE((traits::is_illuminance_unit<illuminance::lux>::value));
- EXPECT_FALSE((traits::is_illuminance_unit<meter>::value));
- EXPECT_FALSE((traits::is_illuminance_unit<double>::value));
+ EXPECT_TRUE((traits::is_illuminance_unit_v<illuminance::footcandle>));
+ EXPECT_TRUE((traits::is_illuminance_unit_v<illuminance::lux>));
+ EXPECT_FALSE((traits::is_illuminance_unit_v<meter>));
+ EXPECT_FALSE((traits::is_illuminance_unit_v<double>));
- EXPECT_TRUE((traits::is_illuminance_unit<footcandle_t>::value));
- EXPECT_TRUE((traits::is_illuminance_unit<const footcandle_t>::value));
- EXPECT_TRUE((traits::is_illuminance_unit<const footcandle_t&>::value));
- EXPECT_TRUE((traits::is_illuminance_unit<lux_t>::value));
- EXPECT_FALSE((traits::is_illuminance_unit<meter_t>::value));
- EXPECT_TRUE((traits::is_illuminance_unit<lux_t, footcandle_t>::value));
- EXPECT_FALSE((traits::is_illuminance_unit<meter_t, footcandle_t>::value));
+ EXPECT_TRUE((traits::is_illuminance_unit_v<footcandle_t>));
+ EXPECT_TRUE((traits::is_illuminance_unit_v<const footcandle_t>));
+ EXPECT_TRUE((traits::is_illuminance_unit_v<const footcandle_t&>));
+ EXPECT_TRUE((traits::is_illuminance_unit_v<lux_t>));
+ EXPECT_FALSE((traits::is_illuminance_unit_v<meter_t>));
+ EXPECT_TRUE((traits::is_illuminance_unit_v<lux_t, footcandle_t>));
+ EXPECT_FALSE((traits::is_illuminance_unit_v<meter_t, footcandle_t>));
}
TEST_F(TypeTraits, is_radioactivity_unit) {
- EXPECT_TRUE((traits::is_radioactivity_unit<becquerel>::value));
- EXPECT_FALSE((traits::is_radioactivity_unit<year>::value));
- EXPECT_FALSE((traits::is_radioactivity_unit<double>::value));
+ EXPECT_TRUE((traits::is_radioactivity_unit_v<becquerel>));
+ EXPECT_FALSE((traits::is_radioactivity_unit_v<year>));
+ EXPECT_FALSE((traits::is_radioactivity_unit_v<double>));
- EXPECT_TRUE((traits::is_radioactivity_unit<becquerel_t>::value));
- EXPECT_TRUE((traits::is_radioactivity_unit<const becquerel_t>::value));
- EXPECT_TRUE((traits::is_radioactivity_unit<const becquerel_t&>::value));
- EXPECT_FALSE((traits::is_radioactivity_unit<year_t>::value));
- EXPECT_TRUE((traits::is_radioactivity_unit<const becquerel_t&,
- millibecquerel_t>::value));
- EXPECT_FALSE((traits::is_radioactivity_unit<year_t, becquerel_t>::value));
+ EXPECT_TRUE((traits::is_radioactivity_unit_v<becquerel_t>));
+ EXPECT_TRUE((traits::is_radioactivity_unit_v<const becquerel_t>));
+ EXPECT_TRUE((traits::is_radioactivity_unit_v<const becquerel_t&>));
+ EXPECT_FALSE((traits::is_radioactivity_unit_v<year_t>));
+ EXPECT_TRUE((traits::is_radioactivity_unit_v<const becquerel_t&,
+ millibecquerel_t>));
+ EXPECT_FALSE((traits::is_radioactivity_unit_v<year_t, becquerel_t>));
}
TEST_F(TypeTraits, is_torque_unit) {
- EXPECT_TRUE((traits::is_torque_unit<torque::newton_meter>::value));
- EXPECT_TRUE((traits::is_torque_unit<torque::foot_pound>::value));
- EXPECT_FALSE((traits::is_torque_unit<volume::cubic_meter>::value));
- EXPECT_FALSE((traits::is_torque_unit<double>::value));
+ EXPECT_TRUE((traits::is_torque_unit_v<torque::newton_meter>));
+ EXPECT_TRUE((traits::is_torque_unit_v<torque::foot_pound>));
+ EXPECT_FALSE((traits::is_torque_unit_v<volume::cubic_meter>));
+ EXPECT_FALSE((traits::is_torque_unit_v<double>));
- EXPECT_TRUE((traits::is_torque_unit<torque::newton_meter_t>::value));
- EXPECT_TRUE((traits::is_torque_unit<const torque::newton_meter_t>::value));
- EXPECT_TRUE((traits::is_torque_unit<const torque::newton_meter_t&>::value));
- EXPECT_TRUE((traits::is_torque_unit<torque::foot_pound_t>::value));
- EXPECT_FALSE((traits::is_torque_unit<volume::cubic_meter_t>::value));
- EXPECT_TRUE((traits::is_torque_unit<torque::foot_pound_t,
- torque::newton_meter_t>::value));
- EXPECT_FALSE((traits::is_torque_unit<volume::cubic_meter_t,
- torque::newton_meter_t>::value));
+ EXPECT_TRUE((traits::is_torque_unit_v<torque::newton_meter_t>));
+ EXPECT_TRUE((traits::is_torque_unit_v<const torque::newton_meter_t>));
+ EXPECT_TRUE((traits::is_torque_unit_v<const torque::newton_meter_t&>));
+ EXPECT_TRUE((traits::is_torque_unit_v<torque::foot_pound_t>));
+ EXPECT_FALSE((traits::is_torque_unit_v<volume::cubic_meter_t>));
+ EXPECT_TRUE((traits::is_torque_unit_v<torque::foot_pound_t,
+ torque::newton_meter_t>));
+ EXPECT_FALSE((traits::is_torque_unit_v<volume::cubic_meter_t,
+ torque::newton_meter_t>));
}
TEST_F(TypeTraits, is_area_unit) {
- EXPECT_TRUE((traits::is_area_unit<square_meter>::value));
- EXPECT_TRUE((traits::is_area_unit<hectare>::value));
- EXPECT_FALSE((traits::is_area_unit<astronicalUnit>::value));
- EXPECT_FALSE((traits::is_area_unit<double>::value));
+ EXPECT_TRUE((traits::is_area_unit_v<square_meter>));
+ EXPECT_TRUE((traits::is_area_unit_v<hectare>));
+ EXPECT_FALSE((traits::is_area_unit_v<astronicalUnit>));
+ EXPECT_FALSE((traits::is_area_unit_v<double>));
- EXPECT_TRUE((traits::is_area_unit<square_meter_t>::value));
- EXPECT_TRUE((traits::is_area_unit<const square_meter_t>::value));
- EXPECT_TRUE((traits::is_area_unit<const square_meter_t&>::value));
- EXPECT_TRUE((traits::is_area_unit<hectare_t>::value));
- EXPECT_FALSE((traits::is_area_unit<astronicalUnit_t>::value));
- EXPECT_TRUE((traits::is_area_unit<hectare_t, square_meter_t>::value));
- EXPECT_FALSE((traits::is_area_unit<astronicalUnit_t, square_meter_t>::value));
+ EXPECT_TRUE((traits::is_area_unit_v<square_meter_t>));
+ EXPECT_TRUE((traits::is_area_unit_v<const square_meter_t>));
+ EXPECT_TRUE((traits::is_area_unit_v<const square_meter_t&>));
+ EXPECT_TRUE((traits::is_area_unit_v<hectare_t>));
+ EXPECT_FALSE((traits::is_area_unit_v<astronicalUnit_t>));
+ EXPECT_TRUE((traits::is_area_unit_v<hectare_t, square_meter_t>));
+ EXPECT_FALSE((traits::is_area_unit_v<astronicalUnit_t, square_meter_t>));
}
TEST_F(TypeTraits, is_volume_unit) {
- EXPECT_TRUE((traits::is_volume_unit<cubic_meter>::value));
- EXPECT_TRUE((traits::is_volume_unit<cubic_foot>::value));
- EXPECT_FALSE((traits::is_volume_unit<square_feet>::value));
- EXPECT_FALSE((traits::is_volume_unit<double>::value));
+ EXPECT_TRUE((traits::is_volume_unit_v<cubic_meter>));
+ EXPECT_TRUE((traits::is_volume_unit_v<cubic_foot>));
+ EXPECT_FALSE((traits::is_volume_unit_v<square_feet>));
+ EXPECT_FALSE((traits::is_volume_unit_v<double>));
- EXPECT_TRUE((traits::is_volume_unit<cubic_meter_t>::value));
- EXPECT_TRUE((traits::is_volume_unit<const cubic_meter_t>::value));
- EXPECT_TRUE((traits::is_volume_unit<const cubic_meter_t&>::value));
- EXPECT_TRUE((traits::is_volume_unit<cubic_inch_t>::value));
- EXPECT_FALSE((traits::is_volume_unit<foot_t>::value));
- EXPECT_TRUE((traits::is_volume_unit<cubic_inch_t, cubic_meter_t>::value));
- EXPECT_FALSE((traits::is_volume_unit<foot_t, cubic_meter_t>::value));
+ EXPECT_TRUE((traits::is_volume_unit_v<cubic_meter_t>));
+ EXPECT_TRUE((traits::is_volume_unit_v<const cubic_meter_t>));
+ EXPECT_TRUE((traits::is_volume_unit_v<const cubic_meter_t&>));
+ EXPECT_TRUE((traits::is_volume_unit_v<cubic_inch_t>));
+ EXPECT_FALSE((traits::is_volume_unit_v<foot_t>));
+ EXPECT_TRUE((traits::is_volume_unit_v<cubic_inch_t, cubic_meter_t>));
+ EXPECT_FALSE((traits::is_volume_unit_v<foot_t, cubic_meter_t>));
}
TEST_F(TypeTraits, is_density_unit) {
- EXPECT_TRUE((traits::is_density_unit<kilograms_per_cubic_meter>::value));
- EXPECT_TRUE((traits::is_density_unit<ounces_per_cubic_foot>::value));
- EXPECT_FALSE((traits::is_density_unit<year>::value));
- EXPECT_FALSE((traits::is_density_unit<double>::value));
+ EXPECT_TRUE((traits::is_density_unit_v<kilograms_per_cubic_meter>));
+ EXPECT_TRUE((traits::is_density_unit_v<ounces_per_cubic_foot>));
+ EXPECT_FALSE((traits::is_density_unit_v<year>));
+ EXPECT_FALSE((traits::is_density_unit_v<double>));
- EXPECT_TRUE((traits::is_density_unit<kilograms_per_cubic_meter_t>::value));
+ EXPECT_TRUE((traits::is_density_unit_v<kilograms_per_cubic_meter_t>));
EXPECT_TRUE(
- (traits::is_density_unit<const kilograms_per_cubic_meter_t>::value));
+ (traits::is_density_unit_v<const kilograms_per_cubic_meter_t>));
EXPECT_TRUE(
- (traits::is_density_unit<const kilograms_per_cubic_meter_t&>::value));
- EXPECT_TRUE((traits::is_density_unit<ounces_per_cubic_foot_t>::value));
- EXPECT_FALSE((traits::is_density_unit<year_t>::value));
- EXPECT_TRUE((traits::is_density_unit<ounces_per_cubic_foot_t,
- kilograms_per_cubic_meter_t>::value));
+ (traits::is_density_unit_v<const kilograms_per_cubic_meter_t&>));
+ EXPECT_TRUE((traits::is_density_unit_v<ounces_per_cubic_foot_t>));
+ EXPECT_FALSE((traits::is_density_unit_v<year_t>));
+ EXPECT_TRUE((traits::is_density_unit_v<ounces_per_cubic_foot_t,
+ kilograms_per_cubic_meter_t>));
EXPECT_FALSE(
- (traits::is_density_unit<year_t, kilograms_per_cubic_meter_t>::value));
+ (traits::is_density_unit_v<year_t, kilograms_per_cubic_meter_t>));
}
TEST_F(TypeTraits, is_data_unit) {
- EXPECT_TRUE((traits::is_data_unit<bit>::value));
- EXPECT_TRUE((traits::is_data_unit<byte>::value));
- EXPECT_TRUE((traits::is_data_unit<exabit>::value));
- EXPECT_TRUE((traits::is_data_unit<exabyte>::value));
- EXPECT_FALSE((traits::is_data_unit<year>::value));
- EXPECT_FALSE((traits::is_data_unit<double>::value));
+ EXPECT_TRUE((traits::is_data_unit_v<bit>));
+ EXPECT_TRUE((traits::is_data_unit_v<byte>));
+ EXPECT_TRUE((traits::is_data_unit_v<exabit>));
+ EXPECT_TRUE((traits::is_data_unit_v<exabyte>));
+ EXPECT_FALSE((traits::is_data_unit_v<year>));
+ EXPECT_FALSE((traits::is_data_unit_v<double>));
- EXPECT_TRUE((traits::is_data_unit<bit_t>::value));
- EXPECT_TRUE((traits::is_data_unit<const bit_t>::value));
- EXPECT_TRUE((traits::is_data_unit<const bit_t&>::value));
- EXPECT_TRUE((traits::is_data_unit<byte_t>::value));
- EXPECT_FALSE((traits::is_data_unit<year_t>::value));
- EXPECT_TRUE((traits::is_data_unit<bit_t, byte_t>::value));
- EXPECT_FALSE((traits::is_data_unit<year_t, byte_t>::value));
+ EXPECT_TRUE((traits::is_data_unit_v<bit_t>));
+ EXPECT_TRUE((traits::is_data_unit_v<const bit_t>));
+ EXPECT_TRUE((traits::is_data_unit_v<const bit_t&>));
+ EXPECT_TRUE((traits::is_data_unit_v<byte_t>));
+ EXPECT_FALSE((traits::is_data_unit_v<year_t>));
+ EXPECT_TRUE((traits::is_data_unit_v<bit_t, byte_t>));
+ EXPECT_FALSE((traits::is_data_unit_v<year_t, byte_t>));
}
TEST_F(TypeTraits, is_data_transfer_rate_unit) {
- EXPECT_TRUE((traits::is_data_transfer_rate_unit<Gbps>::value));
- EXPECT_TRUE((traits::is_data_transfer_rate_unit<GBps>::value));
- EXPECT_FALSE((traits::is_data_transfer_rate_unit<year>::value));
- EXPECT_FALSE((traits::is_data_transfer_rate_unit<double>::value));
+ EXPECT_TRUE((traits::is_data_transfer_rate_unit_v<Gbps>));
+ EXPECT_TRUE((traits::is_data_transfer_rate_unit_v<GBps>));
+ EXPECT_FALSE((traits::is_data_transfer_rate_unit_v<year>));
+ EXPECT_FALSE((traits::is_data_transfer_rate_unit_v<double>));
EXPECT_TRUE(
- (traits::is_data_transfer_rate_unit<gigabits_per_second_t>::value));
+ (traits::is_data_transfer_rate_unit_v<gigabits_per_second_t>));
EXPECT_TRUE((
- traits::is_data_transfer_rate_unit<const gigabytes_per_second_t>::value));
- EXPECT_TRUE((traits::is_data_transfer_rate_unit<
- const gigabytes_per_second_t&>::value));
+ traits::is_data_transfer_rate_unit_v<const gigabytes_per_second_t>));
+ EXPECT_TRUE((traits::is_data_transfer_rate_unit_v<
+ const gigabytes_per_second_t&>));
EXPECT_TRUE(
- (traits::is_data_transfer_rate_unit<gigabytes_per_second_t>::value));
- EXPECT_FALSE((traits::is_data_transfer_rate_unit<year_t>::value));
+ (traits::is_data_transfer_rate_unit_v<gigabytes_per_second_t>));
+ EXPECT_FALSE((traits::is_data_transfer_rate_unit_v<year_t>));
EXPECT_TRUE(
- (traits::is_data_transfer_rate_unit<gigabits_per_second_t,
- gigabytes_per_second_t>::value));
+ (traits::is_data_transfer_rate_unit_v<gigabits_per_second_t,
+ gigabytes_per_second_t>));
EXPECT_FALSE(
- (traits::is_data_transfer_rate_unit<year_t,
- gigabytes_per_second_t>::value));
+ (traits::is_data_transfer_rate_unit_v<year_t,
+ gigabytes_per_second_t>));
}
TEST_F(UnitManipulators, squared) {
@@ -861,8 +861,8 @@
using scalar_2 = squared<scalar>; // this is actually nonsensical, and should
// also result in a scalar.
bool isSame =
- std::is_same<typename std::decay<scalar_t>::type,
- typename std::decay<unit_t<scalar_2>>::type>::value;
+ std::is_same_v<typename std::decay_t<scalar_t>,
+ typename std::decay_t<unit_t<scalar_2>>>;
EXPECT_TRUE(isSame);
}
@@ -877,9 +877,9 @@
double test;
test = convert<square_root<square_kilometer>, meter>(1.0);
- EXPECT_TRUE((traits::is_convertible_unit<
- typename std::decay<square_root<square_kilometer>>::type,
- kilometer>::value));
+ EXPECT_TRUE((traits::is_convertible_unit_v<
+ typename std::decay_t<square_root<square_kilometer>>,
+ kilometer>));
EXPECT_NEAR(1000.0, test, 5.0e-13);
}
@@ -893,10 +893,10 @@
using acceleration4 = compound_unit<meters, inverse<squared<seconds>>>;
using acceleration5 = compound_unit<meters, squared<inverse<seconds>>>;
- bool areSame12 = std::is_same<acceleration1, acceleration2>::value;
- bool areSame23 = std::is_same<acceleration2, acceleration3>::value;
- bool areSame34 = std::is_same<acceleration3, acceleration4>::value;
- bool areSame45 = std::is_same<acceleration4, acceleration5>::value;
+ bool areSame12 = std::is_same_v<acceleration1, acceleration2>;
+ bool areSame23 = std::is_same_v<acceleration2, acceleration3>;
+ bool areSame34 = std::is_same_v<acceleration3, acceleration4>;
+ bool areSame45 = std::is_same_v<acceleration4, acceleration5>;
EXPECT_TRUE(areSame12);
EXPECT_TRUE(areSame23);
@@ -907,7 +907,7 @@
using arbitrary1 = compound_unit<meters, inverse<celsius>>;
using arbitrary2 = compound_unit<meters, celsius>;
using arbitrary3 = compound_unit<arbitrary1, arbitrary2>;
- EXPECT_TRUE((std::is_same<square_meters, arbitrary3>::value));
+ EXPECT_TRUE((std::is_same_v<square_meters, arbitrary3>));
}
TEST_F(UnitManipulators, dimensionalAnalysis) {
@@ -916,47 +916,47 @@
// template parameters), as you can get the resulting unit of the operation.
using velocity = units::detail::unit_divide<meters, second>;
- bool shouldBeTrue = std::is_same<meters_per_second, velocity>::value;
+ bool shouldBeTrue = std::is_same_v<meters_per_second, velocity>;
EXPECT_TRUE(shouldBeTrue);
using acceleration1 = unit<std::ratio<1>, category::acceleration_unit>;
using acceleration2 = units::detail::unit_divide<
meters, units::detail::unit_multiply<seconds, seconds>>;
- shouldBeTrue = std::is_same<acceleration1, acceleration2>::value;
+ shouldBeTrue = std::is_same_v<acceleration1, acceleration2>;
EXPECT_TRUE(shouldBeTrue);
}
#ifdef _MSC_VER
#if (_MSC_VER >= 1900)
TEST_F(UnitContainer, trivial) {
- EXPECT_TRUE((std::is_trivial<meter_t>::value));
- EXPECT_TRUE((std::is_trivially_assignable<meter_t, meter_t>::value));
- EXPECT_TRUE((std::is_trivially_constructible<meter_t>::value));
- EXPECT_TRUE((std::is_trivially_copy_assignable<meter_t>::value));
- EXPECT_TRUE((std::is_trivially_copy_constructible<meter_t>::value));
- EXPECT_TRUE((std::is_trivially_copyable<meter_t>::value));
- EXPECT_TRUE((std::is_trivially_default_constructible<meter_t>::value));
- EXPECT_TRUE((std::is_trivially_destructible<meter_t>::value));
- EXPECT_TRUE((std::is_trivially_move_assignable<meter_t>::value));
- EXPECT_TRUE((std::is_trivially_move_constructible<meter_t>::value));
+ EXPECT_TRUE((std::is_trivial_v<meter_t>));
+ EXPECT_TRUE((std::is_trivially_assignable_v<meter_t, meter_t>));
+ EXPECT_TRUE((std::is_trivially_constructible_v<meter_t>));
+ EXPECT_TRUE((std::is_trivially_copy_assignable_v<meter_t>));
+ EXPECT_TRUE((std::is_trivially_copy_constructible_v<meter_t>));
+ EXPECT_TRUE((std::is_trivially_copyable_v<meter_t>));
+ EXPECT_TRUE((std::is_trivially_default_constructible_v<meter_t>));
+ EXPECT_TRUE((std::is_trivially_destructible_v<meter_t>));
+ EXPECT_TRUE((std::is_trivially_move_assignable_v<meter_t>));
+ EXPECT_TRUE((std::is_trivially_move_constructible_v<meter_t>));
- EXPECT_TRUE((std::is_trivial<dB_t>::value));
- EXPECT_TRUE((std::is_trivially_assignable<dB_t, dB_t>::value));
- EXPECT_TRUE((std::is_trivially_constructible<dB_t>::value));
- EXPECT_TRUE((std::is_trivially_copy_assignable<dB_t>::value));
- EXPECT_TRUE((std::is_trivially_copy_constructible<dB_t>::value));
- EXPECT_TRUE((std::is_trivially_copyable<dB_t>::value));
- EXPECT_TRUE((std::is_trivially_default_constructible<dB_t>::value));
- EXPECT_TRUE((std::is_trivially_destructible<dB_t>::value));
- EXPECT_TRUE((std::is_trivially_move_assignable<dB_t>::value));
- EXPECT_TRUE((std::is_trivially_move_constructible<dB_t>::value));
+ EXPECT_TRUE((std::is_trivial_v<dB_t>));
+ EXPECT_TRUE((std::is_trivially_assignable_v<dB_t, dB_t>));
+ EXPECT_TRUE((std::is_trivially_constructible_v<dB_t>));
+ EXPECT_TRUE((std::is_trivially_copy_assignable_v<dB_t>));
+ EXPECT_TRUE((std::is_trivially_copy_constructible_v<dB_t>));
+ EXPECT_TRUE((std::is_trivially_copyable_v<dB_t>));
+ EXPECT_TRUE((std::is_trivially_default_constructible_v<dB_t>));
+ EXPECT_TRUE((std::is_trivially_destructible_v<dB_t>));
+ EXPECT_TRUE((std::is_trivially_move_assignable_v<dB_t>));
+ EXPECT_TRUE((std::is_trivially_move_constructible_v<dB_t>));
}
#endif
#endif
TEST_F(UnitContainer, has_value_member) {
- EXPECT_TRUE((traits::has_value_member<linear_scale<double>, double>::value));
- EXPECT_FALSE((traits::has_value_member<meter, double>::value));
+ EXPECT_TRUE((traits::has_value_member_v<linear_scale<double>, double>));
+ EXPECT_FALSE((traits::has_value_member_v<meter, double>));
}
TEST_F(UnitContainer, make_unit) {
@@ -1162,7 +1162,7 @@
result_m = a_m * 4.0;
EXPECT_NEAR(4.0, result_m(), 5.0e-5);
- bool isSame = std::is_same<decltype(result_m), meter_t>::value;
+ bool isSame = std::is_same_v<decltype(result_m), meter_t>;
EXPECT_TRUE(isSame);
}
@@ -1174,27 +1174,27 @@
auto c = a_m / a_ft;
EXPECT_NEAR(1.0, c, 5.0e-5);
- isSame = std::is_same<decltype(c), scalar_t>::value;
+ isSame = std::is_same_v<decltype(c), scalar_t>;
EXPECT_TRUE(isSame);
c = a_m / b_m;
EXPECT_NEAR(0.5, c, 5.0e-5);
- isSame = std::is_same<decltype(c), scalar_t>::value;
+ isSame = std::is_same_v<decltype(c), scalar_t>;
EXPECT_TRUE(isSame);
c = a_ft / a_m;
EXPECT_NEAR(1.0, c, 5.0e-5);
- isSame = std::is_same<decltype(c), scalar_t>::value;
+ isSame = std::is_same_v<decltype(c), scalar_t>;
EXPECT_TRUE(isSame);
c = scalar_t(1.0) / 2.0;
EXPECT_NEAR(0.5, c, 5.0e-5);
- isSame = std::is_same<decltype(c), scalar_t>::value;
+ isSame = std::is_same_v<decltype(c), scalar_t>;
EXPECT_TRUE(isSame);
c = 1.0 / scalar_t(2.0);
EXPECT_NEAR(0.5, c, 5.0e-5);
- isSame = std::is_same<decltype(c), scalar_t>::value;
+ isSame = std::is_same_v<decltype(c), scalar_t>;
EXPECT_TRUE(isSame);
double d = scalar_t(1.0) / 2.0;
@@ -1202,17 +1202,17 @@
auto e = a_m / a_sec;
EXPECT_NEAR(0.1, e(), 5.0e-5);
- isSame = std::is_same<decltype(e), meters_per_second_t>::value;
+ isSame = std::is_same_v<decltype(e), meters_per_second_t>;
EXPECT_TRUE(isSame);
auto f = a_m / 8.0;
EXPECT_NEAR(0.125, f(), 5.0e-5);
- isSame = std::is_same<decltype(f), meter_t>::value;
+ isSame = std::is_same_v<decltype(f), meter_t>;
EXPECT_TRUE(isSame);
auto g = 4.0 / b_m;
EXPECT_NEAR(2.0, g(), 5.0e-5);
- isSame = std::is_same<decltype(g), unit_t<inverse<meters>>>::value;
+ isSame = std::is_same_v<decltype(g), unit_t<inverse<meters>>>;
EXPECT_TRUE(isSame);
auto mph = mile_t(60.0) / hour_t(1.0);
@@ -1329,7 +1329,7 @@
auto test2 = meter_t(4.0).value();
EXPECT_DOUBLE_EQ(4.0, test2);
- EXPECT_TRUE((std::is_same<decltype(test2), double>::value));
+ EXPECT_TRUE((std::is_same_v<decltype(test2), double>));
}
TEST_F(UnitContainer, convertMethod) {
@@ -1613,7 +1613,7 @@
EXPECT_NEAR(40.0, result_dbw(), 5.0e-5);
result_dbw = dB_t(12.0) + dBW_t(30.0);
EXPECT_NEAR(42.0, result_dbw(), 5.0e-5);
- isSame = std::is_same<decltype(result_dbw), dBW_t>::value;
+ isSame = std::is_same_v<decltype(result_dbw), dBW_t>;
EXPECT_TRUE(isSame);
auto result_dbm = dB_t(30.0) + dBm_t(20.0);
@@ -1623,8 +1623,8 @@
// it works...
auto result_dBW2 = dBW_t(10.0) + dBm_t(40.0);
EXPECT_NEAR(20.0, result_dBW2(), 5.0e-5);
- isSame = std::is_same<decltype(result_dBW2),
- unit_t<squared<watts>, double, decibel_scale>>::value;
+ isSame = std::is_same_v<decltype(result_dBW2),
+ unit_t<squared<watts>, double, decibel_scale>>;
EXPECT_TRUE(isSame);
}
@@ -1633,22 +1633,22 @@
auto result_dbw = dBW_t(10.0) - dB_t(30.0);
EXPECT_NEAR(-20.0, result_dbw(), 5.0e-5);
- isSame = std::is_same<decltype(result_dbw), dBW_t>::value;
+ isSame = std::is_same_v<decltype(result_dbw), dBW_t>;
EXPECT_TRUE(isSame);
auto result_dbm = dBm_t(100.0) - dB_t(30.0);
EXPECT_NEAR(70.0, result_dbm(), 5.0e-5);
- isSame = std::is_same<decltype(result_dbm), dBm_t>::value;
+ isSame = std::is_same_v<decltype(result_dbm), dBm_t>;
EXPECT_TRUE(isSame);
auto result_db = dBW_t(100.0) - dBW_t(80.0);
EXPECT_NEAR(20.0, result_db(), 5.0e-5);
- isSame = std::is_same<decltype(result_db), dB_t>::value;
+ isSame = std::is_same_v<decltype(result_db), dB_t>;
EXPECT_TRUE(isSame);
result_db = dB_t(100.0) - dB_t(80.0);
EXPECT_NEAR(20.0, result_db(), 5.0e-5);
- isSame = std::is_same<decltype(result_db), dB_t>::value;
+ isSame = std::is_same_v<decltype(result_db), dB_t>;
EXPECT_TRUE(isSame);
}
@@ -1666,25 +1666,25 @@
EXPECT_EQ(iResult2, unit_cast<int>(test2));
EXPECT_TRUE(
- (std::is_same<double, decltype(unit_cast<double>(test1))>::value));
- EXPECT_TRUE((std::is_same<int, decltype(unit_cast<int>(test2))>::value));
+ (std::is_same_v<double, decltype(unit_cast<double>(test1))>));
+ EXPECT_TRUE((std::is_same_v<int, decltype(unit_cast<int>(test2))>));
}
// literal syntax is only supported in GCC 4.7+ and MSVC2015+
#if !defined(_MSC_VER) || _MSC_VER > 1800
TEST_F(UnitContainer, literals) {
// basic functionality testing
- EXPECT_TRUE((std::is_same<decltype(16.2_m), meter_t>::value));
+ EXPECT_TRUE((std::is_same_v<decltype(16.2_m), meter_t>));
EXPECT_TRUE(meter_t(16.2) == 16.2_m);
EXPECT_TRUE(meter_t(16) == 16_m);
- EXPECT_TRUE((std::is_same<decltype(11.2_ft), foot_t>::value));
+ EXPECT_TRUE((std::is_same_v<decltype(11.2_ft), foot_t>));
EXPECT_TRUE(foot_t(11.2) == 11.2_ft);
EXPECT_TRUE(foot_t(11) == 11_ft);
// auto using literal syntax
auto x = 10.0_m;
- EXPECT_TRUE((std::is_same<decltype(x), meter_t>::value));
+ EXPECT_TRUE((std::is_same_v<decltype(x), meter_t>));
EXPECT_TRUE(meter_t(10) == x);
// conversion using literal syntax
@@ -1920,8 +1920,8 @@
double test;
bool same;
- same = std::is_same<traits::base_unit_of<steradians>,
- traits::base_unit_of<degrees_squared>>::value;
+ same = std::is_same_v<traits::base_unit_of<steradians>,
+ traits::base_unit_of<degrees_squared>>;
EXPECT_TRUE(same);
test = convert<steradians, steradians>(72.0);
@@ -1961,10 +1961,10 @@
double test;
bool same;
- same = std::is_same<meters_per_second,
- unit<std::ratio<1>, category::velocity_unit>>::value;
+ same = std::is_same_v<meters_per_second,
+ unit<std::ratio<1>, category::velocity_unit>>;
EXPECT_TRUE(same);
- same = traits::is_convertible_unit<miles_per_hour, meters_per_second>::value;
+ same = traits::is_convertible_unit_v<miles_per_hour, meters_per_second>;
EXPECT_TRUE(same);
test = convert<meters_per_second, miles_per_hour>(1250.0);
@@ -1984,10 +1984,10 @@
bool same;
same =
- std::is_same<radians_per_second,
- unit<std::ratio<1>, category::angular_velocity_unit>>::value;
+ std::is_same_v<radians_per_second,
+ unit<std::ratio<1>, category::angular_velocity_unit>>;
EXPECT_TRUE(same);
- same = traits::is_convertible_unit<rpm, radians_per_second>::value;
+ same = traits::is_convertible_unit_v<rpm, radians_per_second>;
EXPECT_TRUE(same);
test = convert<radians_per_second, milliarcseconds_per_year>(1.0);
@@ -2612,8 +2612,8 @@
TEST_F(UnitConversion, pi) {
EXPECT_TRUE(
- units::traits::is_dimensionless_unit<decltype(constants::pi)>::value);
- EXPECT_TRUE(units::traits::is_dimensionless_unit<constants::PI>::value);
+ units::traits::is_dimensionless_unit_v<decltype(constants::pi)>);
+ EXPECT_TRUE(units::traits::is_dimensionless_unit_v<constants::PI>);
// implicit conversion/arithmetic
EXPECT_NEAR(3.14159, constants::pi, 5.0e-6);
@@ -2635,9 +2635,9 @@
// auto multiplication
EXPECT_TRUE(
- (std::is_same<meter_t, decltype(constants::pi * meter_t(1))>::value));
+ (std::is_same_v<meter_t, decltype(constants::pi * meter_t(1))>));
EXPECT_TRUE(
- (std::is_same<meter_t, decltype(meter_t(1) * constants::pi)>::value));
+ (std::is_same_v<meter_t, decltype(meter_t(1) * constants::pi)>));
EXPECT_NEAR(constants::detail::PI_VAL,
(constants::pi * meter_t(1)).value(), 5.0e-10);
@@ -2653,9 +2653,9 @@
// auto division
EXPECT_TRUE(
- (std::is_same<hertz_t, decltype(constants::pi / second_t(1))>::value));
+ (std::is_same_v<hertz_t, decltype(constants::pi / second_t(1))>));
EXPECT_TRUE(
- (std::is_same<second_t, decltype(second_t(1) / constants::pi)>::value));
+ (std::is_same_v<second_t, decltype(second_t(1) / constants::pi)>));
EXPECT_NEAR(constants::detail::PI_VAL,
(constants::pi / second_t(1)).value(), 5.0e-10);
@@ -2745,35 +2745,35 @@
}
TEST_F(UnitMath, cos) {
- EXPECT_TRUE((std::is_same<typename std::decay<scalar_t>::type,
- typename std::decay<decltype(
- cos(angle::radian_t(0)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<scalar_t>,
+ typename std::decay_t<decltype(
+ cos(angle::radian_t(0)))>>));
EXPECT_NEAR(scalar_t(-0.41614683654), cos(angle::radian_t(2)), 5.0e-11);
EXPECT_NEAR(scalar_t(-0.70710678118), cos(angle::degree_t(135)),
5.0e-11);
}
TEST_F(UnitMath, sin) {
- EXPECT_TRUE((std::is_same<typename std::decay<scalar_t>::type,
- typename std::decay<decltype(
- sin(angle::radian_t(0)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<scalar_t>,
+ typename std::decay_t<decltype(
+ sin(angle::radian_t(0)))>>));
EXPECT_NEAR(scalar_t(0.90929742682), sin(angle::radian_t(2)), 5.0e-11);
EXPECT_NEAR(scalar_t(0.70710678118), sin(angle::degree_t(135)), 5.0e-11);
}
TEST_F(UnitMath, tan) {
- EXPECT_TRUE((std::is_same<typename std::decay<scalar_t>::type,
- typename std::decay<decltype(
- tan(angle::radian_t(0)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<scalar_t>,
+ typename std::decay_t<decltype(
+ tan(angle::radian_t(0)))>>));
EXPECT_NEAR(scalar_t(-2.18503986326), tan(angle::radian_t(2)), 5.0e-11);
EXPECT_NEAR(scalar_t(-1.0), tan(angle::degree_t(135)), 5.0e-11);
}
TEST_F(UnitMath, acos) {
EXPECT_TRUE(
- (std::is_same<
- typename std::decay<angle::radian_t>::type,
- typename std::decay<decltype(acos(scalar_t(0)))>::type>::value));
+ (std::is_same_v<
+ typename std::decay_t<angle::radian_t>,
+ typename std::decay_t<decltype(acos(scalar_t(0)))>>));
EXPECT_NEAR(angle::radian_t(2).value(),
acos(scalar_t(-0.41614683654)).value(), 5.0e-11);
EXPECT_NEAR(
@@ -2785,9 +2785,9 @@
TEST_F(UnitMath, asin) {
EXPECT_TRUE(
- (std::is_same<
- typename std::decay<angle::radian_t>::type,
- typename std::decay<decltype(asin(scalar_t(0)))>::type>::value));
+ (std::is_same_v<
+ typename std::decay_t<angle::radian_t>,
+ typename std::decay_t<decltype(asin(scalar_t(0)))>>));
EXPECT_NEAR(angle::radian_t(1.14159265).value(),
asin(scalar_t(0.90929742682)).value(), 5.0e-9);
EXPECT_NEAR(
@@ -2799,9 +2799,9 @@
TEST_F(UnitMath, atan) {
EXPECT_TRUE(
- (std::is_same<
- typename std::decay<angle::radian_t>::type,
- typename std::decay<decltype(atan(scalar_t(0)))>::type>::value));
+ (std::is_same_v<
+ typename std::decay_t<angle::radian_t>,
+ typename std::decay_t<decltype(atan(scalar_t(0)))>>));
EXPECT_NEAR(angle::radian_t(-1.14159265).value(),
atan(scalar_t(-2.18503986326)).value(), 5.0e-9);
EXPECT_NEAR(angle::degree_t(-45).value(),
@@ -2809,9 +2809,9 @@
}
TEST_F(UnitMath, atan2) {
- EXPECT_TRUE((std::is_same<typename std::decay<angle::radian_t>::type,
- typename std::decay<decltype(atan2(
- scalar_t(1), scalar_t(1)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<angle::radian_t>,
+ typename std::decay_t<decltype(atan2(
+ scalar_t(1), scalar_t(1)))>>));
EXPECT_NEAR(angle::radian_t(constants::detail::PI_VAL / 4).value(),
atan2(scalar_t(2), scalar_t(2)).value(), 5.0e-12);
EXPECT_NEAR(
@@ -2819,9 +2819,9 @@
angle::degree_t(atan2(scalar_t(2), scalar_t(2))).value(),
5.0e-12);
- EXPECT_TRUE((std::is_same<typename std::decay<angle::radian_t>::type,
- typename std::decay<decltype(atan2(
- scalar_t(1), scalar_t(1)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<angle::radian_t>,
+ typename std::decay_t<decltype(atan2(
+ scalar_t(1), scalar_t(1)))>>));
EXPECT_NEAR(angle::radian_t(constants::detail::PI_VAL / 6).value(),
atan2(scalar_t(1), scalar_t(std::sqrt(3))).value(),
5.0e-12);
@@ -2832,33 +2832,33 @@
}
TEST_F(UnitMath, cosh) {
- EXPECT_TRUE((std::is_same<typename std::decay<scalar_t>::type,
- typename std::decay<decltype(
- cosh(angle::radian_t(0)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<scalar_t>,
+ typename std::decay_t<decltype(
+ cosh(angle::radian_t(0)))>>));
EXPECT_NEAR(scalar_t(3.76219569108), cosh(angle::radian_t(2)), 5.0e-11);
EXPECT_NEAR(scalar_t(5.32275215), cosh(angle::degree_t(135)), 5.0e-9);
}
TEST_F(UnitMath, sinh) {
- EXPECT_TRUE((std::is_same<typename std::decay<scalar_t>::type,
- typename std::decay<decltype(
- sinh(angle::radian_t(0)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<scalar_t>,
+ typename std::decay_t<decltype(
+ sinh(angle::radian_t(0)))>>));
EXPECT_NEAR(scalar_t(3.62686040785), sinh(angle::radian_t(2)), 5.0e-11);
EXPECT_NEAR(scalar_t(5.22797192), sinh(angle::degree_t(135)), 5.0e-9);
}
TEST_F(UnitMath, tanh) {
- EXPECT_TRUE((std::is_same<typename std::decay<scalar_t>::type,
- typename std::decay<decltype(
- tanh(angle::radian_t(0)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<scalar_t>,
+ typename std::decay_t<decltype(
+ tanh(angle::radian_t(0)))>>));
EXPECT_NEAR(scalar_t(0.96402758007), tanh(angle::radian_t(2)), 5.0e-11);
EXPECT_NEAR(scalar_t(0.98219338), tanh(angle::degree_t(135)), 5.0e-11);
}
TEST_F(UnitMath, acosh) {
- EXPECT_TRUE((std::is_same<typename std::decay<angle::radian_t>::type,
- typename std::decay<decltype(
- acosh(scalar_t(0)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<angle::radian_t>,
+ typename std::decay_t<decltype(
+ acosh(scalar_t(0)))>>));
EXPECT_NEAR(angle::radian_t(1.316957896924817).value(),
acosh(scalar_t(2.0)).value(), 5.0e-11);
EXPECT_NEAR(angle::degree_t(75.456129290216893).value(),
@@ -2866,9 +2866,9 @@
}
TEST_F(UnitMath, asinh) {
- EXPECT_TRUE((std::is_same<typename std::decay<angle::radian_t>::type,
- typename std::decay<decltype(
- asinh(scalar_t(0)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<angle::radian_t>,
+ typename std::decay_t<decltype(
+ asinh(scalar_t(0)))>>));
EXPECT_NEAR(angle::radian_t(1.443635475178810).value(),
asinh(scalar_t(2)).value(), 5.0e-9);
EXPECT_NEAR(angle::degree_t(82.714219883108939).value(),
@@ -2876,9 +2876,9 @@
}
TEST_F(UnitMath, atanh) {
- EXPECT_TRUE((std::is_same<typename std::decay<angle::radian_t>::type,
- typename std::decay<decltype(
- atanh(scalar_t(0)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<angle::radian_t>,
+ typename std::decay_t<decltype(
+ atanh(scalar_t(0)))>>));
EXPECT_NEAR(angle::radian_t(0.549306144334055).value(),
atanh(scalar_t(0.5)).value(), 5.0e-9);
EXPECT_NEAR(angle::degree_t(31.472923730945389).value(),
@@ -2934,38 +2934,38 @@
auto sq = pow<2>(value);
EXPECT_NEAR(100.0, sq(), 5.0e-2);
- isSame = std::is_same<decltype(sq), square_meter_t>::value;
+ isSame = std::is_same_v<decltype(sq), square_meter_t>;
EXPECT_TRUE(isSame);
auto cube = pow<3>(value);
EXPECT_NEAR(1000.0, cube(), 5.0e-2);
- isSame = std::is_same<decltype(cube), unit_t<cubed<meter>>>::value;
+ isSame = std::is_same_v<decltype(cube), unit_t<cubed<meter>>>;
EXPECT_TRUE(isSame);
auto fourth = pow<4>(value);
EXPECT_NEAR(10000.0, fourth(), 5.0e-2);
- isSame = std::is_same<
+ isSame = std::is_same_v<
decltype(fourth),
- unit_t<compound_unit<squared<meter>, squared<meter>>>>::value;
+ unit_t<compound_unit<squared<meter>, squared<meter>>>>;
EXPECT_TRUE(isSame);
}
TEST_F(UnitMath, sqrt) {
- EXPECT_TRUE((std::is_same<typename std::decay<meter_t>::type,
- typename std::decay<decltype(sqrt(
- square_meter_t(4.0)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<meter_t>,
+ typename std::decay_t<decltype(sqrt(
+ square_meter_t(4.0)))>>));
EXPECT_NEAR(meter_t(2.0).value(),
sqrt(square_meter_t(4.0)).value(), 5.0e-9);
- EXPECT_TRUE((std::is_same<typename std::decay<angle::radian_t>::type,
- typename std::decay<decltype(
- sqrt(steradian_t(16.0)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<angle::radian_t>,
+ typename std::decay_t<decltype(
+ sqrt(steradian_t(16.0)))>>));
EXPECT_NEAR(angle::radian_t(4.0).value(),
sqrt(steradian_t(16.0)).value(), 5.0e-9);
- EXPECT_TRUE((std::is_convertible<typename std::decay<foot_t>::type,
- typename std::decay<decltype(sqrt(
- square_foot_t(10.0)))>::type>::value));
+ EXPECT_TRUE((std::is_convertible_v<typename std::decay_t<foot_t>,
+ typename std::decay_t<decltype(sqrt(
+ square_foot_t(10.0)))>>));
// for rational conversion (i.e. no integral root) let's check a bunch of
// different ways this could go wrong
@@ -2978,15 +2978,15 @@
}
TEST_F(UnitMath, hypot) {
- EXPECT_TRUE((std::is_same<typename std::decay<meter_t>::type,
- typename std::decay<decltype(hypot(
- meter_t(3.0), meter_t(4.0)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<meter_t>,
+ typename std::decay_t<decltype(hypot(
+ meter_t(3.0), meter_t(4.0)))>>));
EXPECT_NEAR(meter_t(5.0).value(),
(hypot(meter_t(3.0), meter_t(4.0))).value(), 5.0e-9);
- EXPECT_TRUE((std::is_same<typename std::decay<foot_t>::type,
- typename std::decay<decltype(hypot(
- foot_t(3.0), meter_t(1.2192)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<foot_t>,
+ typename std::decay_t<decltype(hypot(
+ foot_t(3.0), meter_t(1.2192)))>>));
EXPECT_NEAR(foot_t(5.0).value(),
(hypot(foot_t(3.0), meter_t(1.2192))).value(), 5.0e-9);
}
@@ -2994,9 +2994,9 @@
TEST_F(UnitMath, ceil) {
double val = 101.1;
EXPECT_EQ(std::ceil(val), ceil(meter_t(val)).value());
- EXPECT_TRUE((std::is_same<typename std::decay<meter_t>::type,
- typename std::decay<decltype(
- ceil(meter_t(val)))>::type>::value));
+ EXPECT_TRUE((std::is_same_v<typename std::decay_t<meter_t>,
+ typename std::decay_t<decltype(
+ ceil(meter_t(val)))>>));
}
TEST_F(UnitMath, floor) {
@@ -3158,32 +3158,32 @@
#endif
TEST_F(CompileTimeArithmetic, unit_value_t) {
- typedef unit_value_t<meters, 3, 2> mRatio;
+ using mRatio = unit_value_t<meters, 3, 2>;
EXPECT_EQ(meter_t(1.5), mRatio::value());
}
TEST_F(CompileTimeArithmetic, is_unit_value_t) {
using mRatio = unit_value_t<meters, 3, 2>;
- EXPECT_TRUE((traits::is_unit_value_t<mRatio>::value));
- EXPECT_FALSE((traits::is_unit_value_t<meter_t>::value));
- EXPECT_FALSE((traits::is_unit_value_t<double>::value));
+ EXPECT_TRUE((traits::is_unit_value_t_v<mRatio>));
+ EXPECT_FALSE((traits::is_unit_value_t_v<meter_t>));
+ EXPECT_FALSE((traits::is_unit_value_t_v<double>));
- EXPECT_TRUE((traits::is_unit_value_t<mRatio, meters>::value));
- EXPECT_FALSE((traits::is_unit_value_t<meter_t, meters>::value));
- EXPECT_FALSE((traits::is_unit_value_t<double, meters>::value));
+ EXPECT_TRUE((traits::is_unit_value_t_v<mRatio, meters>));
+ EXPECT_FALSE((traits::is_unit_value_t_v<meter_t, meters>));
+ EXPECT_FALSE((traits::is_unit_value_t_v<double, meters>));
}
TEST_F(CompileTimeArithmetic, is_unit_value_t_category) {
using mRatio = unit_value_t<feet, 3, 2>;
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::length_unit, mRatio>::value));
+ (traits::is_unit_value_t_category_v<category::length_unit, mRatio>));
EXPECT_FALSE(
- (traits::is_unit_value_t_category<category::angle_unit, mRatio>::value));
+ (traits::is_unit_value_t_category_v<category::angle_unit, mRatio>));
EXPECT_FALSE((
- traits::is_unit_value_t_category<category::length_unit, meter_t>::value));
+ traits::is_unit_value_t_category_v<category::length_unit, meter_t>));
EXPECT_FALSE(
- (traits::is_unit_value_t_category<category::length_unit, double>::value));
+ (traits::is_unit_value_t_category_v<category::length_unit, double>));
}
TEST_F(CompileTimeArithmetic, unit_value_add) {
@@ -3192,39 +3192,39 @@
using sum = unit_value_add<mRatio, mRatio>;
EXPECT_EQ(meter_t(3.0), sum::value());
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::length_unit, sum>::value));
+ (traits::is_unit_value_t_category_v<category::length_unit, sum>));
using ftRatio = unit_value_t<feet, 1>;
using sumf = unit_value_add<ftRatio, mRatio>;
EXPECT_TRUE((
- std::is_same<typename std::decay<foot_t>::type,
- typename std::decay<decltype(sumf::value())>::type>::value));
+ std::is_same_v<typename std::decay_t<foot_t>,
+ typename std::decay_t<decltype(sumf::value())>>));
EXPECT_NEAR(5.92125984, sumf::value().value(), 5.0e-8);
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::length_unit, sumf>::value));
+ (traits::is_unit_value_t_category_v<category::length_unit, sumf>));
using cRatio = unit_value_t<celsius, 1>;
using fRatio = unit_value_t<fahrenheit, 2>;
using sumc = unit_value_add<cRatio, fRatio>;
EXPECT_TRUE((
- std::is_same<typename std::decay<celsius_t>::type,
- typename std::decay<decltype(sumc::value())>::type>::value));
+ std::is_same_v<typename std::decay_t<celsius_t>,
+ typename std::decay_t<decltype(sumc::value())>>));
EXPECT_NEAR(2.11111111111, sumc::value().value(), 5.0e-8);
- EXPECT_TRUE((traits::is_unit_value_t_category<category::temperature_unit,
- sumc>::value));
+ EXPECT_TRUE((traits::is_unit_value_t_category_v<category::temperature_unit,
+ sumc>));
using rRatio = unit_value_t<angle::radian, 1>;
using dRatio = unit_value_t<angle::degree, 3>;
using sumr = unit_value_add<rRatio, dRatio>;
EXPECT_TRUE((
- std::is_same<typename std::decay<angle::radian_t>::type,
- typename std::decay<decltype(sumr::value())>::type>::value));
+ std::is_same_v<typename std::decay_t<angle::radian_t>,
+ typename std::decay_t<decltype(sumr::value())>>));
EXPECT_NEAR(1.05235988, sumr::value().value(), 5.0e-8);
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::angle_unit, sumr>::value));
+ (traits::is_unit_value_t_category_v<category::angle_unit, sumr>));
}
TEST_F(CompileTimeArithmetic, unit_value_subtract) {
@@ -3233,39 +3233,39 @@
using diff = unit_value_subtract<mRatio, mRatio>;
EXPECT_EQ(meter_t(0), diff::value());
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::length_unit, diff>::value));
+ (traits::is_unit_value_t_category_v<category::length_unit, diff>));
using ftRatio = unit_value_t<feet, 1>;
using difff = unit_value_subtract<ftRatio, mRatio>;
- EXPECT_TRUE((std::is_same<
- typename std::decay<foot_t>::type,
- typename std::decay<decltype(difff::value())>::type>::value));
+ EXPECT_TRUE((std::is_same_v<
+ typename std::decay_t<foot_t>,
+ typename std::decay_t<decltype(difff::value())>>));
EXPECT_NEAR(-3.92125984, difff::value().value(), 5.0e-8);
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::length_unit, difff>::value));
+ (traits::is_unit_value_t_category_v<category::length_unit, difff>));
using cRatio = unit_value_t<celsius, 1>;
using fRatio = unit_value_t<fahrenheit, 2>;
using diffc = unit_value_subtract<cRatio, fRatio>;
- EXPECT_TRUE((std::is_same<
- typename std::decay<celsius_t>::type,
- typename std::decay<decltype(diffc::value())>::type>::value));
+ EXPECT_TRUE((std::is_same_v<
+ typename std::decay_t<celsius_t>,
+ typename std::decay_t<decltype(diffc::value())>>));
EXPECT_NEAR(-0.11111111111, diffc::value().value(), 5.0e-8);
- EXPECT_TRUE((traits::is_unit_value_t_category<category::temperature_unit,
- diffc>::value));
+ EXPECT_TRUE((traits::is_unit_value_t_category_v<category::temperature_unit,
+ diffc>));
using rRatio = unit_value_t<angle::radian, 1>;
using dRatio = unit_value_t<angle::degree, 3>;
using diffr = unit_value_subtract<rRatio, dRatio>;
- EXPECT_TRUE((std::is_same<
- typename std::decay<angle::radian_t>::type,
- typename std::decay<decltype(diffr::value())>::type>::value));
+ EXPECT_TRUE((std::is_same_v<
+ typename std::decay_t<angle::radian_t>,
+ typename std::decay_t<decltype(diffr::value())>>));
EXPECT_NEAR(0.947640122, diffr::value().value(), 5.0e-8);
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::angle_unit, diffr>::value));
+ (traits::is_unit_value_t_category_v<category::angle_unit, diffr>));
}
TEST_F(CompileTimeArithmetic, unit_value_multiply) {
@@ -3275,63 +3275,63 @@
using product = unit_value_multiply<mRatio, mRatio>;
EXPECT_EQ(square_meter_t(4), product::value());
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::area_unit, product>::value));
+ (traits::is_unit_value_t_category_v<category::area_unit, product>));
using productM = unit_value_multiply<mRatio, ftRatio>;
- EXPECT_TRUE((std::is_same<
- typename std::decay<square_meter_t>::type,
- typename std::decay<decltype(productM::value())>::type>::value));
+ EXPECT_TRUE((std::is_same_v<
+ typename std::decay_t<square_meter_t>,
+ typename std::decay_t<decltype(productM::value())>>));
EXPECT_NEAR(4.0, productM::value().value(), 5.0e-7);
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::area_unit, productM>::value));
+ (traits::is_unit_value_t_category_v<category::area_unit, productM>));
using productF = unit_value_multiply<ftRatio, mRatio>;
- EXPECT_TRUE((std::is_same<
- typename std::decay<square_foot_t>::type,
- typename std::decay<decltype(productF::value())>::type>::value));
+ EXPECT_TRUE((std::is_same_v<
+ typename std::decay_t<square_foot_t>,
+ typename std::decay_t<decltype(productF::value())>>));
EXPECT_NEAR(43.0556444224, productF::value().value(), 5.0e-6);
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::area_unit, productF>::value));
+ (traits::is_unit_value_t_category_v<category::area_unit, productF>));
using productF2 = unit_value_multiply<ftRatio, ftRatio>;
EXPECT_TRUE(
- (std::is_same<
- typename std::decay<square_foot_t>::type,
- typename std::decay<decltype(productF2::value())>::type>::value));
+ (std::is_same_v<
+ typename std::decay_t<square_foot_t>,
+ typename std::decay_t<decltype(productF2::value())>>));
EXPECT_NEAR(43.0556444224, productF2::value().value(), 5.0e-8);
EXPECT_TRUE((
- traits::is_unit_value_t_category<category::area_unit, productF2>::value));
+ traits::is_unit_value_t_category_v<category::area_unit, productF2>));
using nRatio = unit_value_t<units::force::newton, 5>;
using productN = unit_value_multiply<nRatio, ftRatio>;
EXPECT_FALSE(
- (std::is_same<
- typename std::decay<torque::newton_meter_t>::type,
- typename std::decay<decltype(productN::value())>::type>::value));
- EXPECT_TRUE((std::is_convertible<
- typename std::decay<torque::newton_meter_t>::type,
- typename std::decay<decltype(productN::value())>::type>::value));
+ (std::is_same_v<
+ typename std::decay_t<torque::newton_meter_t>,
+ typename std::decay_t<decltype(productN::value())>>));
+ EXPECT_TRUE((std::is_convertible_v<
+ typename std::decay_t<torque::newton_meter_t>,
+ typename std::decay_t<decltype(productN::value())>>));
EXPECT_NEAR(32.8084, productN::value().value(), 5.0e-8);
EXPECT_NEAR(10.0, (productN::value().convert<newton_meter>().value()),
5.0e-7);
- EXPECT_TRUE((traits::is_unit_value_t_category<category::torque_unit,
- productN>::value));
+ EXPECT_TRUE((traits::is_unit_value_t_category_v<category::torque_unit,
+ productN>));
using r1Ratio = unit_value_t<angle::radian, 11, 10>;
using r2Ratio = unit_value_t<angle::radian, 22, 10>;
using productR = unit_value_multiply<r1Ratio, r2Ratio>;
- EXPECT_TRUE((std::is_same<
- typename std::decay<steradian_t>::type,
- typename std::decay<decltype(productR::value())>::type>::value));
+ EXPECT_TRUE((std::is_same_v<
+ typename std::decay_t<steradian_t>,
+ typename std::decay_t<decltype(productR::value())>>));
EXPECT_NEAR(2.42, productR::value().value(), 5.0e-8);
EXPECT_NEAR(7944.39137,
(productR::value().convert<degrees_squared>().value()),
5.0e-6);
- EXPECT_TRUE((traits::is_unit_value_t_category<category::solid_angle_unit,
- productR>::value));
+ EXPECT_TRUE((traits::is_unit_value_t_category_v<category::solid_angle_unit,
+ productR>));
}
TEST_F(CompileTimeArithmetic, unit_value_divide) {
@@ -3341,116 +3341,116 @@
using product = unit_value_divide<mRatio, mRatio>;
EXPECT_EQ(scalar_t(1), product::value());
EXPECT_TRUE((
- traits::is_unit_value_t_category<category::scalar_unit, product>::value));
+ traits::is_unit_value_t_category_v<category::scalar_unit, product>));
using productM = unit_value_divide<mRatio, ftRatio>;
- EXPECT_TRUE((std::is_same<
- typename std::decay<scalar_t>::type,
- typename std::decay<decltype(productM::value())>::type>::value));
+ EXPECT_TRUE((std::is_same_v<
+ typename std::decay_t<scalar_t>,
+ typename std::decay_t<decltype(productM::value())>>));
EXPECT_NEAR(1, productM::value().value(), 5.0e-7);
- EXPECT_TRUE((traits::is_unit_value_t_category<category::scalar_unit,
- productM>::value));
+ EXPECT_TRUE((traits::is_unit_value_t_category_v<category::scalar_unit,
+ productM>));
using productF = unit_value_divide<ftRatio, mRatio>;
- EXPECT_TRUE((std::is_same<
- typename std::decay<scalar_t>::type,
- typename std::decay<decltype(productF::value())>::type>::value));
+ EXPECT_TRUE((std::is_same_v<
+ typename std::decay_t<scalar_t>,
+ typename std::decay_t<decltype(productF::value())>>));
EXPECT_NEAR(1.0, productF::value().value(), 5.0e-6);
- EXPECT_TRUE((traits::is_unit_value_t_category<category::scalar_unit,
- productF>::value));
+ EXPECT_TRUE((traits::is_unit_value_t_category_v<category::scalar_unit,
+ productF>));
using productF2 = unit_value_divide<ftRatio, ftRatio>;
EXPECT_TRUE(
- (std::is_same<
- typename std::decay<scalar_t>::type,
- typename std::decay<decltype(productF2::value())>::type>::value));
+ (std::is_same_v<
+ typename std::decay_t<scalar_t>,
+ typename std::decay_t<decltype(productF2::value())>>));
EXPECT_NEAR(1.0, productF2::value().value(), 5.0e-8);
- EXPECT_TRUE((traits::is_unit_value_t_category<category::scalar_unit,
- productF2>::value));
+ EXPECT_TRUE((traits::is_unit_value_t_category_v<category::scalar_unit,
+ productF2>));
using sRatio = unit_value_t<seconds, 10>;
using productMS = unit_value_divide<mRatio, sRatio>;
EXPECT_TRUE(
- (std::is_same<
- typename std::decay<meters_per_second_t>::type,
- typename std::decay<decltype(productMS::value())>::type>::value));
+ (std::is_same_v<
+ typename std::decay_t<meters_per_second_t>,
+ typename std::decay_t<decltype(productMS::value())>>));
EXPECT_NEAR(0.2, productMS::value().value(), 5.0e-8);
- EXPECT_TRUE((traits::is_unit_value_t_category<category::velocity_unit,
- productMS>::value));
+ EXPECT_TRUE((traits::is_unit_value_t_category_v<category::velocity_unit,
+ productMS>));
using rRatio = unit_value_t<angle::radian, 20>;
using productRS = unit_value_divide<rRatio, sRatio>;
EXPECT_TRUE(
- (std::is_same<
- typename std::decay<radians_per_second_t>::type,
- typename std::decay<decltype(productRS::value())>::type>::value));
+ (std::is_same_v<
+ typename std::decay_t<radians_per_second_t>,
+ typename std::decay_t<decltype(productRS::value())>>));
EXPECT_NEAR(2, productRS::value().value(), 5.0e-8);
EXPECT_NEAR(114.592,
(productRS::value().convert<degrees_per_second>().value()),
5.0e-4);
- EXPECT_TRUE((traits::is_unit_value_t_category<category::angular_velocity_unit,
- productRS>::value));
+ EXPECT_TRUE((traits::is_unit_value_t_category_v<category::angular_velocity_unit,
+ productRS>));
}
TEST_F(CompileTimeArithmetic, unit_value_power) {
using mRatio = unit_value_t<meters, 2>;
using sq = unit_value_power<mRatio, 2>;
- EXPECT_TRUE((std::is_convertible<
- typename std::decay<square_meter_t>::type,
- typename std::decay<decltype(sq::value())>::type>::value));
+ EXPECT_TRUE((std::is_convertible_v<
+ typename std::decay_t<square_meter_t>,
+ typename std::decay_t<decltype(sq::value())>>));
EXPECT_NEAR(4, sq::value().value(), 5.0e-8);
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::area_unit, sq>::value));
+ (traits::is_unit_value_t_category_v<category::area_unit, sq>));
using rRatio = unit_value_t<angle::radian, 18, 10>;
using sqr = unit_value_power<rRatio, 2>;
- EXPECT_TRUE((std::is_convertible<
- typename std::decay<steradian_t>::type,
- typename std::decay<decltype(sqr::value())>::type>::value));
+ EXPECT_TRUE((std::is_convertible_v<
+ typename std::decay_t<steradian_t>,
+ typename std::decay_t<decltype(sqr::value())>>));
EXPECT_NEAR(3.24, sqr::value().value(), 5.0e-8);
EXPECT_NEAR(10636.292574038049895092690529904,
(sqr::value().convert<degrees_squared>().value()), 5.0e-10);
- EXPECT_TRUE((traits::is_unit_value_t_category<category::solid_angle_unit,
- sqr>::value));
+ EXPECT_TRUE((traits::is_unit_value_t_category_v<category::solid_angle_unit,
+ sqr>));
}
TEST_F(CompileTimeArithmetic, unit_value_sqrt) {
using mRatio = unit_value_t<square_meters, 10>;
using root = unit_value_sqrt<mRatio>;
- EXPECT_TRUE((std::is_convertible<
- typename std::decay<meter_t>::type,
- typename std::decay<decltype(root::value())>::type>::value));
+ EXPECT_TRUE((std::is_convertible_v<
+ typename std::decay_t<meter_t>,
+ typename std::decay_t<decltype(root::value())>>));
EXPECT_NEAR(3.16227766017, root::value().value(), 5.0e-9);
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::length_unit, root>::value));
+ (traits::is_unit_value_t_category_v<category::length_unit, root>));
using hRatio = unit_value_t<hectare, 51, 7>;
using rooth = unit_value_sqrt<hRatio, 100000000>;
- EXPECT_TRUE((std::is_convertible<
- typename std::decay<mile_t>::type,
- typename std::decay<decltype(rooth::value())>::type>::value));
+ EXPECT_TRUE((std::is_convertible_v<
+ typename std::decay_t<mile_t>,
+ typename std::decay_t<decltype(rooth::value())>>));
EXPECT_NEAR(2.69920623253, rooth::value().value(), 5.0e-8);
EXPECT_NEAR(269.920623, rooth::value().convert<meters>().value(),
5.0e-6);
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::length_unit, rooth>::value));
+ (traits::is_unit_value_t_category_v<category::length_unit, rooth>));
using rRatio = unit_value_t<steradian, 18, 10>;
using rootr = unit_value_sqrt<rRatio>;
- EXPECT_TRUE((traits::is_angle_unit<decltype(rootr::value())>::value));
+ EXPECT_TRUE((traits::is_angle_unit_v<decltype(rootr::value())>));
EXPECT_NEAR(1.3416407865, rootr::value().value(), 5.0e-8);
EXPECT_NEAR(76.870352574,
rootr::value().convert<angle::degrees>().value(), 5.0e-6);
EXPECT_TRUE(
- (traits::is_unit_value_t_category<category::angle_unit, rootr>::value));
+ (traits::is_unit_value_t_category_v<category::angle_unit, rootr>));
}
TEST_F(CaseStudies, radarRangeEquation) {
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/controller/BangBangInputOutputTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/controller/BangBangInputOutputTest.cpp
new file mode 100644
index 0000000..4dfaa0e
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/controller/BangBangInputOutputTest.cpp
@@ -0,0 +1,19 @@
+// 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/controller/BangBangController.h"
+#include "gtest/gtest.h"
+
+class BangBangInputOutputTest : public testing::Test {
+ protected:
+ frc::BangBangController controller;
+};
+
+TEST_F(BangBangInputOutputTest, ShouldOutput) {
+ EXPECT_DOUBLE_EQ(controller.Calculate(0, 1), 1);
+}
+
+TEST_F(BangBangInputOutputTest, ShouldNotOutput) {
+ EXPECT_DOUBLE_EQ(controller.Calculate(1, 0), 0);
+}
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/controller/BangBangToleranceTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/controller/BangBangToleranceTest.cpp
new file mode 100644
index 0000000..e582720
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/controller/BangBangToleranceTest.cpp
@@ -0,0 +1,23 @@
+// 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/controller/BangBangController.h"
+#include "gtest/gtest.h"
+
+class BangBangToleranceTest : public testing::Test {
+ protected:
+ frc::BangBangController controller{0.1};
+};
+
+TEST_F(BangBangToleranceTest, InTolerance) {
+ controller.SetSetpoint(1);
+ controller.Calculate(1);
+ EXPECT_TRUE(controller.AtSetpoint());
+}
+
+TEST_F(BangBangToleranceTest, OutOfTolerance) {
+ controller.SetSetpoint(1);
+ controller.Calculate(0);
+ EXPECT_FALSE(controller.AtSetpoint());
+}
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
index 8c52cd0..7055530 100644
--- a/third_party/allwpilib/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
@@ -30,11 +30,11 @@
return frc::LinearSystemId::ElevatorSystem(motors, m, r, G);
}();
- LinearQuadraticRegulator<2, 1> controller{
- plant, {0.02, 0.4}, {12.0}, 0.00505_s};
+ Eigen::Matrix<double, 1, 2> K =
+ LinearQuadraticRegulator<2, 1>{plant, {0.02, 0.4}, {12.0}, 5.05_ms}.K();
- EXPECT_NEAR(522.15314269, controller.K(0, 0), 1e-6);
- EXPECT_NEAR(38.20138596, controller.K(0, 1), 1e-6);
+ EXPECT_NEAR(522.15314269, K(0, 0), 1e-6);
+ EXPECT_NEAR(38.20138596, K(0, 1), 1e-6);
}
TEST(LinearQuadraticRegulatorTest, ArmGains) {
@@ -54,11 +54,12 @@
motors, 1.0 / 3.0 * m * r * r, G);
}();
- LinearQuadraticRegulator<2, 1> controller{
- plant, {0.01745, 0.08726}, {12.0}, 0.00505_s};
+ Eigen::Matrix<double, 1, 2> K =
+ LinearQuadraticRegulator<2, 1>{plant, {0.01745, 0.08726}, {12.0}, 5.05_ms}
+ .K();
- EXPECT_NEAR(19.16, controller.K(0, 0), 1e-1);
- EXPECT_NEAR(3.32, controller.K(0, 1), 1e-1);
+ EXPECT_NEAR(19.16, K(0, 0), 1e-1);
+ EXPECT_NEAR(3.32, K(0, 1), 1e-1);
}
TEST(LinearQuadraticRegulatorTest, FourMotorElevator) {
@@ -76,10 +77,99 @@
return frc::LinearSystemId::ElevatorSystem(motors, m, r, G);
}();
- LinearQuadraticRegulator<2, 1> controller{plant, {0.1, 0.2}, {12.0}, 0.020_s};
+ Eigen::Matrix<double, 1, 2> K =
+ LinearQuadraticRegulator<2, 1>{plant, {0.1, 0.2}, {12.0}, 20_ms}.K();
- EXPECT_NEAR(10.38, controller.K(0, 0), 1e-1);
- EXPECT_NEAR(0.69, controller.K(0, 1), 1e-1);
+ EXPECT_NEAR(10.38, K(0, 0), 1e-1);
+ EXPECT_NEAR(0.69, K(0, 1), 1e-1);
+}
+
+/**
+ * Returns feedback control gain for implicit model following.
+ *
+ * This is used to test the QRN overload of LQR.
+ *
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
+ * @param A State matrix.
+ * @param B Input matrix.
+ * @param Q State cost matrix.
+ * @param R Input cost matrix.
+ * @param Aref Desired state matrix.
+ * @param dt Discretization timestep.
+ */
+template <int States, int Inputs>
+Eigen::Matrix<double, Inputs, States> GetImplicitModelFollowingK(
+ const Eigen::Matrix<double, States, States>& A,
+ const Eigen::Matrix<double, States, Inputs>& B,
+ const Eigen::Matrix<double, States, States>& Q,
+ const Eigen::Matrix<double, Inputs, Inputs>& R,
+ const Eigen::Matrix<double, States, States>& Aref, units::second_t dt) {
+ // Discretize real dynamics
+ Eigen::Matrix<double, States, States> discA;
+ Eigen::Matrix<double, States, Inputs> discB;
+ DiscretizeAB<States, Inputs>(A, B, dt, &discA, &discB);
+
+ // Discretize desired dynamics
+ Eigen::Matrix<double, States, States> discAref;
+ DiscretizeA<States>(Aref, dt, &discAref);
+
+ Eigen::Matrix<double, States, States> Qimf =
+ (discA - discAref).transpose() * Q * (discA - discAref);
+ Eigen::Matrix<double, Inputs, Inputs> Rimf =
+ discB.transpose() * Q * discB + R;
+ Eigen::Matrix<double, States, Inputs> Nimf =
+ (discA - discAref).transpose() * Q * discB;
+
+ return LinearQuadraticRegulator<States, Inputs>{A, B, Qimf, Rimf, Nimf, dt}
+ .K();
+}
+
+TEST(LinearQuadraticRegulatorTest, MatrixOverloadsWithSingleIntegrator) {
+ Eigen::Matrix<double, 2, 2> A{Eigen::Matrix<double, 2, 2>::Zero()};
+ Eigen::Matrix<double, 2, 2> B{Eigen::Matrix<double, 2, 2>::Identity()};
+ Eigen::Matrix<double, 2, 2> Q{Eigen::Matrix<double, 2, 2>::Identity()};
+ Eigen::Matrix<double, 2, 2> R{Eigen::Matrix<double, 2, 2>::Identity()};
+
+ // QR overload
+ Eigen::Matrix<double, 2, 2> K =
+ LinearQuadraticRegulator<2, 2>{A, B, Q, R, 5_ms}.K();
+ EXPECT_NEAR(0.99750312499512261, K(0, 0), 1e-10);
+ EXPECT_NEAR(0.0, K(0, 1), 1e-10);
+ EXPECT_NEAR(0.0, K(1, 0), 1e-10);
+ EXPECT_NEAR(0.99750312499512261, K(1, 1), 1e-10);
+
+ // QRN overload
+ Eigen::Matrix<double, 2, 2> N{Eigen::Matrix<double, 2, 2>::Identity()};
+ Eigen::Matrix<double, 2, 2> Kimf =
+ LinearQuadraticRegulator<2, 2>{A, B, Q, R, N, 5_ms}.K();
+ EXPECT_NEAR(1.0, Kimf(0, 0), 1e-10);
+ EXPECT_NEAR(0.0, Kimf(0, 1), 1e-10);
+ EXPECT_NEAR(0.0, Kimf(1, 0), 1e-10);
+ EXPECT_NEAR(1.0, Kimf(1, 1), 1e-10);
+}
+
+TEST(LinearQuadraticRegulatorTest, MatrixOverloadsWithDoubleIntegrator) {
+ double Kv = 3.02;
+ double Ka = 0.642;
+
+ Eigen::Matrix<double, 2, 2> A{{0, 1}, {0, -Kv / Ka}};
+ Eigen::Matrix<double, 2, 1> B{{0}, {1.0 / Ka}};
+ Eigen::Matrix<double, 2, 2> Q{{1, 0}, {0, 0.2}};
+ Eigen::Matrix<double, 1, 1> R{0.25};
+
+ // QR overload
+ Eigen::Matrix<double, 1, 2> K =
+ LinearQuadraticRegulator<2, 1>{A, B, Q, R, 5_ms}.K();
+ EXPECT_NEAR(1.9960017786537287, K(0, 0), 1e-10);
+ EXPECT_NEAR(0.51182128351092726, K(0, 1), 1e-10);
+
+ // QRN overload
+ Eigen::Matrix<double, 2, 2> Aref{{0, 1}, {0, -Kv / (Ka * 2.0)}};
+ Eigen::Matrix<double, 1, 2> Kimf =
+ GetImplicitModelFollowingK<2, 1>(A, B, Q, R, Aref, 5_ms);
+ EXPECT_NEAR(0.0, Kimf(0, 0), 1e-10);
+ EXPECT_NEAR(-5.367540084534802e-05, Kimf(0, 1), 1e-10);
}
TEST(LinearQuadraticRegulatorTest, LatencyCompensate) {
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp
index 5e297f4..8829deb 100644
--- a/third_party/allwpilib/wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp
@@ -16,7 +16,8 @@
180.0};
TEST(RamseteControllerTest, ReachesReference) {
- frc::RamseteController controller{2.0, 0.7};
+ frc::RamseteController controller{2.0 * 1_rad * 1_rad / (1_m * 1_m),
+ 0.7 / 1_rad};
frc::Pose2d robotPose{2.7_m, 23_m, frc::Rotation2d{0_deg}};
auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
new file mode 100644
index 0000000..2f64908
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/filter/DebouncerTest.cpp
@@ -0,0 +1,58 @@
+// 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 <wpi/timestamp.h>
+
+#include "frc/filter/Debouncer.h"
+#include "gtest/gtest.h"
+#include "units/time.h"
+
+static units::second_t now = 0_s;
+
+class DebouncerTest : public ::testing::Test {
+ protected:
+ void SetUp() override {
+ WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
+ }
+
+ void TearDown() override { WPI_SetNowImpl(nullptr); }
+};
+
+TEST_F(DebouncerTest, DebounceRising) {
+ frc::Debouncer debouncer{20_ms};
+
+ debouncer.Calculate(false);
+ EXPECT_FALSE(debouncer.Calculate(true));
+
+ now += 1_s;
+
+ EXPECT_TRUE(debouncer.Calculate(true));
+}
+
+TEST_F(DebouncerTest, DebounceFalling) {
+ frc::Debouncer debouncer{20_ms, frc::Debouncer::DebounceType::kFalling};
+
+ debouncer.Calculate(true);
+ EXPECT_TRUE(debouncer.Calculate(false));
+
+ now += 1_s;
+
+ EXPECT_FALSE(debouncer.Calculate(false));
+}
+
+TEST_F(DebouncerTest, DebounceBoth) {
+ frc::Debouncer debouncer{20_ms, frc::Debouncer::DebounceType::kBoth};
+
+ debouncer.Calculate(false);
+ EXPECT_FALSE(debouncer.Calculate(true));
+
+ now += 1_s;
+
+ EXPECT_TRUE(debouncer.Calculate(true));
+ EXPECT_TRUE(debouncer.Calculate(false));
+
+ now += 1_s;
+
+ EXPECT_FALSE(debouncer.Calculate(false));
+}
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
index bca3f9d..56121fa 100644
--- a/third_party/allwpilib/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
@@ -9,6 +9,7 @@
#include <memory>
#include <random>
+#include <wpi/array.h>
#include <wpi/numbers>
#include "gtest/gtest.h"
@@ -120,8 +121,40 @@
kTestMovAvg, kTestPulse));
template <int Derivative, int Samples, typename F, typename DfDx>
-void AssertResults(F&& f, DfDx&& dfdx, units::second_t h, double min,
- double max) {
+void AssertCentralResults(F&& f, DfDx&& dfdx, units::second_t h, double min,
+ double max) {
+ static_assert(Samples % 2 != 0, "Number of samples must be odd.");
+
+ // Generate stencil points from -(samples - 1)/2 to (samples - 1)/2
+ wpi::array<int, Samples> stencil{wpi::empty_array};
+ for (int i = 0; i < Samples; ++i) {
+ stencil[i] = -(Samples - 1) / 2 + i;
+ }
+
+ auto filter =
+ frc::LinearFilter<double>::FiniteDifference<Derivative, Samples>(stencil,
+ h);
+
+ for (int i = min / h.value(); i < max / h.value(); ++i) {
+ // Let filter initialize
+ if (i < static_cast<int>(min / h.value()) + Samples) {
+ filter.Calculate(f(i * h.value()));
+ continue;
+ }
+
+ // For central finite difference, the derivative computed at this point is
+ // half the window size in the past.
+ // The order of accuracy is O(h^(N - d)) where N is number of stencil
+ // points and d is order of derivative
+ EXPECT_NEAR(dfdx((i - static_cast<int>((Samples - 1) / 2)) * h.value()),
+ filter.Calculate(f(i * h.value())),
+ std::pow(h.value(), Samples - Derivative));
+ }
+}
+
+template <int Derivative, int Samples, typename F, typename DfDx>
+void AssertBackwardResults(F&& f, DfDx&& dfdx, units::second_t h, double min,
+ double max) {
auto filter =
frc::LinearFilter<double>::BackwardFiniteDifference<Derivative, Samples>(
h);
@@ -141,12 +174,12 @@
}
/**
- * Test backward finite difference.
+ * Test central finite difference.
*/
-TEST(LinearFilterOutputTest, BackwardFiniteDifference) {
+TEST(LinearFilterOutputTest, CentralFiniteDifference) {
constexpr auto h = 5_ms;
- AssertResults<1, 2>(
+ AssertCentralResults<1, 3>(
[](double x) {
// f(x) = x²
return x * x;
@@ -157,7 +190,7 @@
},
h, -20.0, 20.0);
- AssertResults<1, 2>(
+ AssertCentralResults<1, 3>(
[](double x) {
// f(x) = std::sin(x)
return std::sin(x);
@@ -168,7 +201,7 @@
},
h, -20.0, 20.0);
- AssertResults<1, 2>(
+ AssertCentralResults<1, 3>(
[](double x) {
// f(x) = ln(x)
return std::log(x);
@@ -179,7 +212,7 @@
},
h, 1.0, 20.0);
- AssertResults<2, 4>(
+ AssertCentralResults<2, 5>(
[](double x) {
// f(x) = x^2
return x * x;
@@ -190,7 +223,7 @@
},
h, -20.0, 20.0);
- AssertResults<2, 4>(
+ AssertCentralResults<2, 5>(
[](double x) {
// f(x) = std::sin(x)
return std::sin(x);
@@ -201,7 +234,80 @@
},
h, -20.0, 20.0);
- AssertResults<2, 4>(
+ AssertCentralResults<2, 5>(
+ [](double x) {
+ // f(x) = ln(x)
+ return std::log(x);
+ },
+ [](double x) {
+ // d²f/dx² = -1 / x²
+ return -1.0 / (x * x);
+ },
+ h, 1.0, 20.0);
+}
+
+/**
+ * Test backward finite difference.
+ */
+TEST(LinearFilterOutputTest, BackwardFiniteDifference) {
+ constexpr auto h = 5_ms;
+
+ AssertBackwardResults<1, 2>(
+ [](double x) {
+ // f(x) = x²
+ return x * x;
+ },
+ [](double x) {
+ // df/dx = 2x
+ return 2.0 * x;
+ },
+ h, -20.0, 20.0);
+
+ AssertBackwardResults<1, 2>(
+ [](double x) {
+ // f(x) = std::sin(x)
+ return std::sin(x);
+ },
+ [](double x) {
+ // df/dx = std::cos(x)
+ return std::cos(x);
+ },
+ h, -20.0, 20.0);
+
+ AssertBackwardResults<1, 2>(
+ [](double x) {
+ // f(x) = ln(x)
+ return std::log(x);
+ },
+ [](double x) {
+ // df/dx = 1 / x
+ return 1.0 / x;
+ },
+ h, 1.0, 20.0);
+
+ AssertBackwardResults<2, 4>(
+ [](double x) {
+ // f(x) = x^2
+ return x * x;
+ },
+ [](double x) {
+ // d²f/dx² = 2
+ return 2.0;
+ },
+ h, -20.0, 20.0);
+
+ AssertBackwardResults<2, 4>(
+ [](double x) {
+ // f(x) = std::sin(x)
+ return std::sin(x);
+ },
+ [](double x) {
+ // d²f/dx² = -std::sin(x)
+ return -std::sin(x);
+ },
+ h, -20.0, 20.0);
+
+ AssertBackwardResults<2, 4>(
[](double x) {
// f(x) = ln(x)
return std::log(x);
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
index d2c0bae..4896073 100644
--- a/third_party/allwpilib/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp
@@ -12,7 +12,16 @@
static units::second_t now = 0_s;
-TEST(SlewRateLimiterTest, SlewRateLimit) {
+class SlewRateLimiterTest : public ::testing::Test {
+ protected:
+ void SetUp() override {
+ WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
+ }
+
+ void TearDown() override { WPI_SetNowImpl(nullptr); }
+};
+
+TEST_F(SlewRateLimiterTest, SlewRateLimit) {
WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
frc::SlewRateLimiter<units::meters> limiter(1_mps);
@@ -22,9 +31,7 @@
EXPECT_LT(limiter.Calculate(2_m), 2_m);
}
-TEST(SlewRateLimiterTest, SlewRateNoLimit) {
- WPI_SetNowImpl([] { return units::microsecond_t{now}.to<uint64_t>(); });
-
+TEST_F(SlewRateLimiterTest, SlewRateNoLimit) {
frc::SlewRateLimiter<units::meters> limiter(1_mps);
now += 1_s;
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp
new file mode 100644
index 0000000..ee2ec9b
--- /dev/null
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp
@@ -0,0 +1,38 @@
+// 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 <cmath>
+
+#include "frc/geometry/Pose2d.h"
+#include "frc/geometry/Rotation2d.h"
+#include "frc/interpolation/TimeInterpolatableBuffer.h"
+#include "gtest/gtest.h"
+#include "units/time.h"
+
+TEST(TimeInterpolatableBufferTest, Interpolation) {
+ frc::TimeInterpolatableBuffer<frc::Rotation2d> buffer{10_s};
+
+ buffer.AddSample(0_s, frc::Rotation2d(0_rad));
+ EXPECT_TRUE(buffer.Sample(0_s) == frc::Rotation2d(0_rad));
+ buffer.AddSample(1_s, frc::Rotation2d(1_rad));
+ EXPECT_TRUE(buffer.Sample(0.5_s) == frc::Rotation2d(0.5_rad));
+ EXPECT_TRUE(buffer.Sample(1_s) == frc::Rotation2d(1_rad));
+ buffer.AddSample(3_s, frc::Rotation2d(2_rad));
+ EXPECT_TRUE(buffer.Sample(2_s) == frc::Rotation2d(1.5_rad));
+
+ buffer.AddSample(10.5_s, frc::Rotation2d(2_rad));
+ EXPECT_TRUE(buffer.Sample(0_s) == frc::Rotation2d(1_rad));
+}
+
+TEST(TimeInterpolatableBufferTest, Pose2d) {
+ frc::TimeInterpolatableBuffer<frc::Pose2d> buffer{10_s};
+ // We expect to be at (1 - 1/std::sqrt(2), 1/std::sqrt(2), 45deg) at t=0.5
+ buffer.AddSample(0_s, frc::Pose2d{0_m, 0_m, 90_deg});
+ buffer.AddSample(1_s, frc::Pose2d{1_m, 1_m, 0_deg});
+ frc::Pose2d sample = buffer.Sample(0.5_s);
+ EXPECT_TRUE(std::abs(sample.X().to<double>() - (1 - 1 / std::sqrt(2))) <
+ 0.01);
+ EXPECT_TRUE(std::abs(sample.Y().to<double>() - (1 / std::sqrt(2))) < 0.01);
+ EXPECT_TRUE(std::abs(sample.Rotation().Degrees().to<double>() - 45) < 0.01);
+}
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
index 18b72de..8cc454e 100644
--- a/third_party/allwpilib/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
@@ -143,9 +143,9 @@
EXPECT_NEAR(0.707, chassisSpeeds.omega.value(), 0.1);
}
-TEST_F(MecanumDriveKinematicsTest, Normalize) {
+TEST_F(MecanumDriveKinematicsTest, Desaturate) {
MecanumDriveWheelSpeeds wheelSpeeds{5_mps, 6_mps, 4_mps, 7_mps};
- wheelSpeeds.Normalize(5.5_mps);
+ wheelSpeeds.Desaturate(5.5_mps);
double kFactor = 5.5 / 7.0;
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
index 9384d89..55ebdcf 100644
--- a/third_party/allwpilib/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
@@ -162,14 +162,14 @@
EXPECT_NEAR(chassisSpeeds.omega.value(), 1.5, kEpsilon);
}
-TEST_F(SwerveDriveKinematicsTest, Normalize) {
+TEST_F(SwerveDriveKinematicsTest, Desaturate) {
SwerveModuleState state1{5.0_mps, Rotation2d()};
SwerveModuleState state2{6.0_mps, Rotation2d()};
SwerveModuleState state3{4.0_mps, Rotation2d()};
SwerveModuleState state4{7.0_mps, Rotation2d()};
wpi::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
- SwerveDriveKinematics<4>::NormalizeWheelSpeeds(&arr, 5.5_mps);
+ SwerveDriveKinematics<4>::DesaturateWheelSpeeds(&arr, 5.5_mps);
double kFactor = 5.5 / 7.0;
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
index 69e202f..41c34f9 100644
--- a/third_party/allwpilib/wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
@@ -3,7 +3,6 @@
// the WPILib BSD license file in the root directory of this project.
#include <chrono>
-#include <iostream>
#include <vector>
#include "frc/geometry/Pose2d.h"
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
index 25449fb..e045622 100644
--- a/third_party/allwpilib/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
@@ -3,7 +3,6 @@
// the WPILib BSD license file in the root directory of this project.
#include <chrono>
-#include <iostream>
#include "frc/geometry/Pose2d.h"
#include "frc/geometry/Rotation2d.h"
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
index 1fa12c2..fbf86f1 100644
--- a/third_party/allwpilib/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
@@ -49,6 +49,18 @@
ASSERT_TRUE(model.D().isApprox(Eigen::Matrix<double, 1, 1>{0.0}, 0.001));
}
+TEST(LinearSystemIDTest, DCMotorSystem) {
+ auto model = frc::LinearSystemId::DCMotorSystem(frc::DCMotor::NEO(2),
+ 0.00032_kg_sq_m, 1.0);
+ ASSERT_TRUE(model.A().isApprox(
+ Eigen::Matrix<double, 2, 2>{{0, 1}, {0, -26.87032}}, 0.001));
+ ASSERT_TRUE(
+ model.B().isApprox(Eigen::Matrix<double, 2, 1>{0, 1354.166667}, 0.001));
+ ASSERT_TRUE(model.C().isApprox(
+ Eigen::Matrix<double, 2, 2>{{1.0, 0.0}, {0.0, 1.0}}, 0.001));
+ ASSERT_TRUE(model.D().isApprox(Eigen::Matrix<double, 2, 1>{0.0, 0.0}, 0.001));
+}
+
TEST(LinearSystemIDTest, IdentifyPositionSystem) {
// By controls engineering in frc,
// x-dot = [0 1 | 0 -kv/ka] x = [0 | 1/ka] u
diff --git a/third_party/allwpilib/wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp b/third_party/allwpilib/wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
index b21ef7b..b5f6406 100644
--- a/third_party/allwpilib/wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
+++ b/third_party/allwpilib/wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
@@ -2,7 +2,6 @@
// 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 <iostream>
#include <memory>
#include <vector>
diff --git a/third_party/allwpilib/wpiutil/.styleguide b/third_party/allwpilib/wpiutil/.styleguide
index e8c1f84..f0ae065 100644
--- a/third_party/allwpilib/wpiutil/.styleguide
+++ b/third_party/allwpilib/wpiutil/.styleguide
@@ -77,6 +77,7 @@
src/main/native/resources/
src/test/native/cpp/llvm/
src/main/native/windows/StackWalker
+ src/main/native/linux/AvahiClient
}
licenseUpdateExclude {
diff --git a/third_party/allwpilib/wpiutil/CMakeLists.txt b/third_party/allwpilib/wpiutil/CMakeLists.txt
index a152018..a301772 100644
--- a/third_party/allwpilib/wpiutil/CMakeLists.txt
+++ b/third_party/allwpilib/wpiutil/CMakeLists.txt
@@ -14,18 +14,18 @@
include(UseJava)
set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
- if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/jackson-core-2.10.0.jar")
+ if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/jackson-core-2.12.4.jar")
set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
set(JAR_ROOT "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson")
message(STATUS "Downloading Jackson jarfiles...")
- file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-core/2.10.0/jackson-core-2.10.0.jar"
- "${JAR_ROOT}/jackson-core-2.10.0.jar")
- file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-databind/2.10.0/jackson-databind-2.10.0.jar"
- "${JAR_ROOT}/jackson-databind-2.10.0.jar")
- file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-annotations/2.10.0/jackson-annotations-2.10.0.jar"
- "${JAR_ROOT}/jackson-annotations-2.10.0.jar")
+ file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-core/2.12.4/jackson-core-2.12.4.jar"
+ "${JAR_ROOT}/jackson-core-2.12.4.jar")
+ file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-databind/2.12.4/jackson-databind-2.12.4.jar"
+ "${JAR_ROOT}/jackson-databind-2.12.4.jar")
+ file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-annotations/2.12.4/jackson-annotations-2.12.4.jar"
+ "${JAR_ROOT}/jackson-annotations-2.12.4.jar")
message(STATUS "All files downloaded.")
endif()
@@ -88,6 +88,8 @@
file(GLOB_RECURSE wpiutil_native_src src/main/native/cpp/*.cpp)
list(REMOVE_ITEM wpiutil_native_src ${wpiutil_jni_src})
file(GLOB_RECURSE wpiutil_unix_src src/main/native/unix/*.cpp)
+file(GLOB_RECURSE wpiutil_linux_src src/main/native/linux/*.cpp)
+file(GLOB_RECURSE wpiutil_macos_src src/main/native/macOS/*.cpp)
file(GLOB_RECURSE wpiutil_windows_src src/main/native/windows/*.cpp)
file(GLOB fmtlib_native_src src/main/native/fmtlib/src/*.cpp)
@@ -189,6 +191,11 @@
target_sources(wpiutil PRIVATE ${wpiutil_windows_src})
else ()
target_sources(wpiutil PRIVATE ${wpiutil_unix_src})
+ if (APPLE)
+ target_sources(wpiutil PRIVATE ${wpiutil_macos_src})
+ else()
+ target_sources(wpiutil PRIVATE ${wpiutil_linux_src})
+ endif()
endif()
target_include_directories(wpiutil PUBLIC
diff --git a/third_party/allwpilib/wpiutil/build.gradle b/third_party/allwpilib/wpiutil/build.gradle
index 752e709..3168723 100644
--- a/third_party/allwpilib/wpiutil/build.gradle
+++ b/third_party/allwpilib/wpiutil/build.gradle
@@ -129,6 +129,16 @@
srcDirs 'src/main/native/include', 'src/main/native/libuv/include', 'src/main/native/libuv/src'
}
}
+ wpiutilmacOSCpp(CppSourceSet) {
+ source {
+ srcDirs 'src/main/native/macOS'
+ include '**/*.cpp'
+ }
+ exportedHeaders {
+ srcDirs 'src/main/native/include', 'src/main/native/cpp'
+ include '**/*.h'
+ }
+ }
}
} else {
it.sources {
@@ -148,6 +158,16 @@
srcDirs 'src/main/native/include', 'src/main/native/libuv/include', 'src/main/native/libuv/src'
}
}
+ wpiutilLinuxCpp(CppSourceSet) {
+ source {
+ srcDirs 'src/main/native/linux'
+ include '**/*.cpp'
+ }
+ exportedHeaders {
+ srcDirs 'src/main/native/include', 'src/main/native/cpp', 'src/main/native/fmtlib/include'
+ include '**/*.h'
+ }
+ }
}
}
}
@@ -274,7 +294,7 @@
}
dependencies {
- api "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
- api "com.fasterxml.jackson.core:jackson-core:2.10.0"
- api "com.fasterxml.jackson.core:jackson-databind:2.10.0"
+ api "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
+ api "com.fasterxml.jackson.core:jackson-core:2.12.4"
+ api "com.fasterxml.jackson.core:jackson-databind:2.12.4"
}
diff --git a/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/MulticastServiceAnnouncer.java b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/MulticastServiceAnnouncer.java
new file mode 100644
index 0000000..1c4b2ac
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/MulticastServiceAnnouncer.java
@@ -0,0 +1,45 @@
+// 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.
+
+package edu.wpi.first.util;
+
+import java.util.Map;
+
+/** Class to announce over mDNS that a service is available. */
+public class MulticastServiceAnnouncer implements AutoCloseable {
+ private final int m_handle;
+
+ /**
+ * Creates a MulticastServiceAnnouncer.
+ *
+ * @param serviceName service name
+ * @param serviceType service type
+ * @param port port
+ * @param txt txt
+ */
+ public MulticastServiceAnnouncer(
+ String serviceName, String serviceType, int port, Map<String, String> txt) {
+ String[] keys = txt.keySet().toArray(String[]::new);
+ String[] values = txt.values().toArray(String[]::new);
+ m_handle =
+ WPIUtilJNI.createMulticastServiceAnnouncer(serviceName, serviceType, port, keys, values);
+ }
+
+ @Override
+ public void close() {
+ WPIUtilJNI.freeMulticastServiceAnnouncer(m_handle);
+ }
+
+ public void start() {
+ WPIUtilJNI.startMulticastServiceAnnouncer(m_handle);
+ }
+
+ public void stop() {
+ WPIUtilJNI.stopMulticastServiceAnnouncer(m_handle);
+ }
+
+ public boolean hasImplementation() {
+ return WPIUtilJNI.getMulticastServiceAnnouncerHasImplementation(m_handle);
+ }
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/MulticastServiceResolver.java b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/MulticastServiceResolver.java
new file mode 100644
index 0000000..3e331f2
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/MulticastServiceResolver.java
@@ -0,0 +1,44 @@
+// 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.
+
+package edu.wpi.first.util;
+
+/** Class to resolve a service over mDNS. */
+public class MulticastServiceResolver implements AutoCloseable {
+ private final int m_handle;
+
+ /**
+ * Creates a MulticastServiceResolver.
+ *
+ * @param serviceType service type to look for
+ */
+ public MulticastServiceResolver(String serviceType) {
+ m_handle = WPIUtilJNI.createMulticastServiceResolver(serviceType);
+ }
+
+ @Override
+ public void close() {
+ WPIUtilJNI.freeMulticastServiceResolver(m_handle);
+ }
+
+ public void start() {
+ WPIUtilJNI.startMulticastServiceResolver(m_handle);
+ }
+
+ public void stop() {
+ WPIUtilJNI.stopMulticastServiceResolver(m_handle);
+ }
+
+ public boolean hasImplementation() {
+ return WPIUtilJNI.getMulticastServiceResolverHasImplementation(m_handle);
+ }
+
+ public int getEventHandle() {
+ return WPIUtilJNI.getMulticastServiceResolverEventHandle(m_handle);
+ }
+
+ public ServiceData[] getData() {
+ return WPIUtilJNI.getMulticastServiceResolverData(m_handle);
+ }
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java
index 320bc5b..d4ad833 100644
--- a/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java
+++ b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java
@@ -150,7 +150,7 @@
* @return if architecture is aarch64
*/
public static boolean isAarch64() {
- return System.getProperty("os.arch").equals("aarch64");
+ return "aarch64".equals(System.getProperty("os.arch"));
}
public static boolean isLinux() {
diff --git a/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/RuntimeLoader.java b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/RuntimeLoader.java
index 8a2c11a..942055a 100644
--- a/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/RuntimeLoader.java
+++ b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/RuntimeLoader.java
@@ -140,12 +140,12 @@
} catch (UnsatisfiedLinkError ule) {
// Then load the hash from the input file
String resname = RuntimeDetector.getLibraryResource(m_libraryName);
- String hash = null;
+ String hash;
try (InputStream is = m_loadClass.getResourceAsStream(resname)) {
if (is == null) {
throw new IOException(getLoadErrorMessage(ule));
}
- MessageDigest md = null;
+ MessageDigest md;
try {
md = MessageDigest.getInstance("MD5");
} catch (NoSuchAlgorithmException nsae) {
diff --git a/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/ServiceData.java b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/ServiceData.java
new file mode 100644
index 0000000..0e56010
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/ServiceData.java
@@ -0,0 +1,66 @@
+// 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.
+
+package edu.wpi.first.util;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/** Service data for MulticastServiceResolver. */
+public class ServiceData {
+ /**
+ * Constructs a ServiceData.
+ *
+ * @param ipv4Address ipv4Address
+ * @param port port
+ * @param serviceName found service name
+ * @param hostName found host name
+ * @param keys txt keys
+ * @param values txt values
+ */
+ public ServiceData(
+ long ipv4Address,
+ int port,
+ String serviceName,
+ String hostName,
+ String[] keys,
+ String[] values) {
+ this.m_serviceName = serviceName;
+ this.m_hostName = hostName;
+ this.m_port = port;
+ this.m_ipv4Address = ipv4Address;
+
+ m_txt = new HashMap<>();
+
+ for (int i = 0; i < keys.length; i++) {
+ m_txt.put(keys[i], values[i]);
+ }
+ }
+
+ public Map<String, String> getTxt() {
+ return m_txt;
+ }
+
+ public String getHostName() {
+ return m_hostName;
+ }
+
+ public String getServiceName() {
+ return m_serviceName;
+ }
+
+ public int getPort() {
+ return m_port;
+ }
+
+ public long getIpv4Address() {
+ return m_ipv4Address;
+ }
+
+ private final Map<String, String> m_txt;
+ private final long m_ipv4Address;
+ private final int m_port;
+ private final String m_serviceName;
+ private final String m_hostName;
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
index b7b2f59..c79f458 100644
--- a/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
+++ b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
@@ -56,10 +56,14 @@
public static native void enableMockTime();
+ public static native void disableMockTime();
+
public static native void setMockTime(long time);
public static native long now();
+ public static native long getSystemTime();
+
public static native void addPortForwarder(int port, String remoteHost, int remotePort);
public static native void removePortForwarder(int port);
@@ -122,4 +126,29 @@
*/
public static native int[] waitForObjectsTimeout(int[] handles, double timeout)
throws InterruptedException;
+
+ public static native int createMulticastServiceAnnouncer(
+ String serviceName, String serviceType, int port, String[] keys, String[] values);
+
+ public static native void freeMulticastServiceAnnouncer(int handle);
+
+ public static native void startMulticastServiceAnnouncer(int handle);
+
+ public static native void stopMulticastServiceAnnouncer(int handle);
+
+ public static native boolean getMulticastServiceAnnouncerHasImplementation(int handle);
+
+ public static native int createMulticastServiceResolver(String serviceType);
+
+ public static native void freeMulticastServiceResolver(int handle);
+
+ public static native void startMulticastServiceResolver(int handle);
+
+ public static native void stopMulticastServiceResolver(int handle);
+
+ public static native boolean getMulticastServiceResolverHasImplementation(int handle);
+
+ public static native int getMulticastServiceResolverEventHandle(int handle);
+
+ public static native ServiceData[] getMulticastServiceResolverData(int handle);
}
diff --git a/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableRegistry.java b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableRegistry.java
index 9d919af..2a4c2c9 100644
--- a/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableRegistry.java
+++ b/third_party/allwpilib/wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableRegistry.java
@@ -462,7 +462,7 @@
* @param dataHandle data handle to get data object passed to callback
* @param callback function to call for each object
*/
- @SuppressWarnings("PMD.AvoidCatchingThrowable")
+ @SuppressWarnings({"PMD.AvoidCatchingThrowable", "PMD.AvoidReassigningCatchVariables"})
public static synchronized void foreachLiveWindow(
int dataHandle, Consumer<CallbackData> callback) {
CallbackData cbdata = new CallbackData();
diff --git a/third_party/allwpilib/wpiutil/src/main/native/cpp/HttpUtil.cpp b/third_party/allwpilib/wpiutil/src/main/native/cpp/HttpUtil.cpp
index afce3a6..b8b7cc8 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/cpp/HttpUtil.cpp
+++ b/third_party/allwpilib/wpiutil/src/main/native/cpp/HttpUtil.cpp
@@ -232,7 +232,7 @@
// Did we find the boundary?
if (searchBuf[0] == '-' && searchBuf[1] == '-' &&
- searchBuf.substr(2) == boundary) {
+ wpi::substr(searchBuf, 2) == boundary) {
return true;
}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/cpp/MimeTypes.cpp b/third_party/allwpilib/wpiutil/src/main/native/cpp/MimeTypes.cpp
index 082dab1..5f5bf59 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/cpp/MimeTypes.cpp
+++ b/third_party/allwpilib/wpiutil/src/main/native/cpp/MimeTypes.cpp
@@ -4,6 +4,7 @@
#include "wpi/MimeTypes.h"
+#include "wpi/StringExtras.h"
#include "wpi/StringMap.h"
namespace wpi {
@@ -53,11 +54,11 @@
auto pos = path.find_last_of("/");
if (pos != std::string_view::npos) {
- path = path.substr(pos + 1);
+ path = wpi::substr(path, pos + 1);
}
auto dot_pos = path.find_last_of(".");
if (dot_pos > 0 && dot_pos != std::string_view::npos) {
- auto type = mimeTypes.find(path.substr(dot_pos + 1));
+ auto type = mimeTypes.find(wpi::substr(path, dot_pos + 1));
if (type != mimeTypes.end()) {
return type->getValue();
}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/cpp/MulticastHandleManager.cpp b/third_party/allwpilib/wpiutil/src/main/native/cpp/MulticastHandleManager.cpp
new file mode 100644
index 0000000..d249a1c
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/cpp/MulticastHandleManager.cpp
@@ -0,0 +1,12 @@
+// 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 "MulticastHandleManager.h"
+
+using namespace wpi;
+
+MulticastHandleManager& wpi::GetMulticastManager() {
+ static MulticastHandleManager manager;
+ return manager;
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/cpp/MulticastHandleManager.h b/third_party/allwpilib/wpiutil/src/main/native/cpp/MulticastHandleManager.h
new file mode 100644
index 0000000..be8d061
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/cpp/MulticastHandleManager.h
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <memory>
+
+#include "wpi/DenseMap.h"
+#include "wpi/MulticastServiceAnnouncer.h"
+#include "wpi/MulticastServiceResolver.h"
+#include "wpi/UidVector.h"
+
+namespace wpi {
+struct MulticastHandleManager {
+ wpi::mutex mutex;
+ wpi::UidVector<int, 8> handleIds;
+ wpi::DenseMap<size_t, std::unique_ptr<wpi::MulticastServiceResolver>>
+ resolvers;
+ wpi::DenseMap<size_t, std::unique_ptr<wpi::MulticastServiceAnnouncer>>
+ announcers;
+};
+
+MulticastHandleManager& GetMulticastManager();
+} // namespace wpi
diff --git a/third_party/allwpilib/wpiutil/src/main/native/cpp/MulticastServiceAnnouncer.cpp b/third_party/allwpilib/wpiutil/src/main/native/cpp/MulticastServiceAnnouncer.cpp
new file mode 100644
index 0000000..736a03d
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/cpp/MulticastServiceAnnouncer.cpp
@@ -0,0 +1,67 @@
+// 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 "wpi/MulticastServiceAnnouncer.h"
+
+#include <wpi/SmallVector.h>
+
+#include "MulticastHandleManager.h"
+
+extern "C" {
+WPI_MulticastServiceAnnouncerHandle WPI_CreateMulticastServiceAnnouncer(
+ const char* serviceName, const char* serviceType, int32_t port,
+ int32_t txtCount, const char** keys, const char** values)
+
+{
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+
+ wpi::SmallVector<std::pair<std::string_view, std::string_view>, 8> txts;
+
+ for (int32_t i = 0; i < txtCount; i++) {
+ txts.emplace_back(
+ std::pair<std::string_view, std::string_view>{keys[i], values[i]});
+ }
+
+ auto announcer = std::make_unique<wpi::MulticastServiceAnnouncer>(
+ serviceName, serviceType, port, txts);
+
+ size_t index = manager.handleIds.emplace_back(3);
+ manager.announcers[index] = std::move(announcer);
+
+ return index;
+}
+
+void WPI_FreeMulticastServiceAnnouncer(
+ WPI_MulticastServiceAnnouncerHandle handle) {
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ manager.announcers[handle] = nullptr;
+ manager.handleIds.erase(handle);
+}
+
+void WPI_StartMulticastServiceAnnouncer(
+ WPI_MulticastServiceAnnouncerHandle handle) {
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& announcer = manager.announcers[handle];
+ announcer->Start();
+}
+
+void WPI_StopMulticastServiceAnnouncer(
+ WPI_MulticastServiceAnnouncerHandle handle) {
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& announcer = manager.announcers[handle];
+ announcer->Stop();
+}
+
+int32_t WPI_GetMulticastServiceAnnouncerHasImplementation(
+ WPI_MulticastServiceAnnouncerHandle handle) {
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& announcer = manager.announcers[handle];
+ return announcer->HasImplementation();
+}
+} // extern "C"
diff --git a/third_party/allwpilib/wpiutil/src/main/native/cpp/MulticastServiceResolver.cpp b/third_party/allwpilib/wpiutil/src/main/native/cpp/MulticastServiceResolver.cpp
new file mode 100644
index 0000000..b834f17
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/cpp/MulticastServiceResolver.cpp
@@ -0,0 +1,148 @@
+// 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 "wpi/MulticastServiceResolver.h"
+
+#include "MulticastHandleManager.h"
+#include "wpi/MemAlloc.h"
+
+extern "C" {
+WPI_MulticastServiceResolverHandle WPI_CreateMulticastServiceResolver(
+ const char* serviceType)
+
+{
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+
+ auto resolver = std::make_unique<wpi::MulticastServiceResolver>(serviceType);
+
+ size_t index = manager.handleIds.emplace_back(2);
+ manager.resolvers[index] = std::move(resolver);
+
+ return index;
+}
+
+void WPI_FreeMulticastServiceResolver(
+ WPI_MulticastServiceResolverHandle handle) {
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ manager.resolvers[handle] = nullptr;
+ manager.handleIds.erase(handle);
+}
+
+void WPI_StartMulticastServiceResolver(
+ WPI_MulticastServiceResolverHandle handle) {
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& resolver = manager.resolvers[handle];
+ resolver->Start();
+}
+
+void WPI_StopMulticastServiceResolver(
+ WPI_MulticastServiceResolverHandle handle) {
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& resolver = manager.resolvers[handle];
+ resolver->Stop();
+}
+
+int32_t WPI_GetMulticastServiceResolverHasImplementation(
+ WPI_MulticastServiceResolverHandle handle) {
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& resolver = manager.resolvers[handle];
+ return resolver->HasImplementation();
+}
+
+WPI_EventHandle WPI_GetMulticastServiceResolverEventHandle(
+ WPI_MulticastServiceResolverHandle handle) {
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& resolver = manager.resolvers[handle];
+ return resolver->GetEventHandle();
+}
+
+WPI_ServiceData* WPI_GetMulticastServiceResolverData(
+ WPI_MulticastServiceResolverHandle handle, int32_t* dataCount) {
+ std::vector<wpi::MulticastServiceResolver::ServiceData> allData;
+ {
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& resolver = manager.resolvers[handle];
+ allData = resolver->GetData();
+ }
+ if (allData.empty()) {
+ *dataCount = 0;
+ return nullptr;
+ }
+ size_t allocSize = sizeof(WPI_ServiceData) * allData.size();
+
+ for (auto&& data : allData) {
+ // Include space for hostName and serviceType (+ terminators)
+ allocSize += data.hostName.size() + data.serviceName.size() + 2;
+
+ size_t keysTotalLength = 0;
+ size_t valuesTotalLength = 0;
+ // Include space for all keys and values, and pointer array
+ for (auto&& t : data.txt) {
+ allocSize += sizeof(const char*);
+ keysTotalLength += (t.first.size() + 1);
+ allocSize += sizeof(const char*);
+ valuesTotalLength += (t.second.size() + 1);
+ }
+ allocSize += keysTotalLength;
+ allocSize += valuesTotalLength;
+ }
+
+ uint8_t* cDataRaw = reinterpret_cast<uint8_t*>(wpi::safe_malloc(allocSize));
+ if (!cDataRaw) {
+ return nullptr;
+ }
+ WPI_ServiceData* rootArray = reinterpret_cast<WPI_ServiceData*>(cDataRaw);
+ cDataRaw += (sizeof(WPI_ServiceData) + allData.size());
+ WPI_ServiceData* currentData = rootArray;
+
+ for (auto&& data : allData) {
+ currentData->ipv4Address = data.ipv4Address;
+ currentData->port = data.port;
+ currentData->txtCount = data.txt.size();
+
+ std::memcpy(cDataRaw, data.hostName.c_str(), data.hostName.size() + 1);
+ currentData->hostName = reinterpret_cast<const char*>(cDataRaw);
+ cDataRaw += data.hostName.size() + 1;
+
+ std::memcpy(cDataRaw, data.serviceName.c_str(),
+ data.serviceName.size() + 1);
+ currentData->serviceName = reinterpret_cast<const char*>(cDataRaw);
+ cDataRaw += data.serviceName.size() + 1;
+
+ char** valuesPtrArr = reinterpret_cast<char**>(cDataRaw);
+ cDataRaw += (sizeof(char**) * data.txt.size());
+ char** keysPtrArr = reinterpret_cast<char**>(cDataRaw);
+ cDataRaw += (sizeof(char**) * data.txt.size());
+
+ currentData->txtKeys = const_cast<const char**>(keysPtrArr);
+ currentData->txtValues = const_cast<const char**>(valuesPtrArr);
+
+ for (size_t i = 0; i < data.txt.size(); i++) {
+ keysPtrArr[i] = reinterpret_cast<char*>(cDataRaw);
+ std::memcpy(keysPtrArr[i], data.txt[i].first.c_str(),
+ data.txt[i].first.size() + 1);
+ cDataRaw += (data.txt[i].first.size() + 1);
+
+ valuesPtrArr[i] = reinterpret_cast<char*>(cDataRaw);
+ std::memcpy(valuesPtrArr[i], data.txt[i].second.c_str(),
+ data.txt[i].second.size() + 1);
+ cDataRaw += (data.txt[i].second.size() + 1);
+ }
+ currentData++;
+ }
+
+ return rootArray;
+}
+
+void WPI_FreeServiceData(WPI_ServiceData* serviceData, int32_t length) {
+ std::free(serviceData);
+}
+} // extern "C"
diff --git a/third_party/allwpilib/wpiutil/src/main/native/cpp/StackTraceWrap.cpp b/third_party/allwpilib/wpiutil/src/main/native/cpp/StackTraceWrap.cpp
new file mode 100644
index 0000000..37a83f7
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/cpp/StackTraceWrap.cpp
@@ -0,0 +1,18 @@
+// 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 <atomic>
+
+#include "wpi/StackTrace.h"
+
+static std::atomic<std::string (*)(int offset)> gStackTraceImpl{
+ wpi::GetStackTraceDefault};
+
+std::string wpi::GetStackTrace(int offset) {
+ return (gStackTraceImpl.load())(offset);
+}
+
+void wpi::SetGetStackTraceImpl(std::string (*func)(int offset)) {
+ gStackTraceImpl = func ? func : wpi::GetStackTraceDefault;
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/cpp/StringExtras.cpp b/third_party/allwpilib/wpiutil/src/main/native/cpp/StringExtras.cpp
index 45d23ea..968ffc3 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/cpp/StringExtras.cpp
+++ b/third_party/allwpilib/wpiutil/src/main/native/cpp/StringExtras.cpp
@@ -65,7 +65,7 @@
std::string_view::size_type wpi::find_lower(
std::string_view str, std::string_view other,
std::string_view::size_type from) noexcept {
- auto s = str.substr(from);
+ auto s = substr(str, from);
while (s.size() >= other.size()) {
if (starts_with_lower(s, other)) {
return from;
@@ -98,7 +98,7 @@
}
for (size_t i = str.size() - n + 1, e = 0; i != e;) {
--i;
- if (equals_lower(str.substr(i, n), other)) {
+ if (equals_lower(substr(str, i, n), other)) {
return i;
}
}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp b/third_party/allwpilib/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
index 4fc5f45..e876d9c 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
+++ b/third_party/allwpilib/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
@@ -4,9 +4,14 @@
#include <jni.h>
+#include "../MulticastHandleManager.h"
#include "edu_wpi_first_util_WPIUtilJNI.h"
+#include "wpi/DenseMap.h"
+#include "wpi/MulticastServiceAnnouncer.h"
+#include "wpi/MulticastServiceResolver.h"
#include "wpi/PortForwarder.h"
#include "wpi/Synchronization.h"
+#include "wpi/UidVector.h"
#include "wpi/jni_util.h"
#include "wpi/timestamp.h"
@@ -16,6 +21,8 @@
static uint64_t mockNow = 0;
static JException interruptedEx;
+static JClass serviceDataCls;
+static JGlobal<jobjectArray> serviceDataEmptyArray;
extern "C" {
@@ -30,6 +37,17 @@
return JNI_ERR;
}
+ serviceDataCls = JClass{env, "edu/wpi/first/util/ServiceData"};
+ if (!serviceDataCls) {
+ return JNI_ERR;
+ }
+
+ serviceDataEmptyArray = JGlobal<jobjectArray>{
+ env, env->NewObjectArray(0, serviceDataCls, nullptr)};
+ if (serviceDataEmptyArray == nullptr) {
+ return JNI_ERR;
+ }
+
return JNI_VERSION_1_6;
}
@@ -38,6 +56,9 @@
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
return;
}
+
+ serviceDataEmptyArray.free(env);
+ serviceDataCls.free(env);
interruptedEx.free(env);
}
@@ -56,6 +77,19 @@
/*
* Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: disableMockTime
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_disableMockTime
+ (JNIEnv*, jclass)
+{
+ mockTimeEnabled = false;
+ wpi::SetNowImpl(nullptr);
+}
+
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
* Method: setMockTime
* Signature: (J)V
*/
@@ -84,6 +118,18 @@
/*
* Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: getSystemTime
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_getSystemTime
+ (JNIEnv*, jclass)
+{
+ return wpi::GetSystemTime();
+}
+
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
* Method: addPortForwarder
* Signature: (ILjava/lang/String;I)V
*/
@@ -273,4 +319,257 @@
return MakeJIntArray(env, signaled);
}
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: createMulticastServiceAnnouncer
+ * Signature: (Ljava/lang/String;Ljava/lang/String;I[Ljava/lang/Object;[Ljava/lang/Object;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_createMulticastServiceAnnouncer
+ (JNIEnv* env, jclass, jstring serviceName, jstring serviceType, jint port,
+ jobjectArray keys, jobjectArray values)
+{
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+
+ JStringRef serviceNameRef{env, serviceName};
+ JStringRef serviceTypeRef{env, serviceType};
+
+ size_t keysLen = env->GetArrayLength(keys);
+ wpi::SmallVector<std::pair<std::string, std::string>, 8> txtVec;
+ txtVec.reserve(keysLen);
+ for (size_t i = 0; i < keysLen; i++) {
+ JLocal<jstring> key{
+ env, static_cast<jstring>(env->GetObjectArrayElement(keys, i))};
+ JLocal<jstring> value{
+ env, static_cast<jstring>(env->GetObjectArrayElement(values, i))};
+
+ txtVec.emplace_back(std::pair<std::string, std::string>{
+ JStringRef{env, key}.str(), JStringRef{env, value}.str()});
+ }
+
+ auto announcer = std::make_unique<wpi::MulticastServiceAnnouncer>(
+ serviceNameRef.str(), serviceTypeRef.str(), port, txtVec);
+
+ size_t index = manager.handleIds.emplace_back(1);
+
+ manager.announcers[index] = std::move(announcer);
+
+ return static_cast<jint>(index);
+}
+
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: freeMulticastServiceAnnouncer
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_freeMulticastServiceAnnouncer
+ (JNIEnv* env, jclass, jint handle)
+{
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ manager.announcers[handle] = nullptr;
+ manager.handleIds.erase(handle);
+}
+
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: startMulticastServiceAnnouncer
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_startMulticastServiceAnnouncer
+ (JNIEnv* env, jclass, jint handle)
+{
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& announcer = manager.announcers[handle];
+ announcer->Start();
+}
+
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: stopMulticastServiceAnnouncer
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_stopMulticastServiceAnnouncer
+ (JNIEnv* env, jclass, jint handle)
+{
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& announcer = manager.announcers[handle];
+ announcer->Stop();
+}
+
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: getMulticastServiceAnnouncerHasImplementation
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_getMulticastServiceAnnouncerHasImplementation
+ (JNIEnv* env, jclass, jint handle)
+{
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& announcer = manager.announcers[handle];
+ return announcer->HasImplementation();
+}
+
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: createMulticastServiceResolver
+ * Signature: (Ljava/lang/String;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_createMulticastServiceResolver
+ (JNIEnv* env, jclass, jstring serviceType)
+{
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ JStringRef serviceTypeRef{env, serviceType};
+
+ auto resolver =
+ std::make_unique<wpi::MulticastServiceResolver>(serviceTypeRef.str());
+
+ size_t index = manager.handleIds.emplace_back(2);
+
+ manager.resolvers[index] = std::move(resolver);
+
+ return static_cast<jint>(index);
+}
+
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: freeMulticastServiceResolver
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_freeMulticastServiceResolver
+ (JNIEnv* env, jclass, jint handle)
+{
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ manager.resolvers[handle] = nullptr;
+ manager.handleIds.erase(handle);
+}
+
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: startMulticastServiceResolver
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_startMulticastServiceResolver
+ (JNIEnv* env, jclass, jint handle)
+{
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& resolver = manager.resolvers[handle];
+ resolver->Start();
+}
+
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: stopMulticastServiceResolver
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_stopMulticastServiceResolver
+ (JNIEnv* env, jclass, jint handle)
+{
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& resolver = manager.resolvers[handle];
+ resolver->Stop();
+}
+
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: getMulticastServiceResolverHasImplementation
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_getMulticastServiceResolverHasImplementation
+ (JNIEnv* env, jclass, jint handle)
+{
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& resolver = manager.resolvers[handle];
+ return resolver->HasImplementation();
+}
+
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: getMulticastServiceResolverEventHandle
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_getMulticastServiceResolverEventHandle
+ (JNIEnv* env, jclass, jint handle)
+{
+ auto& manager = wpi::GetMulticastManager();
+ std::scoped_lock lock{manager.mutex};
+ auto& resolver = manager.resolvers[handle];
+ return resolver->GetEventHandle();
+}
+
+/*
+ * Class: edu_wpi_first_util_WPIUtilJNI
+ * Method: getMulticastServiceResolverData
+ * Signature: (I)[Ljava/lang/Object;
+ */
+JNIEXPORT jobjectArray JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_getMulticastServiceResolverData
+ (JNIEnv* env, jclass, jint handle)
+{
+ static jmethodID constructor =
+ env->GetMethodID(serviceDataCls, "<init>",
+ "(JILjava/lang/String;Ljava/lang/String;[Ljava/lang/"
+ "String;[Ljava/lang/String;)V");
+ auto& manager = wpi::GetMulticastManager();
+ std::vector<wpi::MulticastServiceResolver::ServiceData> allData;
+ {
+ std::scoped_lock lock{manager.mutex};
+ auto& resolver = manager.resolvers[handle];
+ allData = resolver->GetData();
+ }
+ if (allData.empty()) {
+ return serviceDataEmptyArray;
+ }
+
+ JLocal<jobjectArray> returnData{
+ env, env->NewObjectArray(allData.size(), serviceDataCls, nullptr)};
+
+ for (auto&& data : allData) {
+ JLocal<jstring> serviceName{env, MakeJString(env, data.serviceName)};
+ JLocal<jstring> hostName{env, MakeJString(env, data.hostName)};
+
+ wpi::SmallVector<std::string_view, 8> keysRef;
+ wpi::SmallVector<std::string_view, 8> valuesRef;
+
+ size_t index = 0;
+ for (auto&& txt : data.txt) {
+ keysRef.emplace_back(txt.first);
+ valuesRef.emplace_back(txt.second);
+ }
+
+ JLocal<jobjectArray> keys{env, MakeJStringArray(env, keysRef)};
+ JLocal<jobjectArray> values{env, MakeJStringArray(env, valuesRef)};
+
+ JLocal<jobject> dataItem{
+ env, env->NewObject(serviceDataCls, constructor,
+ static_cast<jlong>(data.ipv4Address),
+ static_cast<jint>(data.port), serviceName.obj(),
+ hostName.obj(), keys.obj(), values.obj())};
+
+ env->SetObjectArrayElement(returnData, index, dataItem);
+ index++;
+ }
+
+ return returnData;
+}
+
} // extern "C"
diff --git a/third_party/allwpilib/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp b/third_party/allwpilib/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
index 3ad39e5..2c591e9 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
+++ b/third_party/allwpilib/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
@@ -60,11 +60,24 @@
return *components[compUid - 1];
}
-static SendableRegistryInst& GetInstance() {
- static SendableRegistryInst instance;
+static std::unique_ptr<SendableRegistryInst>& GetInstanceHolder() {
+ static std::unique_ptr<SendableRegistryInst> instance =
+ std::make_unique<SendableRegistryInst>();
return instance;
}
+static SendableRegistryInst& GetInstance() {
+ return *GetInstanceHolder();
+}
+
+#ifndef __FRC_ROBORIO__
+namespace wpi::impl {
+void ResetSendableRegistry() {
+ std::make_unique<SendableRegistryInst>().swap(GetInstanceHolder());
+}
+} // namespace wpi::impl
+#endif
+
void SendableRegistry::SetLiveWindowBuilderFactory(
std::function<std::unique_ptr<SendableBuilder>()> factory) {
GetInstance().liveWindowFactory = std::move(factory);
diff --git a/third_party/allwpilib/wpiutil/src/main/native/cpp/timestamp.cpp b/third_party/allwpilib/wpiutil/src/main/native/cpp/timestamp.cpp
index 9c32bf3..521197f 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/cpp/timestamp.cpp
+++ b/third_party/allwpilib/wpiutil/src/main/native/cpp/timestamp.cpp
@@ -16,7 +16,7 @@
#endif
// offset in microseconds
-static uint64_t zerotime() noexcept {
+static uint64_t time_since_epoch() noexcept {
#ifdef _WIN32
FILETIME ft;
uint64_t tmpres = 0;
@@ -35,7 +35,7 @@
#else
// 1-us intervals
return std::chrono::duration_cast<std::chrono::microseconds>(
- std::chrono::high_resolution_clock::now().time_since_epoch())
+ std::chrono::system_clock::now().time_since_epoch())
.count();
#endif
}
@@ -66,7 +66,7 @@
}
#endif
-static const uint64_t zerotime_val = zerotime();
+static const uint64_t zerotime_val = time_since_epoch();
static const uint64_t offset_val = timestamp();
#ifdef _WIN32
static const uint64_t frequency_val = update_frequency();
@@ -96,6 +96,10 @@
return (now_impl.load())();
}
+uint64_t wpi::GetSystemTime() {
+ return time_since_epoch();
+}
+
extern "C" {
uint64_t WPI_NowDefault(void) {
@@ -110,4 +114,8 @@
return wpi::Now();
}
+uint64_t WPI_GetSystemTime(void) {
+ return wpi::GetSystemTime();
+}
+
} // extern "C"
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/args.h b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/args.h
index 562e8ab..9a8e4ed 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/args.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/args.h
@@ -143,6 +143,8 @@
}
public:
+ constexpr dynamic_format_arg_store() = default;
+
/**
\rst
Adds an argument into the dynamic store for later passing to a formatting
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/chrono.h b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/chrono.h
index c024fd7..682efd8 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/chrono.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/chrono.h
@@ -11,13 +11,29 @@
#include <algorithm>
#include <chrono>
#include <ctime>
+#include <iterator>
#include <locale>
-#include <sstream>
+#include <ostream>
+#include <type_traits>
#include "format.h"
FMT_BEGIN_NAMESPACE
+// Enable tzset.
+#ifndef FMT_USE_TZSET
+// UWP doesn't provide _tzset.
+# if FMT_HAS_INCLUDE("winapifamily.h")
+# include <winapifamily.h>
+# endif
+# if defined(_WIN32) && (!defined(WINAPI_FAMILY) || \
+ (WINAPI_FAMILY == WINAPI_FAMILY_DESKTOP_APP))
+# define FMT_USE_TZSET 1
+# else
+# define FMT_USE_TZSET 0
+# endif
+#endif
+
// Enable safe chrono durations, unless explicitly disabled.
#ifndef FMT_SAFE_DURATION_CAST
# define FMT_SAFE_DURATION_CAST 1
@@ -44,7 +60,7 @@
static_assert(T::is_integer, "To must be integral");
// A and B are both signed, or both unsigned.
- if (F::digits <= T::digits) {
+ if (detail::const_check(F::digits <= T::digits)) {
// From fits in To without any problem.
} else {
// From does not always fit in To, resort to a dynamic check.
@@ -79,14 +95,15 @@
return {};
}
// From is positive. Can it always fit in To?
- if (F::digits > T::digits &&
+ if (detail::const_check(F::digits > T::digits) &&
from > static_cast<From>(detail::max_value<To>())) {
ec = 1;
return {};
}
}
- if (!F::is_signed && T::is_signed && F::digits >= T::digits &&
+ if (detail::const_check(!F::is_signed && T::is_signed &&
+ F::digits >= T::digits) &&
from > static_cast<From>(detail::max_value<To>())) {
ec = 1;
return {};
@@ -243,7 +260,7 @@
}
// multiply with Factor::num without overflow or underflow
- if (Factor::num != 1) {
+ if (detail::const_check(Factor::num != 1)) {
constexpr auto max1 = detail::max_value<IntermediateRep>() /
static_cast<IntermediateRep>(Factor::num);
if (count > max1) {
@@ -260,7 +277,7 @@
}
// this can't go wrong, right? den>0 is checked earlier.
- if (Factor::den != 1) {
+ if (detail::const_check(Factor::den != 1)) {
using common_t = typename std::common_type<IntermediateRep, intmax_t>::type;
count /= static_cast<common_t>(Factor::den);
}
@@ -288,74 +305,139 @@
inline null<> gmtime_r(...) { return null<>(); }
inline null<> gmtime_s(...) { return null<>(); }
-inline auto do_write(const std::tm& time, const std::locale& loc, char format,
- char modifier) -> std::string {
- auto&& os = std::ostringstream();
- os.imbue(loc);
- using iterator = std::ostreambuf_iterator<char>;
- const auto& facet = std::use_facet<std::time_put<char, iterator>>(loc);
- auto end = facet.put(os, os, ' ', &time, format, modifier);
- if (end.failed()) FMT_THROW(format_error("failed to format time"));
- auto str = os.str();
- if (!detail::is_utf8() || loc == std::locale::classic()) return str;
+inline const std::locale& get_classic_locale() {
+ static const auto& locale = std::locale::classic();
+ return locale;
+}
+
+template <typename CodeUnit> struct codecvt_result {
+ static constexpr const size_t max_size = 32;
+ CodeUnit buf[max_size];
+ CodeUnit* end;
+};
+template <typename CodeUnit>
+constexpr const size_t codecvt_result<CodeUnit>::max_size;
+
+template <typename CodeUnit>
+void write_codecvt(codecvt_result<CodeUnit>& out, string_view in_buf,
+ const std::locale& loc) {
+ using codecvt = std::codecvt<CodeUnit, char, std::mbstate_t>;
+#if FMT_CLANG_VERSION
+# pragma clang diagnostic push
+# pragma clang diagnostic ignored "-Wdeprecated"
+ auto& f = std::use_facet<codecvt>(loc);
+# pragma clang diagnostic pop
+#else
+ auto& f = std::use_facet<codecvt>(loc);
+#endif
+ auto mb = std::mbstate_t();
+ const char* from_next = nullptr;
+ auto result = f.in(mb, in_buf.begin(), in_buf.end(), from_next,
+ std::begin(out.buf), std::end(out.buf), out.end);
+ if (result != std::codecvt_base::ok)
+ FMT_THROW(format_error("failed to format time"));
+}
+
+template <typename OutputIt>
+auto write_encoded_tm_str(OutputIt out, string_view in, const std::locale& loc)
+ -> OutputIt {
+ if (detail::is_utf8() && loc != get_classic_locale()) {
// char16_t and char32_t codecvts are broken in MSVC (linkage errors) and
// gcc-4.
#if FMT_MSC_VER != 0 || \
(defined(__GLIBCXX__) && !defined(_GLIBCXX_USE_DUAL_ABI))
- // The _GLIBCXX_USE_DUAL_ABI macro is always defined in libstdc++ from gcc-5
- // and newer.
- using code_unit = wchar_t;
+ // The _GLIBCXX_USE_DUAL_ABI macro is always defined in libstdc++ from gcc-5
+ // and newer.
+ using code_unit = wchar_t;
#else
- using code_unit = char32_t;
+ using code_unit = char32_t;
#endif
- auto& f = std::use_facet<std::codecvt<code_unit, char, std::mbstate_t>>(loc);
- auto mb = std::mbstate_t();
- const char* from_next = nullptr;
- code_unit* to_next = nullptr;
- constexpr size_t buf_size = 32;
- code_unit buf[buf_size] = {};
- auto result = f.in(mb, str.data(), str.data() + str.size(), from_next, buf,
- buf + buf_size, to_next);
- if (result != std::codecvt_base::ok)
- FMT_THROW(format_error("failed to format time"));
- str.clear();
- for (code_unit* p = buf; p != to_next; ++p) {
- uint32_t c = static_cast<uint32_t>(*p);
- if (sizeof(code_unit) == 2 && c >= 0xd800 && c <= 0xdfff) {
- // surrogate pair
- ++p;
- if (p == to_next || (c & 0xfc00) != 0xd800 || (*p & 0xfc00) != 0xdc00) {
+
+ using unit_t = codecvt_result<code_unit>;
+ unit_t unit;
+ write_codecvt(unit, in, loc);
+ // In UTF-8 is used one to four one-byte code units.
+ auto&& buf = basic_memory_buffer<char, unit_t::max_size * 4>();
+ for (code_unit* p = unit.buf; p != unit.end; ++p) {
+ uint32_t c = static_cast<uint32_t>(*p);
+ if (sizeof(code_unit) == 2 && c >= 0xd800 && c <= 0xdfff) {
+ // surrogate pair
+ ++p;
+ if (p == unit.end || (c & 0xfc00) != 0xd800 ||
+ (*p & 0xfc00) != 0xdc00) {
+ FMT_THROW(format_error("failed to format time"));
+ }
+ c = (c << 10) + static_cast<uint32_t>(*p) - 0x35fdc00;
+ }
+ if (c < 0x80) {
+ buf.push_back(static_cast<char>(c));
+ } else if (c < 0x800) {
+ buf.push_back(static_cast<char>(0xc0 | (c >> 6)));
+ buf.push_back(static_cast<char>(0x80 | (c & 0x3f)));
+ } else if ((c >= 0x800 && c <= 0xd7ff) || (c >= 0xe000 && c <= 0xffff)) {
+ buf.push_back(static_cast<char>(0xe0 | (c >> 12)));
+ buf.push_back(static_cast<char>(0x80 | ((c & 0xfff) >> 6)));
+ buf.push_back(static_cast<char>(0x80 | (c & 0x3f)));
+ } else if (c >= 0x10000 && c <= 0x10ffff) {
+ buf.push_back(static_cast<char>(0xf0 | (c >> 18)));
+ buf.push_back(static_cast<char>(0x80 | ((c & 0x3ffff) >> 12)));
+ buf.push_back(static_cast<char>(0x80 | ((c & 0xfff) >> 6)));
+ buf.push_back(static_cast<char>(0x80 | (c & 0x3f)));
+ } else {
FMT_THROW(format_error("failed to format time"));
}
- c = (c << 10) + static_cast<uint32_t>(*p) - 0x35fdc00;
}
- if (c < 0x80) {
- str.push_back(static_cast<char>(c));
- } else if (c < 0x800) {
- str.push_back(static_cast<char>(0xc0 | (c >> 6)));
- str.push_back(static_cast<char>(0x80 | (c & 0x3f)));
- } else if ((c >= 0x800 && c <= 0xd7ff) || (c >= 0xe000 && c <= 0xffff)) {
- str.push_back(static_cast<char>(0xe0 | (c >> 12)));
- str.push_back(static_cast<char>(0x80 | ((c & 0xfff) >> 6)));
- str.push_back(static_cast<char>(0x80 | (c & 0x3f)));
- } else if (c >= 0x10000 && c <= 0x10ffff) {
- str.push_back(static_cast<char>(0xf0 | (c >> 18)));
- str.push_back(static_cast<char>(0x80 | ((c & 0x3ffff) >> 12)));
- str.push_back(static_cast<char>(0x80 | ((c & 0xfff) >> 6)));
- str.push_back(static_cast<char>(0x80 | (c & 0x3f)));
- } else {
- FMT_THROW(format_error("failed to format time"));
- }
+ return copy_str<char>(buf.data(), buf.data() + buf.size(), out);
}
- return str;
+ return copy_str<char>(in.data(), in.data() + in.size(), out);
}
-template <typename OutputIt>
+template <typename Char, typename OutputIt,
+ FMT_ENABLE_IF(!std::is_same<Char, char>::value)>
+auto write_tm_str(OutputIt out, string_view sv, const std::locale& loc)
+ -> OutputIt {
+ codecvt_result<Char> unit;
+ write_codecvt(unit, sv, loc);
+ return copy_str<Char>(unit.buf, unit.end, out);
+}
+
+template <typename Char, typename OutputIt,
+ FMT_ENABLE_IF(std::is_same<Char, char>::value)>
+auto write_tm_str(OutputIt out, string_view sv, const std::locale& loc)
+ -> OutputIt {
+ return write_encoded_tm_str(out, sv, loc);
+}
+
+template <typename Char>
+inline void do_write(buffer<Char>& buf, const std::tm& time,
+ const std::locale& loc, char format, char modifier) {
+ auto&& format_buf = formatbuf<std::basic_streambuf<Char>>(buf);
+ auto&& os = std::basic_ostream<Char>(&format_buf);
+ os.imbue(loc);
+ using iterator = std::ostreambuf_iterator<Char>;
+ const auto& facet = std::use_facet<std::time_put<Char, iterator>>(loc);
+ auto end = facet.put(os, os, Char(' '), &time, format, modifier);
+ if (end.failed()) FMT_THROW(format_error("failed to format time"));
+}
+
+template <typename Char, typename OutputIt,
+ FMT_ENABLE_IF(!std::is_same<Char, char>::value)>
auto write(OutputIt out, const std::tm& time, const std::locale& loc,
char format, char modifier = 0) -> OutputIt {
- auto str = do_write(time, loc, format, modifier);
- return std::copy(str.begin(), str.end(), out);
+ auto&& buf = get_buffer<Char>(out);
+ do_write<Char>(buf, time, loc, format, modifier);
+ return buf.out();
}
+
+template <typename Char, typename OutputIt,
+ FMT_ENABLE_IF(std::is_same<Char, char>::value)>
+auto write(OutputIt out, const std::tm& time, const std::locale& loc,
+ char format, char modifier = 0) -> OutputIt {
+ auto&& buf = basic_memory_buffer<Char>();
+ do_write<char>(buf, time, loc, format, modifier);
+ return write_encoded_tm_str(out, string_view(buf.data(), buf.size()), loc);
+}
+
} // namespace detail
FMT_MODULE_EXPORT_BEGIN
@@ -453,103 +535,40 @@
FMT_BEGIN_DETAIL_NAMESPACE
-inline size_t strftime(char* str, size_t count, const char* format,
- const std::tm* time) {
- // Assign to a pointer to suppress GCCs -Wformat-nonliteral
- // First assign the nullptr to suppress -Wsuggest-attribute=format
- std::size_t (*strftime)(char*, std::size_t, const char*, const std::tm*) =
- nullptr;
- strftime = std::strftime;
- return strftime(str, count, format, time);
+// Writes two-digit numbers a, b and c separated by sep to buf.
+// The method by Pavel Novikov based on
+// https://johnnylee-sde.github.io/Fast-unsigned-integer-to-time-string/.
+inline void write_digit2_separated(char* buf, unsigned a, unsigned b,
+ unsigned c, char sep) {
+ unsigned long long digits =
+ a | (b << 24) | (static_cast<unsigned long long>(c) << 48);
+ // Convert each value to BCD.
+ // We have x = a * 10 + b and we want to convert it to BCD y = a * 16 + b.
+ // The difference is
+ // y - x = a * 6
+ // a can be found from x:
+ // a = floor(x / 10)
+ // then
+ // y = x + a * 6 = x + floor(x / 10) * 6
+ // floor(x / 10) is (x * 205) >> 11 (needs 16 bits).
+ digits += (((digits * 205) >> 11) & 0x000f00000f00000f) * 6;
+ // Put low nibbles to high bytes and high nibbles to low bytes.
+ digits = ((digits & 0x00f00000f00000f0) >> 4) |
+ ((digits & 0x000f00000f00000f) << 8);
+ auto usep = static_cast<unsigned long long>(sep);
+ // Add ASCII '0' to each digit byte and insert separators.
+ digits |= 0x3030003030003030 | (usep << 16) | (usep << 40);
+
+ constexpr const size_t len = 8;
+ if (const_check(is_big_endian())) {
+ char tmp[len];
+ memcpy(tmp, &digits, len);
+ std::reverse_copy(tmp, tmp + len, buf);
+ } else {
+ memcpy(buf, &digits, len);
+ }
}
-inline size_t strftime(wchar_t* str, size_t count, const wchar_t* format,
- const std::tm* time) {
- // See above
- std::size_t (*wcsftime)(wchar_t*, std::size_t, const wchar_t*,
- const std::tm*) = nullptr;
- wcsftime = std::wcsftime;
- return wcsftime(str, count, format, time);
-}
-
-FMT_END_DETAIL_NAMESPACE
-
-template <typename Char, typename Duration>
-struct formatter<std::chrono::time_point<std::chrono::system_clock, Duration>,
- Char> : formatter<std::tm, Char> {
- FMT_CONSTEXPR formatter() {
- this->specs = {default_specs, sizeof(default_specs) / sizeof(Char)};
- }
-
- template <typename ParseContext>
- FMT_CONSTEXPR auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
- auto it = ctx.begin();
- if (it != ctx.end() && *it == ':') ++it;
- auto end = it;
- while (end != ctx.end() && *end != '}') ++end;
- if (end != it) this->specs = {it, detail::to_unsigned(end - it)};
- return end;
- }
-
- template <typename FormatContext>
- auto format(std::chrono::time_point<std::chrono::system_clock> val,
- FormatContext& ctx) -> decltype(ctx.out()) {
- std::tm time = localtime(val);
- return formatter<std::tm, Char>::format(time, ctx);
- }
-
- static constexpr Char default_specs[] = {'%', 'Y', '-', '%', 'm', '-',
- '%', 'd', ' ', '%', 'H', ':',
- '%', 'M', ':', '%', 'S'};
-};
-
-template <typename Char, typename Duration>
-constexpr Char
- formatter<std::chrono::time_point<std::chrono::system_clock, Duration>,
- Char>::default_specs[];
-
-template <typename Char> struct formatter<std::tm, Char> {
- template <typename ParseContext>
- FMT_CONSTEXPR auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
- auto it = ctx.begin();
- if (it != ctx.end() && *it == ':') ++it;
- auto end = it;
- while (end != ctx.end() && *end != '}') ++end;
- specs = {it, detail::to_unsigned(end - it)};
- return end;
- }
-
- template <typename FormatContext>
- auto format(const std::tm& tm, FormatContext& ctx) const
- -> decltype(ctx.out()) {
- basic_memory_buffer<Char> tm_format;
- tm_format.append(specs.begin(), specs.end());
- // By appending an extra space we can distinguish an empty result that
- // indicates insufficient buffer size from a guaranteed non-empty result
- // https://github.com/fmtlib/fmt/issues/2238
- tm_format.push_back(' ');
- tm_format.push_back('\0');
- basic_memory_buffer<Char> buf;
- size_t start = buf.size();
- for (;;) {
- size_t size = buf.capacity() - start;
- size_t count = detail::strftime(&buf[start], size, &tm_format[0], &tm);
- if (count != 0) {
- buf.resize(start + count);
- break;
- }
- const size_t MIN_GROWTH = 10;
- buf.reserve(buf.capacity() + (size > MIN_GROWTH ? size : MIN_GROWTH));
- }
- // Remove the extra space.
- return std::copy(buf.begin(), buf.end() - 1, ctx.out());
- }
-
- basic_string_view<Char> specs;
-};
-
-FMT_BEGIN_DETAIL_NAMESPACE
-
template <typename Period> FMT_CONSTEXPR inline const char* get_units() {
if (std::is_same<Period, std::atto>::value) return "as";
if (std::is_same<Period, std::femto>::value) return "fs";
@@ -610,6 +629,22 @@
handler.on_text(tab, tab + 1);
break;
}
+ // Year:
+ case 'Y':
+ handler.on_year(numeric_system::standard);
+ break;
+ case 'y':
+ handler.on_short_year(numeric_system::standard);
+ break;
+ case 'C':
+ handler.on_century(numeric_system::standard);
+ break;
+ case 'G':
+ handler.on_iso_week_based_year();
+ break;
+ case 'g':
+ handler.on_iso_week_based_short_year();
+ break;
// Day of the week:
case 'a':
handler.on_abbr_weekday();
@@ -625,11 +660,34 @@
break;
// Month:
case 'b':
+ case 'h':
handler.on_abbr_month();
break;
case 'B':
handler.on_full_month();
break;
+ case 'm':
+ handler.on_dec_month(numeric_system::standard);
+ break;
+ // Day of the year/month:
+ case 'U':
+ handler.on_dec0_week_of_year(numeric_system::standard);
+ break;
+ case 'W':
+ handler.on_dec1_week_of_year(numeric_system::standard);
+ break;
+ case 'V':
+ handler.on_iso_week_of_year(numeric_system::standard);
+ break;
+ case 'j':
+ handler.on_day_of_year();
+ break;
+ case 'd':
+ handler.on_day_of_month(numeric_system::standard);
+ break;
+ case 'e':
+ handler.on_day_of_month_space(numeric_system::standard);
+ break;
// Hour, minute, second:
case 'H':
handler.on_24_hour(numeric_system::standard);
@@ -688,6 +746,15 @@
if (ptr == end) FMT_THROW(format_error("invalid format"));
c = *ptr++;
switch (c) {
+ case 'Y':
+ handler.on_year(numeric_system::alternative);
+ break;
+ case 'y':
+ handler.on_offset_year();
+ break;
+ case 'C':
+ handler.on_century(numeric_system::alternative);
+ break;
case 'c':
handler.on_datetime(numeric_system::alternative);
break;
@@ -706,6 +773,27 @@
if (ptr == end) FMT_THROW(format_error("invalid format"));
c = *ptr++;
switch (c) {
+ case 'y':
+ handler.on_short_year(numeric_system::alternative);
+ break;
+ case 'm':
+ handler.on_dec_month(numeric_system::alternative);
+ break;
+ case 'U':
+ handler.on_dec0_week_of_year(numeric_system::alternative);
+ break;
+ case 'W':
+ handler.on_dec1_week_of_year(numeric_system::alternative);
+ break;
+ case 'V':
+ handler.on_iso_week_of_year(numeric_system::alternative);
+ break;
+ case 'd':
+ handler.on_day_of_month(numeric_system::alternative);
+ break;
+ case 'e':
+ handler.on_day_of_month_space(numeric_system::alternative);
+ break;
case 'w':
handler.on_dec0_weekday(numeric_system::alternative);
break;
@@ -741,12 +829,25 @@
FMT_CONSTEXPR void unsupported() {
static_cast<Derived*>(this)->unsupported();
}
+ FMT_CONSTEXPR void on_year(numeric_system) { unsupported(); }
+ FMT_CONSTEXPR void on_short_year(numeric_system) { unsupported(); }
+ FMT_CONSTEXPR void on_offset_year() { unsupported(); }
+ FMT_CONSTEXPR void on_century(numeric_system) { unsupported(); }
+ FMT_CONSTEXPR void on_iso_week_based_year() { unsupported(); }
+ FMT_CONSTEXPR void on_iso_week_based_short_year() { unsupported(); }
FMT_CONSTEXPR void on_abbr_weekday() { unsupported(); }
FMT_CONSTEXPR void on_full_weekday() { unsupported(); }
FMT_CONSTEXPR void on_dec0_weekday(numeric_system) { unsupported(); }
FMT_CONSTEXPR void on_dec1_weekday(numeric_system) { unsupported(); }
FMT_CONSTEXPR void on_abbr_month() { unsupported(); }
FMT_CONSTEXPR void on_full_month() { unsupported(); }
+ FMT_CONSTEXPR void on_dec_month(numeric_system) { unsupported(); }
+ FMT_CONSTEXPR void on_dec0_week_of_year(numeric_system) { unsupported(); }
+ FMT_CONSTEXPR void on_dec1_week_of_year(numeric_system) { unsupported(); }
+ FMT_CONSTEXPR void on_iso_week_of_year(numeric_system) { unsupported(); }
+ FMT_CONSTEXPR void on_day_of_year() { unsupported(); }
+ FMT_CONSTEXPR void on_day_of_month(numeric_system) { unsupported(); }
+ FMT_CONSTEXPR void on_day_of_month_space(numeric_system) { unsupported(); }
FMT_CONSTEXPR void on_24_hour(numeric_system) { unsupported(); }
FMT_CONSTEXPR void on_12_hour(numeric_system) { unsupported(); }
FMT_CONSTEXPR void on_minute(numeric_system) { unsupported(); }
@@ -766,6 +867,509 @@
FMT_CONSTEXPR void on_tz_name() { unsupported(); }
};
+struct tm_format_checker : null_chrono_spec_handler<tm_format_checker> {
+ FMT_NORETURN void unsupported() { FMT_THROW(format_error("no format")); }
+
+ template <typename Char>
+ FMT_CONSTEXPR void on_text(const Char*, const Char*) {}
+ FMT_CONSTEXPR void on_year(numeric_system) {}
+ FMT_CONSTEXPR void on_short_year(numeric_system) {}
+ FMT_CONSTEXPR void on_offset_year() {}
+ FMT_CONSTEXPR void on_century(numeric_system) {}
+ FMT_CONSTEXPR void on_iso_week_based_year() {}
+ FMT_CONSTEXPR void on_iso_week_based_short_year() {}
+ FMT_CONSTEXPR void on_abbr_weekday() {}
+ FMT_CONSTEXPR void on_full_weekday() {}
+ FMT_CONSTEXPR void on_dec0_weekday(numeric_system) {}
+ FMT_CONSTEXPR void on_dec1_weekday(numeric_system) {}
+ FMT_CONSTEXPR void on_abbr_month() {}
+ FMT_CONSTEXPR void on_full_month() {}
+ FMT_CONSTEXPR void on_dec_month(numeric_system) {}
+ FMT_CONSTEXPR void on_dec0_week_of_year(numeric_system) {}
+ FMT_CONSTEXPR void on_dec1_week_of_year(numeric_system) {}
+ FMT_CONSTEXPR void on_iso_week_of_year(numeric_system) {}
+ FMT_CONSTEXPR void on_day_of_year() {}
+ FMT_CONSTEXPR void on_day_of_month(numeric_system) {}
+ FMT_CONSTEXPR void on_day_of_month_space(numeric_system) {}
+ FMT_CONSTEXPR void on_24_hour(numeric_system) {}
+ FMT_CONSTEXPR void on_12_hour(numeric_system) {}
+ FMT_CONSTEXPR void on_minute(numeric_system) {}
+ FMT_CONSTEXPR void on_second(numeric_system) {}
+ FMT_CONSTEXPR void on_datetime(numeric_system) {}
+ FMT_CONSTEXPR void on_loc_date(numeric_system) {}
+ FMT_CONSTEXPR void on_loc_time(numeric_system) {}
+ FMT_CONSTEXPR void on_us_date() {}
+ FMT_CONSTEXPR void on_iso_date() {}
+ FMT_CONSTEXPR void on_12_hour_time() {}
+ FMT_CONSTEXPR void on_24_hour_time() {}
+ FMT_CONSTEXPR void on_iso_time() {}
+ FMT_CONSTEXPR void on_am_pm() {}
+ FMT_CONSTEXPR void on_utc_offset() {}
+ FMT_CONSTEXPR void on_tz_name() {}
+};
+
+inline const char* tm_wday_full_name(int wday) {
+ static constexpr const char* full_name_list[] = {
+ "Sunday", "Monday", "Tuesday", "Wednesday",
+ "Thursday", "Friday", "Saturday"};
+ return wday >= 0 && wday <= 6 ? full_name_list[wday] : "?";
+}
+inline const char* tm_wday_short_name(int wday) {
+ static constexpr const char* short_name_list[] = {"Sun", "Mon", "Tue", "Wed",
+ "Thu", "Fri", "Sat"};
+ return wday >= 0 && wday <= 6 ? short_name_list[wday] : "???";
+}
+
+inline const char* tm_mon_full_name(int mon) {
+ static constexpr const char* full_name_list[] = {
+ "January", "February", "March", "April", "May", "June",
+ "July", "August", "September", "October", "November", "December"};
+ return mon >= 0 && mon <= 11 ? full_name_list[mon] : "?";
+}
+inline const char* tm_mon_short_name(int mon) {
+ static constexpr const char* short_name_list[] = {
+ "Jan", "Feb", "Mar", "Apr", "May", "Jun",
+ "Jul", "Aug", "Sep", "Oct", "Nov", "Dec",
+ };
+ return mon >= 0 && mon <= 11 ? short_name_list[mon] : "???";
+}
+
+template <typename T, typename = void>
+struct has_member_data_tm_gmtoff : std::false_type {};
+template <typename T>
+struct has_member_data_tm_gmtoff<T, void_t<decltype(T::tm_gmtoff)>>
+ : std::true_type {};
+
+template <typename T, typename = void>
+struct has_member_data_tm_zone : std::false_type {};
+template <typename T>
+struct has_member_data_tm_zone<T, void_t<decltype(T::tm_zone)>>
+ : std::true_type {};
+
+#if FMT_USE_TZSET
+inline void tzset_once() {
+ static bool init = []() -> bool {
+ _tzset();
+ return true;
+ }();
+ ignore_unused(init);
+}
+#endif
+
+template <typename OutputIt, typename Char> class tm_writer {
+ private:
+ static constexpr int days_per_week = 7;
+
+ const std::locale& loc_;
+ const bool is_classic_;
+ OutputIt out_;
+ const std::tm& tm_;
+
+ auto tm_sec() const noexcept -> int {
+ FMT_ASSERT(tm_.tm_sec >= 0 && tm_.tm_sec <= 61, "");
+ return tm_.tm_sec;
+ }
+ auto tm_min() const noexcept -> int {
+ FMT_ASSERT(tm_.tm_min >= 0 && tm_.tm_min <= 59, "");
+ return tm_.tm_min;
+ }
+ auto tm_hour() const noexcept -> int {
+ FMT_ASSERT(tm_.tm_hour >= 0 && tm_.tm_hour <= 23, "");
+ return tm_.tm_hour;
+ }
+ auto tm_mday() const noexcept -> int {
+ FMT_ASSERT(tm_.tm_mday >= 1 && tm_.tm_mday <= 31, "");
+ return tm_.tm_mday;
+ }
+ auto tm_mon() const noexcept -> int {
+ FMT_ASSERT(tm_.tm_mon >= 0 && tm_.tm_mon <= 11, "");
+ return tm_.tm_mon;
+ }
+ auto tm_year() const noexcept -> long long { return 1900ll + tm_.tm_year; }
+ auto tm_wday() const noexcept -> int {
+ FMT_ASSERT(tm_.tm_wday >= 0 && tm_.tm_wday <= 6, "");
+ return tm_.tm_wday;
+ }
+ auto tm_yday() const noexcept -> int {
+ FMT_ASSERT(tm_.tm_yday >= 0 && tm_.tm_yday <= 365, "");
+ return tm_.tm_yday;
+ }
+
+ auto tm_hour12() const noexcept -> int {
+ const auto h = tm_hour();
+ const auto z = h < 12 ? h : h - 12;
+ return z == 0 ? 12 : z;
+ }
+
+ // POSIX and the C Standard are unclear or inconsistent about what %C and %y
+ // do if the year is negative or exceeds 9999. Use the convention that %C
+ // concatenated with %y yields the same output as %Y, and that %Y contains at
+ // least 4 characters, with more only if necessary.
+ auto split_year_lower(long long year) const noexcept -> int {
+ auto l = year % 100;
+ if (l < 0) l = -l; // l in [0, 99]
+ return static_cast<int>(l);
+ }
+
+ // Algorithm:
+ // https://en.wikipedia.org/wiki/ISO_week_date#Calculating_the_week_number_from_a_month_and_day_of_the_month_or_ordinal_date
+ auto iso_year_weeks(long long curr_year) const noexcept -> int {
+ const auto prev_year = curr_year - 1;
+ const auto curr_p =
+ (curr_year + curr_year / 4 - curr_year / 100 + curr_year / 400) %
+ days_per_week;
+ const auto prev_p =
+ (prev_year + prev_year / 4 - prev_year / 100 + prev_year / 400) %
+ days_per_week;
+ return 52 + ((curr_p == 4 || prev_p == 3) ? 1 : 0);
+ }
+ auto iso_week_num(int tm_yday, int tm_wday) const noexcept -> int {
+ return (tm_yday + 11 - (tm_wday == 0 ? days_per_week : tm_wday)) /
+ days_per_week;
+ }
+ auto tm_iso_week_year() const noexcept -> long long {
+ const auto year = tm_year();
+ const auto w = iso_week_num(tm_yday(), tm_wday());
+ if (w < 1) return year - 1;
+ if (w > iso_year_weeks(year)) return year + 1;
+ return year;
+ }
+ auto tm_iso_week_of_year() const noexcept -> int {
+ const auto year = tm_year();
+ const auto w = iso_week_num(tm_yday(), tm_wday());
+ if (w < 1) return iso_year_weeks(year - 1);
+ if (w > iso_year_weeks(year)) return 1;
+ return w;
+ }
+
+ void write1(int value) {
+ *out_++ = static_cast<char>('0' + to_unsigned(value) % 10);
+ }
+ void write2(int value) {
+ const char* d = digits2(to_unsigned(value) % 100);
+ *out_++ = *d++;
+ *out_++ = *d;
+ }
+
+ void write_year_extended(long long year) {
+ // At least 4 characters.
+ int width = 4;
+ if (year < 0) {
+ *out_++ = '-';
+ year = 0 - year;
+ --width;
+ }
+ uint32_or_64_or_128_t<long long> n = to_unsigned(year);
+ const int num_digits = count_digits(n);
+ if (width > num_digits) out_ = std::fill_n(out_, width - num_digits, '0');
+ out_ = format_decimal<Char>(out_, n, num_digits).end;
+ }
+ void write_year(long long year) {
+ if (year >= 0 && year < 10000) {
+ write2(static_cast<int>(year / 100));
+ write2(static_cast<int>(year % 100));
+ } else {
+ write_year_extended(year);
+ }
+ }
+
+ void write_utc_offset(long offset) {
+ if (offset < 0) {
+ *out_++ = '-';
+ offset = -offset;
+ } else {
+ *out_++ = '+';
+ }
+ offset /= 60;
+ write2(static_cast<int>(offset / 60));
+ write2(static_cast<int>(offset % 60));
+ }
+ template <typename T, FMT_ENABLE_IF(has_member_data_tm_gmtoff<T>::value)>
+ void format_utc_offset_impl(const T& tm) {
+ write_utc_offset(tm.tm_gmtoff);
+ }
+ template <typename T, FMT_ENABLE_IF(!has_member_data_tm_gmtoff<T>::value)>
+ void format_utc_offset_impl(const T& tm) {
+#if defined(_WIN32) && defined(_UCRT)
+# if FMT_USE_TZSET
+ tzset_once();
+# endif
+ long offset = 0;
+ _get_timezone(&offset);
+ if (tm.tm_isdst) {
+ long dstbias = 0;
+ _get_dstbias(&dstbias);
+ offset += dstbias;
+ }
+ write_utc_offset(-offset);
+#else
+ ignore_unused(tm);
+ format_localized('z');
+#endif
+ }
+
+ template <typename T, FMT_ENABLE_IF(has_member_data_tm_zone<T>::value)>
+ void format_tz_name_impl(const T& tm) {
+ if (is_classic_)
+ out_ = write_tm_str<Char>(out_, tm.tm_zone, loc_);
+ else
+ format_localized('Z');
+ }
+ template <typename T, FMT_ENABLE_IF(!has_member_data_tm_zone<T>::value)>
+ void format_tz_name_impl(const T&) {
+ format_localized('Z');
+ }
+
+ void format_localized(char format, char modifier = 0) {
+ out_ = write<Char>(out_, tm_, loc_, format, modifier);
+ }
+
+ public:
+ tm_writer(const std::locale& loc, OutputIt out, const std::tm& tm)
+ : loc_(loc),
+ is_classic_(loc_ == get_classic_locale()),
+ out_(out),
+ tm_(tm) {}
+
+ OutputIt out() const { return out_; }
+
+ FMT_CONSTEXPR void on_text(const Char* begin, const Char* end) {
+ out_ = copy_str<Char>(begin, end, out_);
+ }
+
+ void on_abbr_weekday() {
+ if (is_classic_)
+ out_ = write(out_, tm_wday_short_name(tm_wday()));
+ else
+ format_localized('a');
+ }
+ void on_full_weekday() {
+ if (is_classic_)
+ out_ = write(out_, tm_wday_full_name(tm_wday()));
+ else
+ format_localized('A');
+ }
+ void on_dec0_weekday(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard) return write1(tm_wday());
+ format_localized('w', 'O');
+ }
+ void on_dec1_weekday(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard) {
+ auto wday = tm_wday();
+ write1(wday == 0 ? days_per_week : wday);
+ } else {
+ format_localized('u', 'O');
+ }
+ }
+
+ void on_abbr_month() {
+ if (is_classic_)
+ out_ = write(out_, tm_mon_short_name(tm_mon()));
+ else
+ format_localized('b');
+ }
+ void on_full_month() {
+ if (is_classic_)
+ out_ = write(out_, tm_mon_full_name(tm_mon()));
+ else
+ format_localized('B');
+ }
+
+ void on_datetime(numeric_system ns) {
+ if (is_classic_) {
+ on_abbr_weekday();
+ *out_++ = ' ';
+ on_abbr_month();
+ *out_++ = ' ';
+ on_day_of_month_space(numeric_system::standard);
+ *out_++ = ' ';
+ on_iso_time();
+ *out_++ = ' ';
+ on_year(numeric_system::standard);
+ } else {
+ format_localized('c', ns == numeric_system::standard ? '\0' : 'E');
+ }
+ }
+ void on_loc_date(numeric_system ns) {
+ if (is_classic_)
+ on_us_date();
+ else
+ format_localized('x', ns == numeric_system::standard ? '\0' : 'E');
+ }
+ void on_loc_time(numeric_system ns) {
+ if (is_classic_)
+ on_iso_time();
+ else
+ format_localized('X', ns == numeric_system::standard ? '\0' : 'E');
+ }
+ void on_us_date() {
+ char buf[8];
+ write_digit2_separated(buf, to_unsigned(tm_mon() + 1),
+ to_unsigned(tm_mday()),
+ to_unsigned(split_year_lower(tm_year())), '/');
+ out_ = copy_str<Char>(std::begin(buf), std::end(buf), out_);
+ }
+ void on_iso_date() {
+ auto year = tm_year();
+ char buf[10];
+ size_t offset = 0;
+ if (year >= 0 && year < 10000) {
+ copy2(buf, digits2(to_unsigned(year / 100)));
+ } else {
+ offset = 4;
+ write_year_extended(year);
+ year = 0;
+ }
+ write_digit2_separated(buf + 2, static_cast<unsigned>(year % 100),
+ to_unsigned(tm_mon() + 1), to_unsigned(tm_mday()),
+ '-');
+ out_ = copy_str<Char>(std::begin(buf) + offset, std::end(buf), out_);
+ }
+
+ void on_utc_offset() { format_utc_offset_impl(tm_); }
+ void on_tz_name() { format_tz_name_impl(tm_); }
+
+ void on_year(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard)
+ return write_year(tm_year());
+ format_localized('Y', 'E');
+ }
+ void on_short_year(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard)
+ return write2(split_year_lower(tm_year()));
+ format_localized('y', 'O');
+ }
+ void on_offset_year() {
+ if (is_classic_) return write2(split_year_lower(tm_year()));
+ format_localized('y', 'E');
+ }
+
+ void on_century(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard) {
+ auto year = tm_year();
+ auto upper = year / 100;
+ if (year >= -99 && year < 0) {
+ // Zero upper on negative year.
+ *out_++ = '-';
+ *out_++ = '0';
+ } else if (upper >= 0 && upper < 100) {
+ write2(static_cast<int>(upper));
+ } else {
+ out_ = write<Char>(out_, upper);
+ }
+ } else {
+ format_localized('C', 'E');
+ }
+ }
+
+ void on_dec_month(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard)
+ return write2(tm_mon() + 1);
+ format_localized('m', 'O');
+ }
+
+ void on_dec0_week_of_year(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard)
+ return write2((tm_yday() + days_per_week - tm_wday()) / days_per_week);
+ format_localized('U', 'O');
+ }
+ void on_dec1_week_of_year(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard) {
+ auto wday = tm_wday();
+ write2((tm_yday() + days_per_week -
+ (wday == 0 ? (days_per_week - 1) : (wday - 1))) /
+ days_per_week);
+ } else {
+ format_localized('W', 'O');
+ }
+ }
+ void on_iso_week_of_year(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard)
+ return write2(tm_iso_week_of_year());
+ format_localized('V', 'O');
+ }
+
+ void on_iso_week_based_year() { write_year(tm_iso_week_year()); }
+ void on_iso_week_based_short_year() {
+ write2(split_year_lower(tm_iso_week_year()));
+ }
+
+ void on_day_of_year() {
+ auto yday = tm_yday() + 1;
+ write1(yday / 100);
+ write2(yday % 100);
+ }
+ void on_day_of_month(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard) return write2(tm_mday());
+ format_localized('d', 'O');
+ }
+ void on_day_of_month_space(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard) {
+ auto mday = to_unsigned(tm_mday()) % 100;
+ const char* d2 = digits2(mday);
+ *out_++ = mday < 10 ? ' ' : d2[0];
+ *out_++ = d2[1];
+ } else {
+ format_localized('e', 'O');
+ }
+ }
+
+ void on_24_hour(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard) return write2(tm_hour());
+ format_localized('H', 'O');
+ }
+ void on_12_hour(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard)
+ return write2(tm_hour12());
+ format_localized('I', 'O');
+ }
+ void on_minute(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard) return write2(tm_min());
+ format_localized('M', 'O');
+ }
+ void on_second(numeric_system ns) {
+ if (is_classic_ || ns == numeric_system::standard) return write2(tm_sec());
+ format_localized('S', 'O');
+ }
+
+ void on_12_hour_time() {
+ if (is_classic_) {
+ char buf[8];
+ write_digit2_separated(buf, to_unsigned(tm_hour12()),
+ to_unsigned(tm_min()), to_unsigned(tm_sec()), ':');
+ out_ = copy_str<Char>(std::begin(buf), std::end(buf), out_);
+ *out_++ = ' ';
+ on_am_pm();
+ } else {
+ format_localized('r');
+ }
+ }
+ void on_24_hour_time() {
+ write2(tm_hour());
+ *out_++ = ':';
+ write2(tm_min());
+ }
+ void on_iso_time() {
+ char buf[8];
+ write_digit2_separated(buf, to_unsigned(tm_hour()), to_unsigned(tm_min()),
+ to_unsigned(tm_sec()), ':');
+ out_ = copy_str<Char>(std::begin(buf), std::end(buf), out_);
+ }
+
+ void on_am_pm() {
+ if (is_classic_) {
+ *out_++ = tm_hour() < 12 ? 'A' : 'P';
+ *out_++ = 'M';
+ } else {
+ format_localized('p');
+ }
+ }
+
+ // These apply to chrono durations but not tm.
+ void on_duration_value() {}
+ void on_duration_unit() {}
+};
+
struct chrono_format_checker : null_chrono_spec_handler<chrono_format_checker> {
FMT_NORETURN void unsupported() { FMT_THROW(format_error("no date")); }
@@ -796,26 +1400,20 @@
inline bool isfinite(T) {
return true;
}
-template <typename T, FMT_ENABLE_IF(std::is_floating_point<T>::value)>
-inline bool isfinite(T value) {
- return std::isfinite(value);
-}
-// Converts value to int and checks that it's in the range [0, upper).
-template <typename T, FMT_ENABLE_IF(std::is_integral<T>::value)>
-inline int to_nonnegative_int(T value, int upper) {
+// Converts value to Int and checks that it's in the range [0, upper).
+template <typename T, typename Int, FMT_ENABLE_IF(std::is_integral<T>::value)>
+inline Int to_nonnegative_int(T value, Int upper) {
FMT_ASSERT(value >= 0 && to_unsigned(value) <= to_unsigned(upper),
"invalid value");
(void)upper;
- return static_cast<int>(value);
+ return static_cast<Int>(value);
}
-template <typename T, FMT_ENABLE_IF(!std::is_integral<T>::value)>
-inline int to_nonnegative_int(T value, int upper) {
- FMT_ASSERT(
- std::isnan(value) || (value >= 0 && value <= static_cast<T>(upper)),
- "invalid value");
- (void)upper;
- return static_cast<int>(value);
+template <typename T, typename Int, FMT_ENABLE_IF(!std::is_integral<T>::value)>
+inline Int to_nonnegative_int(T value, Int upper) {
+ if (value < 0 || value > static_cast<T>(upper))
+ FMT_THROW(format_error("invalid value"));
+ return static_cast<Int>(value);
}
template <typename T, FMT_ENABLE_IF(std::is_integral<T>::value)>
@@ -872,15 +1470,37 @@
#endif
}
-template <typename Rep, typename Period,
- FMT_ENABLE_IF(std::is_floating_point<Rep>::value)>
-inline std::chrono::duration<Rep, std::milli> get_milliseconds(
+// Returns the number of fractional digits in the range [0, 18] according to the
+// C++20 spec. If more than 18 fractional digits are required then returns 6 for
+// microseconds precision.
+constexpr int count_fractional_digits(long long num, long long den, int n = 0) {
+ return num % den == 0
+ ? n
+ : (n > 18 ? 6 : count_fractional_digits(num * 10, den, n + 1));
+}
+
+constexpr long long pow10(std::uint32_t n) {
+ return n == 0 ? 1 : 10 * pow10(n - 1);
+}
+
+template <class Rep, class Period,
+ FMT_ENABLE_IF(std::numeric_limits<Rep>::is_signed)>
+constexpr std::chrono::duration<Rep, Period> abs(
std::chrono::duration<Rep, Period> d) {
- using common_type = typename std::common_type<Rep, std::intmax_t>::type;
- auto ms = mod(d.count() * static_cast<common_type>(Period::num) /
- static_cast<common_type>(Period::den) * 1000,
- 1000);
- return std::chrono::duration<Rep, std::milli>(static_cast<Rep>(ms));
+ // We need to compare the duration using the count() method directly
+ // due to a compiler bug in clang-11 regarding the spaceship operator,
+ // when -Wzero-as-null-pointer-constant is enabled.
+ // In clang-12 the bug has been fixed. See
+ // https://bugs.llvm.org/show_bug.cgi?id=46235 and the reproducible example:
+ // https://www.godbolt.org/z/Knbb5joYx.
+ return d.count() >= d.zero().count() ? d : -d;
+}
+
+template <class Rep, class Period,
+ FMT_ENABLE_IF(!std::numeric_limits<Rep>::is_signed)>
+constexpr std::chrono::duration<Rep, Period> abs(
+ std::chrono::duration<Rep, Period> d) {
+ return d;
}
template <typename Char, typename Rep, typename OutputIt,
@@ -894,7 +1514,8 @@
OutputIt format_duration_value(OutputIt out, Rep val, int precision) {
auto specs = basic_format_specs<Char>();
specs.precision = precision;
- specs.type = precision > 0 ? 'f' : 'g';
+ specs.type = precision >= 0 ? presentation_type::fixed_lower
+ : presentation_type::general_lower;
return write<Char>(out, val, specs);
}
@@ -926,6 +1547,26 @@
return out;
}
+class get_locale {
+ private:
+ union {
+ std::locale locale_;
+ };
+ bool has_locale_ = false;
+
+ public:
+ get_locale(bool localized, locale_ref loc) : has_locale_(localized) {
+ if (localized)
+ ::new (&locale_) std::locale(loc.template get<std::locale>());
+ }
+ ~get_locale() {
+ if (has_locale_) locale_.~locale();
+ }
+ operator const std::locale&() const {
+ return has_locale_ ? locale_ : get_classic_locale();
+ }
+};
+
template <typename FormatContext, typename OutputIt, typename Rep,
typename Period>
struct chrono_formatter {
@@ -944,9 +1585,10 @@
bool negative;
using char_type = typename FormatContext::char_type;
+ using tm_writer_type = tm_writer<OutputIt, char_type>;
- explicit chrono_formatter(FormatContext& ctx, OutputIt o,
- std::chrono::duration<Rep, Period> d)
+ chrono_formatter(FormatContext& ctx, OutputIt o,
+ std::chrono::duration<Rep, Period> d)
: context(ctx),
out(o),
val(static_cast<rep>(d.count())),
@@ -1021,15 +1663,48 @@
out = format_decimal<char_type>(out, n, num_digits).end;
}
+ template <class Duration> void write_fractional_seconds(Duration d) {
+ constexpr auto num_fractional_digits =
+ count_fractional_digits(Duration::period::num, Duration::period::den);
+
+ using subsecond_precision = std::chrono::duration<
+ typename std::common_type<typename Duration::rep,
+ std::chrono::seconds::rep>::type,
+ std::ratio<1, detail::pow10(num_fractional_digits)>>;
+ if (std::ratio_less<typename subsecond_precision::period,
+ std::chrono::seconds::period>::value) {
+ *out++ = '.';
+ // Don't convert long double to integer seconds to avoid overflow.
+ using sec = conditional_t<
+ std::is_same<typename Duration::rep, long double>::value,
+ std::chrono::duration<long double>, std::chrono::seconds>;
+ auto fractional = detail::abs(d) - std::chrono::duration_cast<sec>(d);
+ const auto subseconds =
+ std::chrono::treat_as_floating_point<
+ typename subsecond_precision::rep>::value
+ ? fractional.count()
+ : std::chrono::duration_cast<subsecond_precision>(fractional)
+ .count();
+ uint32_or_64_or_128_t<long long> n =
+ to_unsigned(to_nonnegative_int(subseconds, max_value<long long>()));
+ int num_digits = detail::count_digits(n);
+ if (num_fractional_digits > num_digits)
+ out = std::fill_n(out, num_fractional_digits - num_digits, '0');
+ out = format_decimal<char_type>(out, n, num_digits).end;
+ }
+ }
+
void write_nan() { std::copy_n("nan", 3, out); }
void write_pinf() { std::copy_n("inf", 3, out); }
void write_ninf() { std::copy_n("-inf", 4, out); }
- void format_localized(const tm& time, char format, char modifier = 0) {
+ template <typename Callback, typename... Args>
+ void format_tm(const tm& time, Callback cb, Args... args) {
if (isnan(val)) return write_nan();
- const auto& loc = localized ? context.locale().template get<std::locale>()
- : std::locale::classic();
- out = detail::write(out, time, loc, format, modifier);
+ get_locale loc(localized, context.locale());
+ auto w = tm_writer_type(loc, out, time);
+ (w.*cb)(args...);
+ out = w.out();
}
void on_text(const char_type* begin, const char_type* end) {
@@ -1050,6 +1725,19 @@
void on_iso_date() {}
void on_utc_offset() {}
void on_tz_name() {}
+ void on_year(numeric_system) {}
+ void on_short_year(numeric_system) {}
+ void on_offset_year() {}
+ void on_century(numeric_system) {}
+ void on_iso_week_based_year() {}
+ void on_iso_week_based_short_year() {}
+ void on_dec_month(numeric_system) {}
+ void on_dec0_week_of_year(numeric_system) {}
+ void on_dec1_week_of_year(numeric_system) {}
+ void on_iso_week_of_year(numeric_system) {}
+ void on_day_of_year() {}
+ void on_day_of_month(numeric_system) {}
+ void on_day_of_month_space(numeric_system) {}
void on_24_hour(numeric_system ns) {
if (handle_nan_inf()) return;
@@ -1057,7 +1745,7 @@
if (ns == numeric_system::standard) return write(hour(), 2);
auto time = tm();
time.tm_hour = to_nonnegative_int(hour(), 24);
- format_localized(time, 'H', 'O');
+ format_tm(time, &tm_writer_type::on_24_hour, ns);
}
void on_12_hour(numeric_system ns) {
@@ -1066,7 +1754,7 @@
if (ns == numeric_system::standard) return write(hour12(), 2);
auto time = tm();
time.tm_hour = to_nonnegative_int(hour12(), 12);
- format_localized(time, 'I', 'O');
+ format_tm(time, &tm_writer_type::on_12_hour, ns);
}
void on_minute(numeric_system ns) {
@@ -1075,7 +1763,7 @@
if (ns == numeric_system::standard) return write(minute(), 2);
auto time = tm();
time.tm_min = to_nonnegative_int(minute(), 60);
- format_localized(time, 'M', 'O');
+ format_tm(time, &tm_writer_type::on_minute, ns);
}
void on_second(numeric_system ns) {
@@ -1083,29 +1771,17 @@
if (ns == numeric_system::standard) {
write(second(), 2);
-#if FMT_SAFE_DURATION_CAST
- // convert rep->Rep
- using duration_rep = std::chrono::duration<rep, Period>;
- using duration_Rep = std::chrono::duration<Rep, Period>;
- auto tmpval = fmt_safe_duration_cast<duration_Rep>(duration_rep{val});
-#else
- auto tmpval = std::chrono::duration<Rep, Period>(val);
-#endif
- auto ms = get_milliseconds(tmpval);
- if (ms != std::chrono::milliseconds(0)) {
- *out++ = '.';
- write(ms.count(), 3);
- }
+ write_fractional_seconds(std::chrono::duration<rep, Period>{val});
return;
}
auto time = tm();
time.tm_sec = to_nonnegative_int(second(), 60);
- format_localized(time, 'S', 'O');
+ format_tm(time, &tm_writer_type::on_second, ns);
}
void on_12_hour_time() {
if (handle_nan_inf()) return;
- format_localized(time(), 'r');
+ format_tm(time(), &tm_writer_type::on_12_hour_time);
}
void on_24_hour_time() {
@@ -1124,12 +1800,12 @@
on_24_hour_time();
*out++ = ':';
if (handle_nan_inf()) return;
- write(second(), 2);
+ on_second(numeric_system::standard);
}
void on_am_pm() {
if (handle_nan_inf()) return;
- format_localized(time(), 'p');
+ format_tm(time(), &tm_writer_type::on_am_pm);
}
void on_duration_value() {
@@ -1159,15 +1835,18 @@
: value(static_cast<unsigned char>(wd != 7 ? wd : 0)) {}
constexpr unsigned c_encoding() const noexcept { return value; }
};
+
+class year_month_day {};
#endif
// A rudimentary weekday formatter.
-template <> struct formatter<weekday> {
+template <typename Char> struct formatter<weekday, Char> {
private:
bool localized = false;
public:
- FMT_CONSTEXPR auto parse(format_parse_context& ctx) -> decltype(ctx.begin()) {
+ FMT_CONSTEXPR auto parse(basic_format_parse_context<Char>& ctx)
+ -> decltype(ctx.begin()) {
auto begin = ctx.begin(), end = ctx.end();
if (begin != end && *begin == 'L') {
++begin;
@@ -1176,12 +1855,14 @@
return begin;
}
- auto format(weekday wd, format_context& ctx) -> decltype(ctx.out()) {
+ template <typename FormatContext>
+ auto format(weekday wd, FormatContext& ctx) const -> decltype(ctx.out()) {
auto time = std::tm();
time.tm_wday = static_cast<int>(wd.c_encoding());
- const auto& loc = localized ? ctx.locale().template get<std::locale>()
- : std::locale::classic();
- return detail::write(ctx.out(), time, loc, 'a');
+ detail::get_locale loc(localized, ctx.locale());
+ auto w = detail::tm_writer<decltype(ctx.out()), Char>(loc, ctx.out(), time);
+ w.on_abbr_weekday();
+ return w.out();
}
};
@@ -1260,7 +1941,8 @@
++begin;
localized = true;
}
- end = parse_chrono_format(begin, end, detail::chrono_format_checker());
+ end = detail::parse_chrono_format(begin, end,
+ detail::chrono_format_checker());
return {begin, end};
}
@@ -1302,6 +1984,83 @@
}
};
+template <typename Char, typename Duration>
+struct formatter<std::chrono::time_point<std::chrono::system_clock, Duration>,
+ Char> : formatter<std::tm, Char> {
+ FMT_CONSTEXPR formatter() {
+ this->do_parse(default_specs,
+ default_specs + sizeof(default_specs) / sizeof(Char));
+ }
+
+ template <typename ParseContext>
+ FMT_CONSTEXPR auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
+ return this->do_parse(ctx.begin(), ctx.end(), true);
+ }
+
+ template <typename FormatContext>
+ auto format(std::chrono::time_point<std::chrono::system_clock> val,
+ FormatContext& ctx) const -> decltype(ctx.out()) {
+ return formatter<std::tm, Char>::format(localtime(val), ctx);
+ }
+
+ static constexpr const Char default_specs[] = {'%', 'F', ' ', '%', 'T'};
+};
+
+template <typename Char, typename Duration>
+constexpr const Char
+ formatter<std::chrono::time_point<std::chrono::system_clock, Duration>,
+ Char>::default_specs[];
+
+template <typename Char> struct formatter<std::tm, Char> {
+ private:
+ enum class spec {
+ unknown,
+ year_month_day,
+ hh_mm_ss,
+ };
+ spec spec_ = spec::unknown;
+ basic_string_view<Char> specs;
+
+ protected:
+ template <typename It>
+ FMT_CONSTEXPR auto do_parse(It begin, It end, bool with_default = false)
+ -> It {
+ if (begin != end && *begin == ':') ++begin;
+ end = detail::parse_chrono_format(begin, end, detail::tm_format_checker());
+ if (!with_default || end != begin)
+ specs = {begin, detail::to_unsigned(end - begin)};
+ // basic_string_view<>::compare isn't constexpr before C++17.
+ if (specs.size() == 2 && specs[0] == Char('%')) {
+ if (specs[1] == Char('F'))
+ spec_ = spec::year_month_day;
+ else if (specs[1] == Char('T'))
+ spec_ = spec::hh_mm_ss;
+ }
+ return end;
+ }
+
+ public:
+ template <typename ParseContext>
+ FMT_CONSTEXPR auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
+ return this->do_parse(ctx.begin(), ctx.end());
+ }
+
+ template <typename FormatContext>
+ auto format(const std::tm& tm, FormatContext& ctx) const
+ -> decltype(ctx.out()) {
+ const auto loc_ref = ctx.locale();
+ detail::get_locale loc(static_cast<bool>(loc_ref), loc_ref);
+ auto w = detail::tm_writer<decltype(ctx.out()), Char>(loc, ctx.out(), tm);
+ if (spec_ == spec::year_month_day)
+ w.on_iso_date();
+ else if (spec_ == spec::hh_mm_ss)
+ w.on_iso_time();
+ else
+ detail::parse_chrono_format(specs.begin(), specs.end(), w);
+ return w.out();
+ }
+};
+
FMT_MODULE_EXPORT_END
FMT_END_NAMESPACE
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/color.h b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/color.h
index 3d5490e..dfbe482 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/color.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/color.h
@@ -185,9 +185,13 @@
enum class emphasis : uint8_t {
bold = 1,
- italic = 1 << 1,
- underline = 1 << 2,
- strikethrough = 1 << 3
+ faint = 1 << 1,
+ italic = 1 << 2,
+ underline = 1 << 3,
+ blink = 1 << 4,
+ reverse = 1 << 5,
+ conceal = 1 << 6,
+ strikethrough = 1 << 7,
};
// rgb is a struct for red, green and blue colors.
@@ -409,16 +413,18 @@
buffer[19] = static_cast<Char>(0);
}
FMT_CONSTEXPR ansi_color_escape(emphasis em) FMT_NOEXCEPT {
- uint8_t em_codes[4] = {};
- uint8_t em_bits = static_cast<uint8_t>(em);
- if (em_bits & static_cast<uint8_t>(emphasis::bold)) em_codes[0] = 1;
- if (em_bits & static_cast<uint8_t>(emphasis::italic)) em_codes[1] = 3;
- if (em_bits & static_cast<uint8_t>(emphasis::underline)) em_codes[2] = 4;
- if (em_bits & static_cast<uint8_t>(emphasis::strikethrough))
- em_codes[3] = 9;
+ uint8_t em_codes[num_emphases] = {};
+ if (has_emphasis(em, emphasis::bold)) em_codes[0] = 1;
+ if (has_emphasis(em, emphasis::faint)) em_codes[1] = 2;
+ if (has_emphasis(em, emphasis::italic)) em_codes[2] = 3;
+ if (has_emphasis(em, emphasis::underline)) em_codes[3] = 4;
+ if (has_emphasis(em, emphasis::blink)) em_codes[4] = 5;
+ if (has_emphasis(em, emphasis::reverse)) em_codes[5] = 7;
+ if (has_emphasis(em, emphasis::conceal)) em_codes[6] = 8;
+ if (has_emphasis(em, emphasis::strikethrough)) em_codes[7] = 9;
size_t index = 0;
- for (int i = 0; i < 4; ++i) {
+ for (size_t i = 0; i < num_emphases; ++i) {
if (!em_codes[i]) continue;
buffer[index++] = static_cast<Char>('\x1b');
buffer[index++] = static_cast<Char>('[');
@@ -435,7 +441,8 @@
}
private:
- Char buffer[7u + 3u * 4u + 1u];
+ static constexpr size_t num_emphases = 8;
+ Char buffer[7u + 3u * num_emphases + 1u];
static FMT_CONSTEXPR void to_esc(uint8_t c, Char* out,
char delimiter) FMT_NOEXCEPT {
@@ -444,6 +451,10 @@
out[2] = static_cast<Char>('0' + c % 10);
out[3] = static_cast<Char>(delimiter);
}
+ static FMT_CONSTEXPR bool has_emphasis(emphasis em,
+ emphasis mask) FMT_NOEXCEPT {
+ return static_cast<uint8_t>(em) & static_cast<uint8_t>(mask);
+ }
};
template <typename Char>
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/compile.h b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/compile.h
index 00000c9..1dba3dd 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/compile.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/compile.h
@@ -156,7 +156,7 @@
std::string s = fmt::format(FMT_COMPILE("{}"), 42);
\endrst
*/
-#ifdef __cpp_if_constexpr
+#if defined(__cpp_if_constexpr) && defined(__cpp_return_type_deduction)
# define FMT_COMPILE(s) \
FMT_STRING_IMPL(s, fmt::detail::compiled_string, explicit)
#else
@@ -179,7 +179,7 @@
return value;
}
-#ifdef __cpp_if_constexpr
+#if defined(__cpp_if_constexpr) && defined(__cpp_return_type_deduction)
template <typename... Args> struct type_list {};
// Returns a reference to the argument at index N from [first, rest...].
@@ -190,7 +190,7 @@
if constexpr (N == 0)
return first;
else
- return get<N - 1>(rest...);
+ return detail::get<N - 1>(rest...);
}
template <typename Char, typename... Args>
@@ -202,7 +202,8 @@
template <int N, typename> struct get_type_impl;
template <int N, typename... Args> struct get_type_impl<N, type_list<Args...>> {
- using type = remove_cvref_t<decltype(get<N>(std::declval<Args>()...))>;
+ using type =
+ remove_cvref_t<decltype(detail::get<N>(std::declval<Args>()...))>;
};
template <int N, typename T>
@@ -242,7 +243,7 @@
// This ensures that the argument type is convertible to `const T&`.
template <typename T, int N, typename... Args>
constexpr const T& get_arg_checked(const Args&... args) {
- const auto& arg = get<N>(args...);
+ const auto& arg = detail::get<N>(args...);
if constexpr (detail::is_named_arg<remove_cvref_t<decltype(arg)>>()) {
return arg.value;
} else {
@@ -289,7 +290,7 @@
constexpr OutputIt format(OutputIt out, const Args&... args) const {
bool found = (try_format_argument(out, name, args) || ...);
if (!found) {
- throw format_error("argument with specified name is not found");
+ FMT_THROW(format_error("argument with specified name is not found"));
}
return out;
}
@@ -399,7 +400,9 @@
return 0;
}
- constexpr void on_error(const char* message) { throw format_error(message); }
+ constexpr void on_error(const char* message) {
+ FMT_THROW(format_error(message));
+ }
};
template <typename Char> struct parse_arg_id_result {
@@ -451,7 +454,7 @@
constexpr auto str = basic_string_view<char_type>(format_str);
if constexpr (str[POS] == '{') {
if constexpr (POS + 1 == str.size())
- throw format_error("unmatched '{' in format string");
+ FMT_THROW(format_error("unmatched '{' in format string"));
if constexpr (str[POS + 1] == '{') {
return parse_tail<Args, POS + 2, ID>(make_text(str, POS, 1), format_str);
} else if constexpr (str[POS + 1] == '}' || str[POS + 1] == ':') {
@@ -500,7 +503,7 @@
}
} else if constexpr (str[POS] == '}') {
if constexpr (POS + 1 == str.size())
- throw format_error("unmatched '}' in format string");
+ FMT_THROW(format_error("unmatched '}' in format string"));
return parse_tail<Args, POS + 2, ID>(make_text(str, POS, 1), format_str);
} else {
constexpr auto end = parse_text(str, POS + 1);
@@ -527,12 +530,12 @@
return result;
}
}
-#endif // __cpp_if_constexpr
+#endif // defined(__cpp_if_constexpr) && defined(__cpp_return_type_deduction)
} // namespace detail
FMT_MODULE_EXPORT_BEGIN
-#ifdef __cpp_if_constexpr
+#if defined(__cpp_if_constexpr) && defined(__cpp_return_type_deduction)
template <typename CompiledFormat, typename... Args,
typename Char = typename CompiledFormat::char_type,
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/core.h b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/core.h
index d058398..92a7aa1 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/core.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/core.h
@@ -8,7 +8,8 @@
#ifndef FMT_CORE_H_
#define FMT_CORE_H_
-#include <cstdio> // std::FILE
+#include <cstddef> // std::byte
+#include <cstdio> // std::FILE
#include <cstring>
#include <iterator>
#include <limits>
@@ -16,29 +17,33 @@
#include <type_traits>
// The fmt library version in the form major * 10000 + minor * 100 + patch.
-#define FMT_VERSION 80001
+#define FMT_VERSION 80101
-#ifdef __clang__
+#if defined(__clang__) && !defined(__ibmxl__)
# define FMT_CLANG_VERSION (__clang_major__ * 100 + __clang_minor__)
#else
# define FMT_CLANG_VERSION 0
#endif
-#if defined(__GNUC__) && !defined(__clang__) && !defined(__INTEL_COMPILER)
+#if defined(__GNUC__) && !defined(__clang__) && !defined(__INTEL_COMPILER) && \
+ !defined(__NVCOMPILER)
# define FMT_GCC_VERSION (__GNUC__ * 100 + __GNUC_MINOR__)
-# define FMT_GCC_PRAGMA(arg) _Pragma(arg)
#else
# define FMT_GCC_VERSION 0
-# define FMT_GCC_PRAGMA(arg)
#endif
-#if __cplusplus >= 201103L || defined(__GXX_EXPERIMENTAL_CXX0X__)
-# define FMT_HAS_GXX_CXX11 FMT_GCC_VERSION
-#else
-# define FMT_HAS_GXX_CXX11 0
+#ifndef FMT_GCC_PRAGMA
+// Workaround _Pragma bug https://gcc.gnu.org/bugzilla/show_bug.cgi?id=59884.
+# if FMT_GCC_VERSION >= 504
+# define FMT_GCC_PRAGMA(arg) _Pragma(arg)
+# else
+# define FMT_GCC_PRAGMA(arg)
+# endif
#endif
-#if defined(__INTEL_COMPILER)
+#ifdef __ICL
+# define FMT_ICC_VERSION __ICL
+#elif defined(__INTEL_COMPILER)
# define FMT_ICC_VERSION __INTEL_COMPILER
#else
# define FMT_ICC_VERSION 0
@@ -78,17 +83,23 @@
# define FMT_HAS_CPP_ATTRIBUTE(x) 0
#endif
+#ifdef _MSVC_LANG
+# define FMT_CPLUSPLUS _MSVC_LANG
+#else
+# define FMT_CPLUSPLUS __cplusplus
+#endif
+
#define FMT_HAS_CPP14_ATTRIBUTE(attribute) \
- (__cplusplus >= 201402L && FMT_HAS_CPP_ATTRIBUTE(attribute))
+ (FMT_CPLUSPLUS >= 201402L && FMT_HAS_CPP_ATTRIBUTE(attribute))
#define FMT_HAS_CPP17_ATTRIBUTE(attribute) \
- (__cplusplus >= 201703L && FMT_HAS_CPP_ATTRIBUTE(attribute))
+ (FMT_CPLUSPLUS >= 201703L && FMT_HAS_CPP_ATTRIBUTE(attribute))
// Check if relaxed C++14 constexpr is supported.
// GCC doesn't allow throw in constexpr until version 6 (bug 67371).
#ifndef FMT_USE_CONSTEXPR
# define FMT_USE_CONSTEXPR \
- (FMT_HAS_FEATURE(cxx_relaxed_constexpr) || FMT_MSC_VER >= 1910 || \
+ (FMT_HAS_FEATURE(cxx_relaxed_constexpr) || FMT_MSC_VER >= 1912 || \
(FMT_GCC_VERSION >= 600 && __cplusplus >= 201402L)) && \
!FMT_NVCC && !FMT_ICC_VERSION
#endif
@@ -100,6 +111,14 @@
# define FMT_CONSTEXPR_DECL
#endif
+#if ((__cplusplus >= 202002L) && \
+ (!defined(_GLIBCXX_RELEASE) || _GLIBCXX_RELEASE > 9)) || \
+ (__cplusplus >= 201709L && FMT_GCC_VERSION >= 1002)
+# define FMT_CONSTEXPR20 constexpr
+#else
+# define FMT_CONSTEXPR20
+#endif
+
// Check if constexpr std::char_traits<>::compare,length is supported.
#if defined(__GLIBCXX__)
# if __cplusplus >= 201703L && defined(_GLIBCXX_RELEASE) && \
@@ -116,15 +135,6 @@
# define FMT_CONSTEXPR_CHAR_TRAITS
#endif
-#ifndef FMT_OVERRIDE
-# if FMT_HAS_FEATURE(cxx_override_control) || \
- (FMT_GCC_VERSION >= 408 && FMT_HAS_GXX_CXX11) || FMT_MSC_VER >= 1900
-# define FMT_OVERRIDE override
-# else
-# define FMT_OVERRIDE
-# endif
-#endif
-
// Check if exceptions are disabled.
#ifndef FMT_EXCEPTIONS
# if (defined(__GNUC__) && !defined(__EXCEPTIONS)) || \
@@ -141,7 +151,7 @@
#endif
#if FMT_USE_NOEXCEPT || FMT_HAS_FEATURE(cxx_noexcept) || \
- (FMT_GCC_VERSION >= 408 && FMT_HAS_GXX_CXX11) || FMT_MSC_VER >= 1900
+ FMT_GCC_VERSION >= 408 || FMT_MSC_VER >= 1900
# define FMT_DETECTED_NOEXCEPT noexcept
# define FMT_HAS_CXX11_NOEXCEPT 1
#else
@@ -166,14 +176,6 @@
# define FMT_NORETURN
#endif
-#ifndef FMT_MAYBE_UNUSED
-# if FMT_HAS_CPP17_ATTRIBUTE(maybe_unused)
-# define FMT_MAYBE_UNUSED [[maybe_unused]]
-# else
-# define FMT_MAYBE_UNUSED
-# endif
-#endif
-
#if __cplusplus == 201103L || __cplusplus == 201402L
# if defined(__INTEL_COMPILER) || defined(__PGI)
# define FMT_FALLTHROUGH
@@ -185,13 +187,20 @@
# else
# define FMT_FALLTHROUGH
# endif
-#elif FMT_HAS_CPP17_ATTRIBUTE(fallthrough) || \
- (defined(_MSVC_LANG) && _MSVC_LANG >= 201703L)
+#elif FMT_HAS_CPP17_ATTRIBUTE(fallthrough)
# define FMT_FALLTHROUGH [[fallthrough]]
#else
# define FMT_FALLTHROUGH
#endif
+#ifndef FMT_NODISCARD
+# if FMT_HAS_CPP17_ATTRIBUTE(nodiscard)
+# define FMT_NODISCARD [[nodiscard]]
+# else
+# define FMT_NODISCARD
+# endif
+#endif
+
#ifndef FMT_USE_FLOAT
# define FMT_USE_FLOAT 1
#endif
@@ -210,31 +219,27 @@
# endif
#endif
-#ifndef FMT_USE_INLINE_NAMESPACES
-# if FMT_HAS_FEATURE(cxx_inline_namespaces) || FMT_GCC_VERSION >= 404 || \
- (FMT_MSC_VER >= 1900 && (!defined(_MANAGED) || !_MANAGED))
-# define FMT_USE_INLINE_NAMESPACES 1
+#ifndef FMT_DEPRECATED
+# if FMT_HAS_CPP14_ATTRIBUTE(deprecated) || FMT_MSC_VER >= 1900
+# define FMT_DEPRECATED [[deprecated]]
# else
-# define FMT_USE_INLINE_NAMESPACES 0
+# if (defined(__GNUC__) && !defined(__LCC__)) || defined(__clang__)
+# define FMT_DEPRECATED __attribute__((deprecated))
+# elif FMT_MSC_VER
+# define FMT_DEPRECATED __declspec(deprecated)
+# else
+# define FMT_DEPRECATED /* deprecated */
+# endif
# endif
#endif
#ifndef FMT_BEGIN_NAMESPACE
-# if FMT_USE_INLINE_NAMESPACES
-# define FMT_INLINE_NAMESPACE inline namespace
-# define FMT_END_NAMESPACE \
- } \
- }
-# else
-# define FMT_INLINE_NAMESPACE namespace
-# define FMT_END_NAMESPACE \
- } \
- using namespace v8; \
- }
-# endif
# define FMT_BEGIN_NAMESPACE \
namespace fmt { \
- FMT_INLINE_NAMESPACE v8 {
+ inline namespace v8 {
+# define FMT_END_NAMESPACE \
+ } \
+ }
#endif
#ifndef FMT_MODULE_EXPORT
@@ -264,12 +269,6 @@
# define FMT_API
#endif
-#if FMT_GCC_VERSION
-# define FMT_GCC_VISIBILITY_HIDDEN __attribute__((visibility("hidden")))
-#else
-# define FMT_GCC_VISIBILITY_HIDDEN
-#endif
-
// libc++ supports string_view in pre-c++17.
#if (FMT_HAS_INCLUDE(<string_view>) && \
(__cplusplus > 201402L || defined(_LIBCPP_VERSION))) || \
@@ -286,10 +285,11 @@
#endif
#ifndef FMT_CONSTEVAL
-# if ((FMT_GCC_VERSION >= 1000 || FMT_CLANG_VERSION >= 1101) && \
- __cplusplus > 201703L) || \
- (defined(__cpp_consteval) && \
- !FMT_MSC_VER) // consteval is broken in MSVC.
+# if ((FMT_GCC_VERSION >= 1000 || FMT_CLANG_VERSION >= 1101) && \
+ __cplusplus > 201703L && !defined(__apple_build_version__)) || \
+ (defined(__cpp_consteval) && \
+ (!FMT_MSC_VER || _MSC_FULL_VER >= 193030704))
+// consteval is broken in MSVC before VS2022 and Apple clang 13.
# define FMT_CONSTEVAL consteval
# define FMT_HAS_CONSTEVAL
# else
@@ -325,6 +325,8 @@
template <typename T>
using remove_reference_t = typename std::remove_reference<T>::type;
template <typename T>
+using remove_const_t = typename std::remove_const<T>::type;
+template <typename T>
using remove_cvref_t = typename std::remove_cv<remove_reference_t<T>>::type;
template <typename T> struct type_identity { using type = T; };
template <typename T> using type_identity_t = typename type_identity<T>::type;
@@ -333,11 +335,6 @@
constexpr monostate() {}
};
-// Suppress "unused variable" warnings with the method described in
-// https://herbsutter.com/2009/10/18/mailbag-shutting-up-compiler-warnings/.
-// (void)var does not work on many Intel compilers.
-template <typename... T> FMT_CONSTEXPR void ignore_unused(const T&...) {}
-
// An enable_if helper to be used in template parameters which results in much
// shorter symbols: https://godbolt.org/z/sWw4vP. Extra parentheses are needed
// to workaround a bug in MSVC 2019 (see #1140 and #1186).
@@ -349,16 +346,25 @@
FMT_BEGIN_DETAIL_NAMESPACE
-constexpr FMT_INLINE auto is_constant_evaluated() FMT_NOEXCEPT -> bool {
+// Suppress "unused variable" warnings with the method described in
+// https://herbsutter.com/2009/10/18/mailbag-shutting-up-compiler-warnings/.
+// (void)var does not work on many Intel compilers.
+template <typename... T> FMT_CONSTEXPR void ignore_unused(const T&...) {}
+
+constexpr FMT_INLINE auto is_constant_evaluated(bool default_value = false)
+ FMT_NOEXCEPT -> bool {
#ifdef __cpp_lib_is_constant_evaluated
+ ignore_unused(default_value);
return std::is_constant_evaluated();
#else
- return false;
+ return default_value;
#endif
}
// A function to suppress "conditional expression is constant" warnings.
-template <typename T> constexpr auto const_check(T value) -> T { return value; }
+template <typename T> constexpr FMT_INLINE auto const_check(T value) -> T {
+ return value;
+}
FMT_NORETURN FMT_API void assert_fail(const char* file, int line,
const char* message);
@@ -367,7 +373,7 @@
# ifdef NDEBUG
// FMT_ASSERT is not empty to avoid -Werror=empty-body.
# define FMT_ASSERT(condition, message) \
- ::fmt::ignore_unused((condition), (message))
+ ::fmt::detail::ignore_unused((condition), (message))
# else
# define FMT_ASSERT(condition, message) \
((condition) /* void() fails with -Winvalid-constexpr on clang 4.0.1 */ \
@@ -376,6 +382,12 @@
# endif
#endif
+#ifdef __cpp_lib_byte
+using byte = std::byte;
+#else
+enum class byte : unsigned char {};
+#endif
+
#if defined(FMT_USE_STRING_VIEW)
template <typename Char> using std_string_view = std::basic_string_view<Char>;
#elif defined(FMT_USE_EXPERIMENTAL_STRING_VIEW)
@@ -457,13 +469,12 @@
*/
FMT_CONSTEXPR_CHAR_TRAITS
FMT_INLINE
- basic_string_view(const Char* s) : data_(s) {
- if (detail::const_check(std::is_same<Char, char>::value &&
- !detail::is_constant_evaluated()))
- size_ = std::strlen(reinterpret_cast<const char*>(s));
- else
- size_ = std::char_traits<Char>::length(s);
- }
+ basic_string_view(const Char* s)
+ : data_(s),
+ size_(detail::const_check(std::is_same<Char, char>::value &&
+ !detail::is_constant_evaluated(true))
+ ? std::strlen(reinterpret_cast<const char*>(s))
+ : std::char_traits<Char>::length(s)) {}
/** Constructs a string reference from a ``std::basic_string`` object. */
template <typename Traits, typename Alloc>
@@ -478,19 +489,19 @@
size_(s.size()) {}
/** Returns a pointer to the string data. */
- constexpr auto data() const -> const Char* { return data_; }
+ constexpr auto data() const FMT_NOEXCEPT -> const Char* { return data_; }
/** Returns the string size. */
- constexpr auto size() const -> size_t { return size_; }
+ constexpr auto size() const FMT_NOEXCEPT -> size_t { return size_; }
- constexpr auto begin() const -> iterator { return data_; }
- constexpr auto end() const -> iterator { return data_ + size_; }
+ constexpr auto begin() const FMT_NOEXCEPT -> iterator { return data_; }
+ constexpr auto end() const FMT_NOEXCEPT -> iterator { return data_ + size_; }
- constexpr auto operator[](size_t pos) const -> const Char& {
+ constexpr auto operator[](size_t pos) const FMT_NOEXCEPT -> const Char& {
return data_[pos];
}
- FMT_CONSTEXPR void remove_prefix(size_t n) {
+ FMT_CONSTEXPR void remove_prefix(size_t n) FMT_NOEXCEPT {
data_ += n;
size_ -= n;
}
@@ -570,7 +581,7 @@
FMT_BEGIN_DETAIL_NAMESPACE
void to_string_view(...);
-using fmt::v8::to_string_view;
+using fmt::to_string_view;
// Specifies whether S is a string type convertible to fmt::basic_string_view.
// It should be a constexpr function but MSVC 2017 fails to compile it in
@@ -597,6 +608,8 @@
template <typename..., typename S, FMT_ENABLE_IF(is_compile_string<S>::value)>
void check_format_string(S);
+FMT_NORETURN FMT_API void throw_format_error(const char* message);
+
struct error_handler {
constexpr error_handler() = default;
constexpr error_handler(const error_handler&) = default;
@@ -711,6 +724,22 @@
FMT_BEGIN_DETAIL_NAMESPACE
+template <typename Context, typename T>
+constexpr auto has_const_formatter_impl(T*)
+ -> decltype(typename Context::template formatter_type<T>().format(
+ std::declval<const T&>(), std::declval<Context&>()),
+ true) {
+ return true;
+}
+template <typename Context>
+constexpr auto has_const_formatter_impl(...) -> bool {
+ return false;
+}
+template <typename T, typename Context>
+constexpr auto has_const_formatter() -> bool {
+ return has_const_formatter_impl<Context>(static_cast<T*>(nullptr));
+}
+
// Extracts a reference to the container from back_insert_iterator.
template <typename Container>
inline auto get_container(std::back_insert_iterator<Container> it)
@@ -730,13 +759,13 @@
return out;
}
-template <typename Char, FMT_ENABLE_IF(std::is_same<Char, char>::value)>
-FMT_CONSTEXPR auto copy_str(const Char* begin, const Char* end, Char* out)
- -> Char* {
- if (is_constant_evaluated())
- return copy_str<Char, const Char*, Char*>(begin, end, out);
+template <typename Char, typename T, typename U,
+ FMT_ENABLE_IF(
+ std::is_same<remove_const_t<T>, U>::value&& is_char<U>::value)>
+FMT_CONSTEXPR auto copy_str(T* begin, T* end, U* out) -> U* {
+ if (is_constant_evaluated()) return copy_str<Char, T*, U*>(begin, end, out);
auto size = to_unsigned(end - begin);
- memcpy(out, begin, size);
+ memcpy(out, begin, size * sizeof(U));
return out + size;
}
@@ -757,22 +786,22 @@
FMT_MSC_WARNING(suppress : 26495)
buffer(size_t sz) FMT_NOEXCEPT : size_(sz), capacity_(sz) {}
- buffer(T* p = nullptr, size_t sz = 0, size_t cap = 0) FMT_NOEXCEPT
- : ptr_(p),
- size_(sz),
- capacity_(cap) {}
+ FMT_CONSTEXPR20 buffer(T* p = nullptr, size_t sz = 0,
+ size_t cap = 0) FMT_NOEXCEPT : ptr_(p),
+ size_(sz),
+ capacity_(cap) {}
- ~buffer() = default;
+ FMT_CONSTEXPR20 ~buffer() = default;
buffer(buffer&&) = default;
/** Sets the buffer data and capacity. */
- void set(T* buf_data, size_t buf_capacity) FMT_NOEXCEPT {
+ FMT_CONSTEXPR void set(T* buf_data, size_t buf_capacity) FMT_NOEXCEPT {
ptr_ = buf_data;
capacity_ = buf_capacity;
}
/** Increases the buffer capacity to hold at least *capacity* elements. */
- virtual void grow(size_t capacity) = 0;
+ virtual FMT_CONSTEXPR20 void grow(size_t capacity) = 0;
public:
using value_type = T;
@@ -788,23 +817,23 @@
auto end() const FMT_NOEXCEPT -> const T* { return ptr_ + size_; }
/** Returns the size of this buffer. */
- auto size() const FMT_NOEXCEPT -> size_t { return size_; }
+ constexpr auto size() const FMT_NOEXCEPT -> size_t { return size_; }
/** Returns the capacity of this buffer. */
- auto capacity() const FMT_NOEXCEPT -> size_t { return capacity_; }
+ constexpr auto capacity() const FMT_NOEXCEPT -> size_t { return capacity_; }
/** Returns a pointer to the buffer data. */
- auto data() FMT_NOEXCEPT -> T* { return ptr_; }
+ FMT_CONSTEXPR auto data() FMT_NOEXCEPT -> T* { return ptr_; }
/** Returns a pointer to the buffer data. */
- auto data() const FMT_NOEXCEPT -> const T* { return ptr_; }
+ FMT_CONSTEXPR auto data() const FMT_NOEXCEPT -> const T* { return ptr_; }
/** Clears this buffer. */
void clear() { size_ = 0; }
// Tries resizing the buffer to contain *count* elements. If T is a POD type
// the new elements may not be initialized.
- void try_resize(size_t count) {
+ FMT_CONSTEXPR20 void try_resize(size_t count) {
try_reserve(count);
size_ = count <= capacity_ ? count : capacity_;
}
@@ -813,11 +842,11 @@
// capacity by a smaller amount than requested but guarantees there is space
// for at least one additional element either by increasing the capacity or by
// flushing the buffer if it is full.
- void try_reserve(size_t new_capacity) {
+ FMT_CONSTEXPR20 void try_reserve(size_t new_capacity) {
if (new_capacity > capacity_) grow(new_capacity);
}
- void push_back(const T& value) {
+ FMT_CONSTEXPR20 void push_back(const T& value) {
try_reserve(size_ + 1);
ptr_[size_++] = value;
}
@@ -825,8 +854,11 @@
/** Appends data to the end of the buffer. */
template <typename U> void append(const U* begin, const U* end);
- template <typename I> auto operator[](I index) -> T& { return ptr_[index]; }
- template <typename I> auto operator[](I index) const -> const T& {
+ template <typename I> FMT_CONSTEXPR auto operator[](I index) -> T& {
+ return ptr_[index];
+ }
+ template <typename I>
+ FMT_CONSTEXPR auto operator[](I index) const -> const T& {
return ptr_[index];
}
};
@@ -861,7 +893,7 @@
T data_[buffer_size];
protected:
- void grow(size_t) final FMT_OVERRIDE {
+ FMT_CONSTEXPR20 void grow(size_t) override {
if (this->size() == buffer_size) flush();
}
@@ -885,9 +917,55 @@
auto count() const -> size_t { return Traits::count() + this->size(); }
};
+template <typename T>
+class iterator_buffer<T*, T, fixed_buffer_traits> final
+ : public fixed_buffer_traits,
+ public buffer<T> {
+ private:
+ T* out_;
+ enum { buffer_size = 256 };
+ T data_[buffer_size];
+
+ protected:
+ FMT_CONSTEXPR20 void grow(size_t) override {
+ if (this->size() == this->capacity()) flush();
+ }
+
+ void flush() {
+ size_t n = this->limit(this->size());
+ if (this->data() == out_) {
+ out_ += n;
+ this->set(data_, buffer_size);
+ }
+ this->clear();
+ }
+
+ public:
+ explicit iterator_buffer(T* out, size_t n = buffer_size)
+ : fixed_buffer_traits(n), buffer<T>(out, 0, n), out_(out) {}
+ iterator_buffer(iterator_buffer&& other)
+ : fixed_buffer_traits(other),
+ buffer<T>(std::move(other)),
+ out_(other.out_) {
+ if (this->data() != out_) {
+ this->set(data_, buffer_size);
+ this->clear();
+ }
+ }
+ ~iterator_buffer() { flush(); }
+
+ auto out() -> T* {
+ flush();
+ return out_;
+ }
+ auto count() const -> size_t {
+ return fixed_buffer_traits::count() + this->size();
+ }
+};
+
template <typename T> class iterator_buffer<T*, T> final : public buffer<T> {
protected:
- void grow(size_t) final FMT_OVERRIDE {}
+ FMT_CONSTEXPR20 void grow(size_t) override {}
public:
explicit iterator_buffer(T* out, size_t = 0) : buffer<T>(out, 0, ~size_t()) {}
@@ -905,7 +983,7 @@
Container& container_;
protected:
- void grow(size_t capacity) final FMT_OVERRIDE {
+ FMT_CONSTEXPR20 void grow(size_t capacity) override {
container_.resize(capacity);
this->set(&container_[0], capacity);
}
@@ -928,7 +1006,7 @@
size_t count_ = 0;
protected:
- void grow(size_t) final FMT_OVERRIDE {
+ FMT_CONSTEXPR20 void grow(size_t) override {
if (this->size() != buffer_size) return;
count_ += this->size();
this->clear();
@@ -1045,6 +1123,11 @@
return count<is_named_arg<Args>::value...>();
}
+template <typename... Args>
+constexpr auto count_statically_named_args() -> size_t {
+ return count<is_statically_named_arg<Args>::value...>();
+}
+
enum class type {
none_type,
// Integer types should go first,
@@ -1100,6 +1183,11 @@
return t > type::none_type && t <= type::last_numeric_type;
}
+struct unformattable {};
+struct unformattable_char : unformattable {};
+struct unformattable_const : unformattable {};
+struct unformattable_pointer : unformattable {};
+
template <typename Char> struct string_value {
const Char* data;
size_t size;
@@ -1112,8 +1200,8 @@
template <typename Context> struct custom_value {
using parse_context = typename Context::parse_context_type;
- const void* value;
- void (*format)(const void* arg, parse_context& parse_ctx, Context& ctx);
+ void* value;
+ void (*format)(void* arg, parse_context& parse_ctx, Context& ctx);
};
// A formatting argument value.
@@ -1147,8 +1235,8 @@
constexpr FMT_INLINE value(unsigned long long val) : ulong_long_value(val) {}
FMT_INLINE value(int128_t val) : int128_value(val) {}
FMT_INLINE value(uint128_t val) : uint128_value(val) {}
- FMT_INLINE value(float val) : float_value(val) {}
- FMT_INLINE value(double val) : double_value(val) {}
+ constexpr FMT_INLINE value(float val) : float_value(val) {}
+ constexpr FMT_INLINE value(double val) : double_value(val) {}
FMT_INLINE value(long double val) : long_double_value(val) {}
constexpr FMT_INLINE value(bool val) : bool_value(val) {}
constexpr FMT_INLINE value(char_type val) : char_value(val) {}
@@ -1164,26 +1252,34 @@
FMT_INLINE value(const named_arg_info<char_type>* args, size_t size)
: named_args{args, size} {}
- template <typename T> FMT_CONSTEXPR FMT_INLINE value(const T& val) {
- custom.value = &val;
+ template <typename T> FMT_CONSTEXPR FMT_INLINE value(T& val) {
+ using value_type = remove_cvref_t<T>;
+ custom.value = const_cast<value_type*>(&val);
// Get the formatter type through the context to allow different contexts
// have different extension points, e.g. `formatter<T>` for `format` and
// `printf_formatter<T>` for `printf`.
custom.format = format_custom_arg<
- T, conditional_t<has_formatter<T, Context>::value,
- typename Context::template formatter_type<T>,
- fallback_formatter<T, char_type>>>;
+ value_type,
+ conditional_t<has_formatter<value_type, Context>::value,
+ typename Context::template formatter_type<value_type>,
+ fallback_formatter<value_type, char_type>>>;
}
+ value(unformattable);
+ value(unformattable_char);
+ value(unformattable_const);
+ value(unformattable_pointer);
private:
// Formats an argument of a custom type, such as a user-defined class.
template <typename T, typename Formatter>
- static void format_custom_arg(const void* arg,
+ static void format_custom_arg(void* arg,
typename Context::parse_context_type& parse_ctx,
Context& ctx) {
- Formatter f;
+ auto f = Formatter();
parse_ctx.advance_to(f.parse(parse_ctx));
- ctx.advance_to(f.format(*static_cast<const T*>(arg), ctx));
+ using qualified_type =
+ conditional_t<has_const_formatter<T, Context>(), const T, T>;
+ ctx.advance_to(f.format(*static_cast<qualified_type*>(arg), ctx));
}
};
@@ -1196,9 +1292,9 @@
using long_type = conditional_t<long_short, int, long long>;
using ulong_type = conditional_t<long_short, unsigned, unsigned long long>;
-struct unformattable {};
-
// Maps formatting arguments to core types.
+// arg_mapper reports errors by returning unformattable instead of using
+// static_assert because it's used in the is_formattable trait.
template <typename Context> struct arg_mapper {
using char_type = typename Context::char_type;
@@ -1225,13 +1321,22 @@
FMT_CONSTEXPR FMT_INLINE auto map(uint128_t val) -> uint128_t { return val; }
FMT_CONSTEXPR FMT_INLINE auto map(bool val) -> bool { return val; }
- template <typename T, FMT_ENABLE_IF(is_char<T>::value)>
+ template <typename T, FMT_ENABLE_IF(std::is_same<T, char>::value ||
+ std::is_same<T, char_type>::value)>
FMT_CONSTEXPR FMT_INLINE auto map(T val) -> char_type {
- static_assert(
- std::is_same<T, char>::value || std::is_same<T, char_type>::value,
- "mixing character types is disallowed");
return val;
}
+ template <typename T, enable_if_t<(std::is_same<T, wchar_t>::value ||
+#ifdef __cpp_char8_t
+ std::is_same<T, char8_t>::value ||
+#endif
+ std::is_same<T, char16_t>::value ||
+ std::is_same<T, char32_t>::value) &&
+ !std::is_same<T, char_type>::value,
+ int> = 0>
+ FMT_CONSTEXPR FMT_INLINE auto map(T) -> unformattable_char {
+ return {};
+ }
FMT_CONSTEXPR FMT_INLINE auto map(float val) -> float { return val; }
FMT_CONSTEXPR FMT_INLINE auto map(double val) -> double { return val; }
@@ -1245,14 +1350,20 @@
FMT_CONSTEXPR FMT_INLINE auto map(const char_type* val) -> const char_type* {
return val;
}
- template <typename T, FMT_ENABLE_IF(is_string<T>::value)>
+ template <typename T,
+ FMT_ENABLE_IF(is_string<T>::value && !std::is_pointer<T>::value &&
+ std::is_same<char_type, char_t<T>>::value)>
FMT_CONSTEXPR FMT_INLINE auto map(const T& val)
-> basic_string_view<char_type> {
- static_assert(std::is_same<char_type, char_t<T>>::value,
- "mixing character types is disallowed");
return to_string_view(val);
}
template <typename T,
+ FMT_ENABLE_IF(is_string<T>::value && !std::is_pointer<T>::value &&
+ !std::is_same<char_type, char_t<T>>::value)>
+ FMT_CONSTEXPR FMT_INLINE auto map(const T&) -> unformattable_char {
+ return {};
+ }
+ template <typename T,
FMT_ENABLE_IF(
std::is_constructible<basic_string_view<char_type>, T>::value &&
!is_string<T>::value && !has_formatter<T, Context>::value &&
@@ -1272,21 +1383,25 @@
-> basic_string_view<char_type> {
return std_string_view<char_type>(val);
}
- FMT_CONSTEXPR FMT_INLINE auto map(const signed char* val) -> const char* {
- static_assert(std::is_same<char_type, char>::value, "invalid string type");
- return reinterpret_cast<const char*>(val);
+
+ using cstring_result = conditional_t<std::is_same<char_type, char>::value,
+ const char*, unformattable_pointer>;
+
+ FMT_DEPRECATED FMT_CONSTEXPR FMT_INLINE auto map(const signed char* val)
+ -> cstring_result {
+ return map(reinterpret_cast<const char*>(val));
}
- FMT_CONSTEXPR FMT_INLINE auto map(const unsigned char* val) -> const char* {
- static_assert(std::is_same<char_type, char>::value, "invalid string type");
- return reinterpret_cast<const char*>(val);
+ FMT_DEPRECATED FMT_CONSTEXPR FMT_INLINE auto map(const unsigned char* val)
+ -> cstring_result {
+ return map(reinterpret_cast<const char*>(val));
}
- FMT_CONSTEXPR FMT_INLINE auto map(signed char* val) -> const char* {
- const auto* const_val = val;
- return map(const_val);
+ FMT_DEPRECATED FMT_CONSTEXPR FMT_INLINE auto map(signed char* val)
+ -> cstring_result {
+ return map(reinterpret_cast<const char*>(val));
}
- FMT_CONSTEXPR FMT_INLINE auto map(unsigned char* val) -> const char* {
- const auto* const_val = val;
- return map(const_val);
+ FMT_DEPRECATED FMT_CONSTEXPR FMT_INLINE auto map(unsigned char* val)
+ -> cstring_result {
+ return map(reinterpret_cast<const char*>(val));
}
FMT_CONSTEXPR FMT_INLINE auto map(void* val) -> const void* { return val; }
@@ -1299,37 +1414,69 @@
// We use SFINAE instead of a const T* parameter to avoid conflicting with
// the C array overload.
- template <typename T>
- FMT_CONSTEXPR auto map(T) -> enable_if_t<std::is_pointer<T>::value, int> {
- // Formatting of arbitrary pointers is disallowed. If you want to output
- // a pointer cast it to "void *" or "const void *". In particular, this
- // forbids formatting of "[const] volatile char *" which is printed as bool
- // by iostreams.
- static_assert(!sizeof(T), "formatting of non-void pointers is disallowed");
- return 0;
+ template <
+ typename T,
+ FMT_ENABLE_IF(
+ std::is_member_pointer<T>::value ||
+ std::is_function<typename std::remove_pointer<T>::type>::value ||
+ (std::is_convertible<const T&, const void*>::value &&
+ !std::is_convertible<const T&, const char_type*>::value))>
+ FMT_CONSTEXPR auto map(const T&) -> unformattable_pointer {
+ return {};
}
- template <typename T, std::size_t N>
+ template <typename T, std::size_t N,
+ FMT_ENABLE_IF(!std::is_same<T, wchar_t>::value)>
FMT_CONSTEXPR FMT_INLINE auto map(const T (&values)[N]) -> const T (&)[N] {
return values;
}
template <typename T,
- FMT_ENABLE_IF(std::is_enum<T>::value &&
- !has_formatter<T, Context>::value &&
- !has_fallback_formatter<T, char_type>::value)>
+ FMT_ENABLE_IF(
+ std::is_enum<T>::value&& std::is_convertible<T, int>::value &&
+ !has_formatter<T, Context>::value &&
+ !has_fallback_formatter<T, char_type>::value)>
FMT_CONSTEXPR FMT_INLINE auto map(const T& val)
-> decltype(std::declval<arg_mapper>().map(
static_cast<typename std::underlying_type<T>::type>(val))) {
return map(static_cast<typename std::underlying_type<T>::type>(val));
}
- template <typename T,
- FMT_ENABLE_IF(!is_string<T>::value && !is_char<T>::value &&
- (has_formatter<T, Context>::value ||
- has_fallback_formatter<T, char_type>::value))>
- FMT_CONSTEXPR FMT_INLINE auto map(const T& val) -> const T& {
+
+ FMT_CONSTEXPR FMT_INLINE auto map(detail::byte val) -> unsigned {
+ return map(static_cast<unsigned char>(val));
+ }
+
+ template <typename T, typename U = remove_cvref_t<T>>
+ struct formattable
+ : bool_constant<has_const_formatter<U, Context>() ||
+ !std::is_const<remove_reference_t<T>>::value ||
+ has_fallback_formatter<U, char_type>::value> {};
+
+#if FMT_MSC_VER != 0 && FMT_MSC_VER < 1910
+ // Workaround a bug in MSVC.
+ template <typename T> FMT_CONSTEXPR FMT_INLINE auto do_map(T&& val) -> T& {
return val;
}
+#else
+ template <typename T, FMT_ENABLE_IF(formattable<T>::value)>
+ FMT_CONSTEXPR FMT_INLINE auto do_map(T&& val) -> T& {
+ return val;
+ }
+ template <typename T, FMT_ENABLE_IF(!formattable<T>::value)>
+ FMT_CONSTEXPR FMT_INLINE auto do_map(T&&) -> unformattable_const {
+ return {};
+ }
+#endif
+
+ template <typename T, typename U = remove_cvref_t<T>,
+ FMT_ENABLE_IF(!is_string<U>::value && !is_char<U>::value &&
+ !std::is_array<U>::value &&
+ (has_formatter<U, Context>::value ||
+ has_fallback_formatter<U, char_type>::value))>
+ FMT_CONSTEXPR FMT_INLINE auto map(T&& val)
+ -> decltype(this->do_map(std::forward<T>(val))) {
+ return do_map(std::forward<T>(val));
+ }
template <typename T, FMT_ENABLE_IF(is_named_arg<T>::value)>
FMT_CONSTEXPR FMT_INLINE auto map(const T& named_arg)
@@ -1366,19 +1513,12 @@
public:
using std::back_insert_iterator<detail::buffer<char>>::back_insert_iterator;
- appender(base it) : base(it) {}
+ appender(base it) FMT_NOEXCEPT : base(it) {}
using _Unchecked_type = appender; // Mark iterator as checked.
- auto operator++() -> appender& {
- base::operator++();
- return *this;
- }
+ auto operator++() FMT_NOEXCEPT -> appender& { return *this; }
- auto operator++(int) -> appender {
- auto tmp = *this;
- ++*this;
- return tmp;
- }
+ auto operator++(int) FMT_NOEXCEPT -> appender { return *this; }
};
// A formatting argument. It is a trivially copyable/constructible type to
@@ -1562,10 +1702,30 @@
// another (not recommended).
template <bool IS_PACKED, typename Context, type, typename T,
FMT_ENABLE_IF(IS_PACKED)>
-FMT_CONSTEXPR FMT_INLINE auto make_arg(const T& val) -> value<Context> {
- const auto& arg = arg_mapper<Context>().map(val);
+FMT_CONSTEXPR FMT_INLINE auto make_arg(T&& val) -> value<Context> {
+ const auto& arg = arg_mapper<Context>().map(std::forward<T>(val));
+
+ constexpr bool formattable_char =
+ !std::is_same<decltype(arg), const unformattable_char&>::value;
+ static_assert(formattable_char, "Mixing character types is disallowed.");
+
+ constexpr bool formattable_const =
+ !std::is_same<decltype(arg), const unformattable_const&>::value;
+ static_assert(formattable_const, "Cannot format a const argument.");
+
+ // Formatting of arbitrary pointers is disallowed. If you want to output
+ // a pointer cast it to "void *" or "const void *". In particular, this
+ // forbids formatting of "[const] volatile char *" which is printed as bool
+ // by iostreams.
+ constexpr bool formattable_pointer =
+ !std::is_same<decltype(arg), const unformattable_pointer&>::value;
+ static_assert(formattable_pointer,
+ "Formatting of non-void pointers is disallowed.");
+
+ constexpr bool formattable =
+ !std::is_same<decltype(arg), const unformattable&>::value;
static_assert(
- !std::is_same<decltype(arg), const unformattable&>::value,
+ formattable,
"Cannot format an argument. To make type T formattable provide a "
"formatter<T> specialization: https://fmt.dev/latest/api.html#udt");
return {arg};
@@ -1643,9 +1803,9 @@
template <typename T, typename Char = char>
using is_formattable = bool_constant<
- !std::is_same<decltype(detail::arg_mapper<buffer_context<Char>>().map(
- std::declval<T>())),
- detail::unformattable>::value &&
+ !std::is_base_of<detail::unformattable,
+ decltype(detail::arg_mapper<buffer_context<Char>>().map(
+ std::declval<T>()))>::value &&
!detail::has_fallback_formatter<T, Char>::value>;
/**
@@ -1684,14 +1844,16 @@
: 0);
public:
- FMT_CONSTEXPR FMT_INLINE format_arg_store(const Args&... args)
+ template <typename... T>
+ FMT_CONSTEXPR FMT_INLINE format_arg_store(T&&... args)
:
#if FMT_GCC_VERSION && FMT_GCC_VERSION < 409
basic_format_args<Context>(*this),
#endif
data_{detail::make_arg<
is_packed, Context,
- detail::mapped_type_constant<Args, Context>::value>(args)...} {
+ detail::mapped_type_constant<remove_cvref_t<T>, Context>::value>(
+ std::forward<T>(args))...} {
detail::init_named_args(data_.named_args(), 0, 0, args...);
}
};
@@ -1705,9 +1867,9 @@
\endrst
*/
template <typename Context = format_context, typename... Args>
-constexpr auto make_format_args(const Args&... args)
- -> format_arg_store<Context, Args...> {
- return {args...};
+constexpr auto make_format_args(Args&&... args)
+ -> format_arg_store<Context, remove_cvref_t<Args>...> {
+ return {std::forward<Args>(args)...};
}
/**
@@ -1866,8 +2028,6 @@
FMT_BEGIN_DETAIL_NAMESPACE
-void throw_format_error(const char* message);
-
// Workaround an array initialization issue in gcc 4.8.
template <typename Char> struct fill_t {
private:
@@ -1893,11 +2053,33 @@
};
FMT_END_DETAIL_NAMESPACE
+enum class presentation_type : unsigned char {
+ none,
+ // Integer types should go first,
+ dec, // 'd'
+ oct, // 'o'
+ hex_lower, // 'x'
+ hex_upper, // 'X'
+ bin_lower, // 'b'
+ bin_upper, // 'B'
+ hexfloat_lower, // 'a'
+ hexfloat_upper, // 'A'
+ exp_lower, // 'e'
+ exp_upper, // 'E'
+ fixed_lower, // 'f'
+ fixed_upper, // 'F'
+ general_lower, // 'g'
+ general_upper, // 'G'
+ chr, // 'c'
+ string, // 's'
+ pointer // 'p'
+};
+
// Format specifiers for built-in and string types.
template <typename Char> struct basic_format_specs {
int width;
int precision;
- char type;
+ presentation_type type;
align_t align : 4;
sign_t sign : 3;
bool alt : 1; // Alternate form ('#').
@@ -1907,7 +2089,7 @@
constexpr basic_format_specs()
: width(0),
precision(-1),
- type(0),
+ type(presentation_type::none),
align(align::none),
sign(sign::none),
alt(false),
@@ -1987,9 +2169,7 @@
}
FMT_CONSTEXPR void end_precision() {}
- FMT_CONSTEXPR void on_type(Char type) {
- specs_.type = static_cast<char>(type);
- }
+ FMT_CONSTEXPR void on_type(presentation_type type) { specs_.type = type; }
};
// Format spec handler that saves references to arguments representing dynamic
@@ -2063,8 +2243,8 @@
template <typename Char>
FMT_CONSTEXPR auto code_point_length(const Char* begin) -> int {
if (const_check(sizeof(Char) != 1)) return 1;
- constexpr char lengths[] = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
- 0, 0, 0, 0, 0, 0, 0, 0, 2, 2, 2, 2, 3, 3, 4, 0};
+ auto lengths =
+ "\1\1\1\1\1\1\1\1\1\1\1\1\1\1\1\1\0\0\0\0\0\0\0\0\2\2\2\2\3\3\4";
int len = lengths[static_cast<unsigned char>(*begin) >> 3];
// Compute the pointer to the next character early so that the next
@@ -2271,6 +2451,48 @@
return begin;
}
+template <typename Char>
+FMT_CONSTEXPR auto parse_presentation_type(Char type) -> presentation_type {
+ switch (to_ascii(type)) {
+ case 'd':
+ return presentation_type::dec;
+ case 'o':
+ return presentation_type::oct;
+ case 'x':
+ return presentation_type::hex_lower;
+ case 'X':
+ return presentation_type::hex_upper;
+ case 'b':
+ return presentation_type::bin_lower;
+ case 'B':
+ return presentation_type::bin_upper;
+ case 'a':
+ return presentation_type::hexfloat_lower;
+ case 'A':
+ return presentation_type::hexfloat_upper;
+ case 'e':
+ return presentation_type::exp_lower;
+ case 'E':
+ return presentation_type::exp_upper;
+ case 'f':
+ return presentation_type::fixed_lower;
+ case 'F':
+ return presentation_type::fixed_upper;
+ case 'g':
+ return presentation_type::general_lower;
+ case 'G':
+ return presentation_type::general_upper;
+ case 'c':
+ return presentation_type::chr;
+ case 's':
+ return presentation_type::string;
+ case 'p':
+ return presentation_type::pointer;
+ default:
+ return presentation_type::none;
+ }
+}
+
// Parses standard format specifiers and sends notifications about parsed
// components to handler.
template <typename Char, typename SpecHandler>
@@ -2278,9 +2500,12 @@
const Char* end,
SpecHandler&& handler)
-> const Char* {
- if (begin + 1 < end && begin[1] == '}' && is_ascii_letter(*begin) &&
+ if (1 < end - begin && begin[1] == '}' && is_ascii_letter(*begin) &&
*begin != 'L') {
- handler.on_type(*begin++);
+ presentation_type type = parse_presentation_type(*begin++);
+ if (type == presentation_type::none)
+ handler.on_error("invalid type specifier");
+ handler.on_type(type);
return begin;
}
@@ -2334,7 +2559,12 @@
}
// Parse type.
- if (begin != end && *begin != '}') handler.on_type(*begin++);
+ if (begin != end && *begin != '}') {
+ presentation_type type = parse_presentation_type(*begin++);
+ if (type == presentation_type::none)
+ handler.on_error("invalid type specifier");
+ handler.on_type(type);
+ }
return begin;
}
@@ -2381,7 +2611,7 @@
template <bool IS_CONSTEXPR, typename Char, typename Handler>
FMT_CONSTEXPR FMT_INLINE void parse_format_string(
basic_string_view<Char> format_str, Handler&& handler) {
- // this is most likely a name-lookup defect in msvc's modules implementation
+ // Workaround a name-lookup bug in MSVC's modules implementation.
using detail::find;
auto begin = format_str.data();
@@ -2476,28 +2706,18 @@
};
template <typename ErrorHandler>
-FMT_CONSTEXPR void check_int_type_spec(char spec, ErrorHandler&& eh) {
- switch (spec) {
- case 0:
- case 'd':
- case 'x':
- case 'X':
- case 'b':
- case 'B':
- case 'o':
- case 'c':
- break;
- default:
+FMT_CONSTEXPR void check_int_type_spec(presentation_type type,
+ ErrorHandler&& eh) {
+ if (type > presentation_type::bin_upper && type != presentation_type::chr)
eh.on_error("invalid type specifier");
- break;
- }
}
// Checks char specs and returns true if the type spec is char (and not int).
template <typename Char, typename ErrorHandler = error_handler>
FMT_CONSTEXPR auto check_char_specs(const basic_format_specs<Char>& specs,
ErrorHandler&& eh = {}) -> bool {
- if (specs.type && specs.type != 'c') {
+ if (specs.type != presentation_type::none &&
+ specs.type != presentation_type::chr) {
check_int_type_spec(specs.type, eh);
return false;
}
@@ -2521,7 +2741,7 @@
bool upper : 1;
bool locale : 1;
bool binary32 : 1;
- bool use_grisu : 1;
+ bool fallback : 1;
bool showpoint : 1;
};
@@ -2533,33 +2753,33 @@
result.showpoint = specs.alt;
result.locale = specs.localized;
switch (specs.type) {
- case 0:
+ case presentation_type::none:
result.format = float_format::general;
break;
- case 'G':
+ case presentation_type::general_upper:
result.upper = true;
FMT_FALLTHROUGH;
- case 'g':
+ case presentation_type::general_lower:
result.format = float_format::general;
break;
- case 'E':
+ case presentation_type::exp_upper:
result.upper = true;
FMT_FALLTHROUGH;
- case 'e':
+ case presentation_type::exp_lower:
result.format = float_format::exp;
result.showpoint |= specs.precision != 0;
break;
- case 'F':
+ case presentation_type::fixed_upper:
result.upper = true;
FMT_FALLTHROUGH;
- case 'f':
+ case presentation_type::fixed_lower:
result.format = float_format::fixed;
result.showpoint |= specs.precision != 0;
break;
- case 'A':
+ case presentation_type::hexfloat_upper:
result.upper = true;
FMT_FALLTHROUGH;
- case 'a':
+ case presentation_type::hexfloat_lower:
result.format = float_format::hex;
break;
default:
@@ -2569,22 +2789,27 @@
return result;
}
-template <typename Char, typename ErrorHandler = error_handler>
-FMT_CONSTEXPR auto check_cstring_type_spec(Char spec, ErrorHandler&& eh = {})
- -> bool {
- if (spec == 0 || spec == 's') return true;
- if (spec != 'p') eh.on_error("invalid type specifier");
+template <typename ErrorHandler = error_handler>
+FMT_CONSTEXPR auto check_cstring_type_spec(presentation_type type,
+ ErrorHandler&& eh = {}) -> bool {
+ if (type == presentation_type::none || type == presentation_type::string)
+ return true;
+ if (type != presentation_type::pointer) eh.on_error("invalid type specifier");
return false;
}
-template <typename Char, typename ErrorHandler = error_handler>
-FMT_CONSTEXPR void check_string_type_spec(Char spec, ErrorHandler&& eh = {}) {
- if (spec != 0 && spec != 's') eh.on_error("invalid type specifier");
+template <typename ErrorHandler = error_handler>
+FMT_CONSTEXPR void check_string_type_spec(presentation_type type,
+ ErrorHandler&& eh = {}) {
+ if (type != presentation_type::none && type != presentation_type::string)
+ eh.on_error("invalid type specifier");
}
-template <typename Char, typename ErrorHandler>
-FMT_CONSTEXPR void check_pointer_type_spec(Char spec, ErrorHandler&& eh) {
- if (spec != 0 && spec != 'p') eh.on_error("invalid type specifier");
+template <typename ErrorHandler>
+FMT_CONSTEXPR void check_pointer_type_spec(presentation_type type,
+ ErrorHandler&& eh) {
+ if (type != presentation_type::none && type != presentation_type::pointer)
+ eh.on_error("invalid type specifier");
}
// A parse_format_specs handler that checks if specifiers are consistent with
@@ -2645,28 +2870,21 @@
if constexpr (detail::is_statically_named_arg<T>()) {
if (name == T::name) return N;
}
- if constexpr (sizeof...(Args) > 0) {
+ if constexpr (sizeof...(Args) > 0)
return get_arg_index_by_name<N + 1, Args...>(name);
- } else {
- (void)name; // Workaround an MSVC bug about "unused" parameter.
- return invalid_arg_index;
- }
+ (void)name; // Workaround an MSVC bug about "unused" parameter.
+ return invalid_arg_index;
}
#endif
template <typename... Args, typename Char>
FMT_CONSTEXPR auto get_arg_index_by_name(basic_string_view<Char> name) -> int {
#if FMT_USE_NONTYPE_TEMPLATE_PARAMETERS
- if constexpr (sizeof...(Args) > 0) {
+ if constexpr (sizeof...(Args) > 0)
return get_arg_index_by_name<0, Args...>(name);
- } else {
- (void)name;
- return invalid_arg_index;
- }
-#else
+#endif
(void)name;
return invalid_arg_index;
-#endif
}
template <typename Char, typename ErrorHandler, typename... Args>
@@ -2769,7 +2987,10 @@
FMT_ASSERT(false, "invalid argument type");
break;
case detail::type::bool_type:
- if (!specs_.type || specs_.type == 's') break;
+ if (specs_.type == presentation_type::none ||
+ specs_.type == presentation_type::string) {
+ break;
+ }
FMT_FALLTHROUGH;
case detail::type::int_type:
case detail::type::uint_type:
@@ -2824,6 +3045,7 @@
template <typename Char> struct basic_runtime { basic_string_view<Char> str; };
+/** A compile-time format string. */
template <typename Char, typename... Args> class basic_format_string {
private:
basic_string_view<Char> str_;
@@ -2832,14 +3054,15 @@
template <typename S,
FMT_ENABLE_IF(
std::is_convertible<const S&, basic_string_view<Char>>::value)>
- FMT_CONSTEVAL basic_format_string(const S& s) : str_(s) {
+ FMT_CONSTEVAL FMT_INLINE basic_format_string(const S& s) : str_(s) {
static_assert(
detail::count<
(std::is_base_of<detail::view, remove_reference_t<Args>>::value &&
std::is_reference<Args>::value)...>() == 0,
"passing views as lvalues is disallowed");
#ifdef FMT_HAS_CONSTEVAL
- if constexpr (detail::count_named_args<Args...>() == 0) {
+ if constexpr (detail::count_named_args<Args...>() ==
+ detail::count_statically_named_args<Args...>()) {
using checker = detail::format_string_checker<Char, detail::error_handler,
remove_cvref_t<Args>...>;
detail::parse_format_string<true>(str_, checker(s, {}));
@@ -2862,7 +3085,16 @@
#else
template <typename... Args>
using format_string = basic_format_string<char, type_identity_t<Args>...>;
-// Creates a runtime format string.
+/**
+ \rst
+ Creates a runtime format string.
+
+ **Example**::
+
+ // Check format string at runtime instead of compile-time.
+ fmt::print(fmt::runtime("{:d}"), "I am not a number");
+ \endrst
+ */
template <typename S> auto runtime(const S& s) -> basic_runtime<char_t<S>> {
return {{s}};
}
@@ -2878,11 +3110,12 @@
**Example**::
#include <fmt/core.h>
- std::string message = fmt::format("The answer is {}", 42);
+ std::string message = fmt::format("The answer is {}.", 42);
\endrst
*/
template <typename... T>
-FMT_INLINE auto format(format_string<T...> fmt, T&&... args) -> std::string {
+FMT_NODISCARD FMT_INLINE auto format(format_string<T...> fmt, T&&... args)
+ -> std::string {
return vformat(fmt, fmt::make_format_args(args...));
}
@@ -2892,7 +3125,7 @@
auto vformat_to(OutputIt out, string_view fmt, format_args args) -> OutputIt {
using detail::get_buffer;
auto&& buf = get_buffer<char>(out);
- detail::vformat_to(buf, string_view(fmt), args, {});
+ detail::vformat_to(buf, fmt, args, {});
return detail::get_iterator(buf);
}
@@ -2900,7 +3133,7 @@
\rst
Formats ``args`` according to specifications in ``fmt``, writes the result to
the output iterator ``out`` and returns the iterator past the end of the output
- range.
+ range. `format_to` does not append a terminating null character.
**Example**::
@@ -2926,9 +3159,8 @@
FMT_ENABLE_IF(detail::is_output_iterator<OutputIt, char>::value)>
auto vformat_to_n(OutputIt out, size_t n, string_view fmt, format_args args)
-> format_to_n_result<OutputIt> {
- using buffer =
- detail::iterator_buffer<OutputIt, char, detail::fixed_buffer_traits>;
- auto buf = buffer(out, n);
+ using traits = detail::fixed_buffer_traits;
+ auto buf = detail::iterator_buffer<OutputIt, char, traits>(out, n);
detail::vformat_to(buf, fmt, args, {});
return {buf.out(), buf.count()};
}
@@ -2938,18 +3170,20 @@
Formats ``args`` according to specifications in ``fmt``, writes up to ``n``
characters of the result to the output iterator ``out`` and returns the total
(not truncated) output size and the iterator past the end of the output range.
+ `format_to_n` does not append a terminating null character.
\endrst
*/
template <typename OutputIt, typename... T,
FMT_ENABLE_IF(detail::is_output_iterator<OutputIt, char>::value)>
FMT_INLINE auto format_to_n(OutputIt out, size_t n, format_string<T...> fmt,
- const T&... args) -> format_to_n_result<OutputIt> {
+ T&&... args) -> format_to_n_result<OutputIt> {
return vformat_to_n(out, n, fmt, fmt::make_format_args(args...));
}
/** Returns the number of chars in the output of ``format(fmt, args...)``. */
template <typename... T>
-FMT_INLINE auto formatted_size(format_string<T...> fmt, T&&... args) -> size_t {
+FMT_NODISCARD FMT_INLINE auto formatted_size(format_string<T...> fmt,
+ T&&... args) -> size_t {
auto buf = detail::counting_buffer<>();
detail::vformat_to(buf, string_view(fmt), fmt::make_format_args(args...), {});
return buf.count();
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/format-inl.h b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/format-inl.h
index 94a36d1..cc89abd 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/format-inl.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/format-inl.h
@@ -40,6 +40,10 @@
std::terminate();
}
+FMT_FUNC void throw_format_error(const char* message) {
+ FMT_THROW(format_error(message));
+}
+
#ifndef _MSC_VER
# define FMT_SNPRINTF snprintf
#else // _MSC_VER
@@ -88,8 +92,7 @@
// A wrapper around fwrite that throws on error.
inline void fwrite_fully(const void* ptr, size_t size, size_t count,
FILE* stream) {
- size_t written = std::fwrite(ptr, size, count, stream);
- if (written < count) FMT_THROW(system_error(errno, "cannot write to file"));
+ std::fwrite(ptr, size, count, stream);
}
#ifndef FMT_STATIC_THOUSANDS_SEPARATOR
@@ -145,141 +148,13 @@
return i >= 0 ? i * char_digits + count_digits<4, unsigned>(n.value[i]) : 1;
}
-#if __cplusplus < 201703L
-template <typename T> constexpr const char basic_data<T>::digits[][2];
-template <typename T> constexpr const char basic_data<T>::hex_digits[];
-template <typename T> constexpr const char basic_data<T>::signs[];
-template <typename T> constexpr const unsigned basic_data<T>::prefixes[];
-template <typename T> constexpr const char basic_data<T>::left_padding_shifts[];
-template <typename T>
-constexpr const char basic_data<T>::right_padding_shifts[];
-#endif
+// log10(2) = 0x0.4d104d427de7fbcc...
+static constexpr uint64_t log10_2_significand = 0x4d104d427de7fbcc;
-template <typename T> struct bits {
- static FMT_CONSTEXPR_DECL const int value =
- static_cast<int>(sizeof(T) * std::numeric_limits<unsigned char>::digits);
-};
-
-class fp;
-template <int SHIFT = 0> fp normalize(fp value);
-
-// Lower (upper) boundary is a value half way between a floating-point value
-// and its predecessor (successor). Boundaries have the same exponent as the
-// value so only significands are stored.
-struct boundaries {
- uint64_t lower;
- uint64_t upper;
-};
-
-// A handmade floating-point number f * pow(2, e).
-class fp {
- private:
- using significand_type = uint64_t;
-
- template <typename Float>
- using is_supported_float = bool_constant<sizeof(Float) == sizeof(uint64_t) ||
- sizeof(Float) == sizeof(uint32_t)>;
-
- public:
- significand_type f;
- int e;
-
- // All sizes are in bits.
- // Subtract 1 to account for an implicit most significant bit in the
- // normalized form.
- static FMT_CONSTEXPR_DECL const int double_significand_size =
- std::numeric_limits<double>::digits - 1;
- static FMT_CONSTEXPR_DECL const uint64_t implicit_bit =
- 1ULL << double_significand_size;
- static FMT_CONSTEXPR_DECL const int significand_size =
- bits<significand_type>::value;
-
- fp() : f(0), e(0) {}
- fp(uint64_t f_val, int e_val) : f(f_val), e(e_val) {}
-
- // Constructs fp from an IEEE754 double. It is a template to prevent compile
- // errors on platforms where double is not IEEE754.
- template <typename Double> explicit fp(Double d) { assign(d); }
-
- // Assigns d to this and return true iff predecessor is closer than successor.
- template <typename Float, FMT_ENABLE_IF(is_supported_float<Float>::value)>
- bool assign(Float d) {
- // Assume float is in the format [sign][exponent][significand].
- using limits = std::numeric_limits<Float>;
- const int float_significand_size = limits::digits - 1;
- const int exponent_size =
- bits<Float>::value - float_significand_size - 1; // -1 for sign
- const uint64_t float_implicit_bit = 1ULL << float_significand_size;
- const uint64_t significand_mask = float_implicit_bit - 1;
- const uint64_t exponent_mask = (~0ULL >> 1) & ~significand_mask;
- const int exponent_bias = (1 << exponent_size) - limits::max_exponent - 1;
- constexpr bool is_double = sizeof(Float) == sizeof(uint64_t);
- auto u = bit_cast<conditional_t<is_double, uint64_t, uint32_t>>(d);
- f = u & significand_mask;
- int biased_e =
- static_cast<int>((u & exponent_mask) >> float_significand_size);
- // Predecessor is closer if d is a normalized power of 2 (f == 0) other than
- // the smallest normalized number (biased_e > 1).
- bool is_predecessor_closer = f == 0 && biased_e > 1;
- if (biased_e != 0)
- f += float_implicit_bit;
- else
- biased_e = 1; // Subnormals use biased exponent 1 (min exponent).
- e = biased_e - exponent_bias - float_significand_size;
- return is_predecessor_closer;
- }
-
- template <typename Float, FMT_ENABLE_IF(!is_supported_float<Float>::value)>
- bool assign(Float) {
- *this = fp();
- return false;
- }
-};
-
-// Normalizes the value converted from double and multiplied by (1 << SHIFT).
-template <int SHIFT> fp normalize(fp value) {
- // Handle subnormals.
- const auto shifted_implicit_bit = fp::implicit_bit << SHIFT;
- while ((value.f & shifted_implicit_bit) == 0) {
- value.f <<= 1;
- --value.e;
- }
- // Subtract 1 to account for hidden bit.
- const auto offset =
- fp::significand_size - fp::double_significand_size - SHIFT - 1;
- value.f <<= offset;
- value.e -= offset;
- return value;
-}
-
-inline bool operator==(fp x, fp y) { return x.f == y.f && x.e == y.e; }
-
-// Computes lhs * rhs / pow(2, 64) rounded to nearest with half-up tie breaking.
-inline uint64_t multiply(uint64_t lhs, uint64_t rhs) {
-#if FMT_USE_INT128
- auto product = static_cast<__uint128_t>(lhs) * rhs;
- auto f = static_cast<uint64_t>(product >> 64);
- return (static_cast<uint64_t>(product) & (1ULL << 63)) != 0 ? f + 1 : f;
-#else
- // Multiply 32-bit parts of significands.
- uint64_t mask = (1ULL << 32) - 1;
- uint64_t a = lhs >> 32, b = lhs & mask;
- uint64_t c = rhs >> 32, d = rhs & mask;
- uint64_t ac = a * c, bc = b * c, ad = a * d, bd = b * d;
- // Compute mid 64-bit of result and round.
- uint64_t mid = (bd >> 32) + (ad & mask) + (bc & mask) + (1U << 31);
- return ac + (ad >> 32) + (bc >> 32) + (mid >> 32);
-#endif
-}
-
-inline fp operator*(fp x, fp y) { return {multiply(x.f, y.f), x.e + y.e + 64}; }
-
-// Returns a cached power of 10 `c_k = c_k.f * pow(2, c_k.e)` such that its
-// (binary) exponent satisfies `min_exponent <= c_k.e <= min_exponent + 28`.
-inline fp get_cached_power(int min_exponent, int& pow10_exponent) {
+template <typename T = void> struct basic_impl_data {
// Normalized 64-bit significands of pow(10, k), for k = -348, -340, ..., 340.
// These are generated by support/compute-powers.py.
- static constexpr const uint64_t pow10_significands[] = {
+ static constexpr uint64_t pow10_significands[87] = {
0xfa8fd5a0081c0288, 0xbaaee17fa23ebf76, 0x8b16fb203055ac76,
0xcf42894a5dce35ea, 0x9a6bb0aa55653b2d, 0xe61acf033d1a45df,
0xab70fe17c79ac6ca, 0xff77b1fcbebcdc4f, 0xbe5691ef416bd60c,
@@ -311,9 +186,13 @@
0x9e19db92b4e31ba9, 0xeb96bf6ebadf77d9, 0xaf87023b9bf0ee6b,
};
+#if FMT_GCC_VERSION && FMT_GCC_VERSION < 409
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wnarrowing"
+#endif
// Binary exponents of pow(10, k), for k = -348, -340, ..., 340, corresponding
// to significands above.
- static constexpr const int16_t pow10_exponents[] = {
+ static constexpr int16_t pow10_exponents[87] = {
-1220, -1193, -1166, -1140, -1113, -1087, -1060, -1034, -1007, -980, -954,
-927, -901, -874, -847, -821, -794, -768, -741, -715, -688, -661,
-635, -608, -582, -555, -529, -502, -475, -449, -422, -396, -369,
@@ -322,11 +201,137 @@
242, 269, 295, 322, 348, 375, 402, 428, 455, 481, 508,
534, 561, 588, 614, 641, 667, 694, 720, 747, 774, 800,
827, 853, 880, 907, 933, 960, 986, 1013, 1039, 1066};
+#if FMT_GCC_VERSION && FMT_GCC_VERSION < 409
+# pragma GCC diagnostic pop
+#endif
+ static constexpr uint64_t power_of_10_64[20] = {
+ 1, FMT_POWERS_OF_10(1ULL), FMT_POWERS_OF_10(1000000000ULL),
+ 10000000000000000000ULL};
+};
+
+// This is a struct rather than an alias to avoid shadowing warnings in gcc.
+struct impl_data : basic_impl_data<> {};
+
+#if __cplusplus < 201703L
+template <typename T>
+constexpr uint64_t basic_impl_data<T>::pow10_significands[];
+template <typename T> constexpr int16_t basic_impl_data<T>::pow10_exponents[];
+template <typename T> constexpr uint64_t basic_impl_data<T>::power_of_10_64[];
+#endif
+
+template <typename T> struct bits {
+ static FMT_CONSTEXPR_DECL const int value =
+ static_cast<int>(sizeof(T) * std::numeric_limits<unsigned char>::digits);
+};
+
+// Returns the number of significand bits in Float excluding the implicit bit.
+template <typename Float> constexpr int num_significand_bits() {
+ // Subtract 1 to account for an implicit most significant bit in the
+ // normalized form.
+ return std::numeric_limits<Float>::digits - 1;
+}
+
+// A floating-point number f * pow(2, e).
+struct fp {
+ uint64_t f;
+ int e;
+
+ static constexpr const int num_significand_bits = bits<decltype(f)>::value;
+
+ constexpr fp() : f(0), e(0) {}
+ constexpr fp(uint64_t f_val, int e_val) : f(f_val), e(e_val) {}
+
+ // Constructs fp from an IEEE754 floating-point number. It is a template to
+ // prevent compile errors on systems where n is not IEEE754.
+ template <typename Float> explicit FMT_CONSTEXPR fp(Float n) { assign(n); }
+
+ template <typename Float>
+ using is_supported = bool_constant<sizeof(Float) == sizeof(uint64_t) ||
+ sizeof(Float) == sizeof(uint32_t)>;
+
+ // Assigns d to this and return true iff predecessor is closer than successor.
+ template <typename Float, FMT_ENABLE_IF(is_supported<Float>::value)>
+ FMT_CONSTEXPR bool assign(Float n) {
+ // Assume float is in the format [sign][exponent][significand].
+ const int num_float_significand_bits =
+ detail::num_significand_bits<Float>();
+ const uint64_t implicit_bit = 1ULL << num_float_significand_bits;
+ const uint64_t significand_mask = implicit_bit - 1;
+ constexpr bool is_double = sizeof(Float) == sizeof(uint64_t);
+ auto u = bit_cast<conditional_t<is_double, uint64_t, uint32_t>>(n);
+ f = u & significand_mask;
+ const uint64_t exponent_mask = (~0ULL >> 1) & ~significand_mask;
+ int biased_e =
+ static_cast<int>((u & exponent_mask) >> num_float_significand_bits);
+ // The predecessor is closer if n is a normalized power of 2 (f == 0) other
+ // than the smallest normalized number (biased_e > 1).
+ bool is_predecessor_closer = f == 0 && biased_e > 1;
+ if (biased_e != 0)
+ f += implicit_bit;
+ else
+ biased_e = 1; // Subnormals use biased exponent 1 (min exponent).
+ const int exponent_bias = std::numeric_limits<Float>::max_exponent - 1;
+ e = biased_e - exponent_bias - num_float_significand_bits;
+ return is_predecessor_closer;
+ }
+
+ template <typename Float, FMT_ENABLE_IF(!is_supported<Float>::value)>
+ bool assign(Float) {
+ FMT_ASSERT(false, "");
+ return false;
+ }
+};
+
+// Normalizes the value converted from double and multiplied by (1 << SHIFT).
+template <int SHIFT = 0> FMT_CONSTEXPR fp normalize(fp value) {
+ // Handle subnormals.
+ const uint64_t implicit_bit = 1ULL << num_significand_bits<double>();
+ const auto shifted_implicit_bit = implicit_bit << SHIFT;
+ while ((value.f & shifted_implicit_bit) == 0) {
+ value.f <<= 1;
+ --value.e;
+ }
+ // Subtract 1 to account for hidden bit.
+ const auto offset =
+ fp::num_significand_bits - num_significand_bits<double>() - SHIFT - 1;
+ value.f <<= offset;
+ value.e -= offset;
+ return value;
+}
+
+inline bool operator==(fp x, fp y) { return x.f == y.f && x.e == y.e; }
+
+// Computes lhs * rhs / pow(2, 64) rounded to nearest with half-up tie breaking.
+FMT_CONSTEXPR inline uint64_t multiply(uint64_t lhs, uint64_t rhs) {
+#if FMT_USE_INT128
+ auto product = static_cast<__uint128_t>(lhs) * rhs;
+ auto f = static_cast<uint64_t>(product >> 64);
+ return (static_cast<uint64_t>(product) & (1ULL << 63)) != 0 ? f + 1 : f;
+#else
+ // Multiply 32-bit parts of significands.
+ uint64_t mask = (1ULL << 32) - 1;
+ uint64_t a = lhs >> 32, b = lhs & mask;
+ uint64_t c = rhs >> 32, d = rhs & mask;
+ uint64_t ac = a * c, bc = b * c, ad = a * d, bd = b * d;
+ // Compute mid 64-bit of result and round.
+ uint64_t mid = (bd >> 32) + (ad & mask) + (bc & mask) + (1U << 31);
+ return ac + (ad >> 32) + (bc >> 32) + (mid >> 32);
+#endif
+}
+
+FMT_CONSTEXPR inline fp operator*(fp x, fp y) {
+ return {multiply(x.f, y.f), x.e + y.e + 64};
+}
+
+// Returns a cached power of 10 `c_k = c_k.f * pow(2, c_k.e)` such that its
+// (binary) exponent satisfies `min_exponent <= c_k.e <= min_exponent + 28`.
+FMT_CONSTEXPR inline fp get_cached_power(int min_exponent,
+ int& pow10_exponent) {
const int shift = 32;
- const auto significand = static_cast<int64_t>(data::log10_2_significand);
+ const auto significand = static_cast<int64_t>(log10_2_significand);
int index = static_cast<int>(
- ((min_exponent + fp::significand_size - 1) * (significand >> shift) +
+ ((min_exponent + fp::num_significand_bits - 1) * (significand >> shift) +
((int64_t(1) << shift) - 1)) // ceil
>> 32 // arithmetic shift
);
@@ -336,7 +341,8 @@
const int dec_exp_step = 8;
index = (index - first_dec_exp - 1) / dec_exp_step + 1;
pow10_exponent = first_dec_exp + index * dec_exp_step;
- return {pow10_significands[index], pow10_exponents[index]};
+ return {impl_data::pow10_significands[index],
+ impl_data::pow10_exponents[index]};
}
// A simple accumulator to hold the sums of terms in bigint::square if uint128_t
@@ -345,14 +351,16 @@
uint64_t lower;
uint64_t upper;
- accumulator() : lower(0), upper(0) {}
- explicit operator uint32_t() const { return static_cast<uint32_t>(lower); }
+ constexpr accumulator() : lower(0), upper(0) {}
+ constexpr explicit operator uint32_t() const {
+ return static_cast<uint32_t>(lower);
+ }
- void operator+=(uint64_t n) {
+ FMT_CONSTEXPR void operator+=(uint64_t n) {
lower += n;
if (lower < n) ++upper;
}
- void operator>>=(int shift) {
+ FMT_CONSTEXPR void operator>>=(int shift) {
FMT_ASSERT(shift == 32, "");
(void)shift;
lower = (upper << 32) | (lower >> 32);
@@ -370,27 +378,31 @@
basic_memory_buffer<bigit, bigits_capacity> bigits_;
int exp_;
- bigit operator[](int index) const { return bigits_[to_unsigned(index)]; }
- bigit& operator[](int index) { return bigits_[to_unsigned(index)]; }
+ FMT_CONSTEXPR20 bigit operator[](int index) const {
+ return bigits_[to_unsigned(index)];
+ }
+ FMT_CONSTEXPR20 bigit& operator[](int index) {
+ return bigits_[to_unsigned(index)];
+ }
static FMT_CONSTEXPR_DECL const int bigit_bits = bits<bigit>::value;
friend struct formatter<bigint>;
- void subtract_bigits(int index, bigit other, bigit& borrow) {
+ FMT_CONSTEXPR20 void subtract_bigits(int index, bigit other, bigit& borrow) {
auto result = static_cast<double_bigit>((*this)[index]) - other - borrow;
(*this)[index] = static_cast<bigit>(result);
borrow = static_cast<bigit>(result >> (bigit_bits * 2 - 1));
}
- void remove_leading_zeros() {
+ FMT_CONSTEXPR20 void remove_leading_zeros() {
int num_bigits = static_cast<int>(bigits_.size()) - 1;
while (num_bigits > 0 && (*this)[num_bigits] == 0) --num_bigits;
bigits_.resize(to_unsigned(num_bigits + 1));
}
// Computes *this -= other assuming aligned bigints and *this >= other.
- void subtract_aligned(const bigint& other) {
+ FMT_CONSTEXPR20 void subtract_aligned(const bigint& other) {
FMT_ASSERT(other.exp_ >= exp_, "unaligned bigints");
FMT_ASSERT(compare(*this, other) >= 0, "");
bigit borrow = 0;
@@ -401,7 +413,7 @@
remove_leading_zeros();
}
- void multiply(uint32_t value) {
+ FMT_CONSTEXPR20 void multiply(uint32_t value) {
const double_bigit wide_value = value;
bigit carry = 0;
for (size_t i = 0, n = bigits_.size(); i < n; ++i) {
@@ -412,7 +424,7 @@
if (carry != 0) bigits_.push_back(carry);
}
- void multiply(uint64_t value) {
+ FMT_CONSTEXPR20 void multiply(uint64_t value) {
const bigit mask = ~bigit(0);
const double_bigit lower = value & mask;
const double_bigit upper = value >> bigit_bits;
@@ -430,14 +442,16 @@
}
public:
- bigint() : exp_(0) {}
+ FMT_CONSTEXPR20 bigint() : exp_(0) {}
explicit bigint(uint64_t n) { assign(n); }
- ~bigint() { FMT_ASSERT(bigits_.capacity() <= bigits_capacity, ""); }
+ FMT_CONSTEXPR20 ~bigint() {
+ FMT_ASSERT(bigits_.capacity() <= bigits_capacity, "");
+ }
bigint(const bigint&) = delete;
void operator=(const bigint&) = delete;
- void assign(const bigint& other) {
+ FMT_CONSTEXPR20 void assign(const bigint& other) {
auto size = other.bigits_.size();
bigits_.resize(size);
auto data = other.bigits_.data();
@@ -445,7 +459,7 @@
exp_ = other.exp_;
}
- void assign(uint64_t n) {
+ FMT_CONSTEXPR20 void assign(uint64_t n) {
size_t num_bigits = 0;
do {
bigits_[num_bigits++] = n & ~bigit(0);
@@ -455,9 +469,11 @@
exp_ = 0;
}
- int num_bigits() const { return static_cast<int>(bigits_.size()) + exp_; }
+ FMT_CONSTEXPR20 int num_bigits() const {
+ return static_cast<int>(bigits_.size()) + exp_;
+ }
- FMT_NOINLINE bigint& operator<<=(int shift) {
+ FMT_NOINLINE FMT_CONSTEXPR20 bigint& operator<<=(int shift) {
FMT_ASSERT(shift >= 0, "");
exp_ += shift / bigit_bits;
shift %= bigit_bits;
@@ -472,13 +488,13 @@
return *this;
}
- template <typename Int> bigint& operator*=(Int value) {
+ template <typename Int> FMT_CONSTEXPR20 bigint& operator*=(Int value) {
FMT_ASSERT(value > 0, "");
multiply(uint32_or_64_or_128_t<Int>(value));
return *this;
}
- friend int compare(const bigint& lhs, const bigint& rhs) {
+ friend FMT_CONSTEXPR20 int compare(const bigint& lhs, const bigint& rhs) {
int num_lhs_bigits = lhs.num_bigits(), num_rhs_bigits = rhs.num_bigits();
if (num_lhs_bigits != num_rhs_bigits)
return num_lhs_bigits > num_rhs_bigits ? 1 : -1;
@@ -495,8 +511,8 @@
}
// Returns compare(lhs1 + lhs2, rhs).
- friend int add_compare(const bigint& lhs1, const bigint& lhs2,
- const bigint& rhs) {
+ friend FMT_CONSTEXPR20 int add_compare(const bigint& lhs1, const bigint& lhs2,
+ const bigint& rhs) {
int max_lhs_bigits = (std::max)(lhs1.num_bigits(), lhs2.num_bigits());
int num_rhs_bigits = rhs.num_bigits();
if (max_lhs_bigits + 1 < num_rhs_bigits) return -1;
@@ -519,7 +535,7 @@
}
// Assigns pow(10, exp) to this bigint.
- void assign_pow10(int exp) {
+ FMT_CONSTEXPR20 void assign_pow10(int exp) {
FMT_ASSERT(exp >= 0, "");
if (exp == 0) return assign(1);
// Find the top bit.
@@ -538,7 +554,7 @@
*this <<= exp; // Multiply by pow(2, exp) by shifting.
}
- void square() {
+ FMT_CONSTEXPR20 void square() {
int num_bigits = static_cast<int>(bigits_.size());
int num_result_bigits = 2 * num_bigits;
basic_memory_buffer<bigit, bigits_capacity> n(std::move(bigits_));
@@ -569,7 +585,7 @@
// If this bigint has a bigger exponent than other, adds trailing zero to make
// exponents equal. This simplifies some operations such as subtraction.
- void align(const bigint& other) {
+ FMT_CONSTEXPR20 void align(const bigint& other) {
int exp_difference = exp_ - other.exp_;
if (exp_difference <= 0) return;
int num_bigits = static_cast<int>(bigits_.size());
@@ -582,7 +598,7 @@
// Divides this bignum by divisor, assigning the remainder to this and
// returning the quotient.
- int divmod_assign(const bigint& divisor) {
+ FMT_CONSTEXPR20 int divmod_assign(const bigint& divisor) {
FMT_ASSERT(this != &divisor, "");
if (compare(*this, divisor) < 0) return 0;
FMT_ASSERT(divisor.bigits_[divisor.bigits_.size() - 1u] != 0, "");
@@ -602,8 +618,9 @@
// some number v and the error, returns whether v should be rounded up, down, or
// whether the rounding direction can't be determined due to error.
// error should be less than divisor / 2.
-inline round_direction get_round_direction(uint64_t divisor, uint64_t remainder,
- uint64_t error) {
+FMT_CONSTEXPR inline round_direction get_round_direction(uint64_t divisor,
+ uint64_t remainder,
+ uint64_t error) {
FMT_ASSERT(remainder < divisor, ""); // divisor - remainder won't overflow.
FMT_ASSERT(error < divisor, ""); // divisor - error won't overflow.
FMT_ASSERT(error < divisor - error, ""); // error * 2 won't overflow.
@@ -626,19 +643,52 @@
};
}
-inline uint64_t power_of_10_64(int exp) {
- static constexpr const uint64_t data[] = {1, FMT_POWERS_OF_10(1),
- FMT_POWERS_OF_10(1000000000ULL),
- 10000000000000000000ULL};
- return data[exp];
-}
+struct gen_digits_handler {
+ char* buf;
+ int size;
+ int precision;
+ int exp10;
+ bool fixed;
+
+ FMT_CONSTEXPR digits::result on_digit(char digit, uint64_t divisor,
+ uint64_t remainder, uint64_t error,
+ bool integral) {
+ FMT_ASSERT(remainder < divisor, "");
+ buf[size++] = digit;
+ if (!integral && error >= remainder) return digits::error;
+ if (size < precision) return digits::more;
+ if (!integral) {
+ // Check if error * 2 < divisor with overflow prevention.
+ // The check is not needed for the integral part because error = 1
+ // and divisor > (1 << 32) there.
+ if (error >= divisor || error >= divisor - error) return digits::error;
+ } else {
+ FMT_ASSERT(error == 1 && divisor > 2, "");
+ }
+ auto dir = get_round_direction(divisor, remainder, error);
+ if (dir != round_direction::up)
+ return dir == round_direction::down ? digits::done : digits::error;
+ ++buf[size - 1];
+ for (int i = size - 1; i > 0 && buf[i] > '9'; --i) {
+ buf[i] = '0';
+ ++buf[i - 1];
+ }
+ if (buf[0] > '9') {
+ buf[0] = '1';
+ if (fixed)
+ buf[size++] = '0';
+ else
+ ++exp10;
+ }
+ return digits::done;
+ }
+};
// Generates output using the Grisu digit-gen algorithm.
// error: the size of the region (lower, upper) outside of which numbers
// definitely do not round to value (Delta in Grisu3).
-template <typename Handler>
-FMT_INLINE digits::result grisu_gen_digits(fp value, uint64_t error, int& exp,
- Handler& handler) {
+FMT_INLINE FMT_CONSTEXPR20 digits::result grisu_gen_digits(
+ fp value, uint64_t error, int& exp, gen_digits_handler& handler) {
const fp one(1ULL << -value.e, value.e);
// The integral part of scaled value (p1 in Grisu) = value / one. It cannot be
// zero because it contains a product of two 64-bit numbers with MSB set (due
@@ -649,10 +699,28 @@
// The fractional part of scaled value (p2 in Grisu) c = value % one.
uint64_t fractional = value.f & (one.f - 1);
exp = count_digits(integral); // kappa in Grisu.
- // Divide by 10 to prevent overflow.
- auto result = handler.on_start(power_of_10_64(exp - 1) << -one.e,
- value.f / 10, error * 10, exp);
- if (result != digits::more) return result;
+ // Non-fixed formats require at least one digit and no precision adjustment.
+ if (handler.fixed) {
+ // Adjust fixed precision by exponent because it is relative to decimal
+ // point.
+ int precision_offset = exp + handler.exp10;
+ if (precision_offset > 0 &&
+ handler.precision > max_value<int>() - precision_offset) {
+ FMT_THROW(format_error("number is too big"));
+ }
+ handler.precision += precision_offset;
+ // Check if precision is satisfied just by leading zeros, e.g.
+ // format("{:.2f}", 0.001) gives "0.00" without generating any digits.
+ if (handler.precision <= 0) {
+ if (handler.precision < 0) return digits::done;
+ // Divide by 10 to prevent overflow.
+ uint64_t divisor = impl_data::power_of_10_64[exp - 1] << -one.e;
+ auto dir = get_round_direction(divisor, value.f / 10, error * 10);
+ if (dir == round_direction::unknown) return digits::error;
+ handler.buf[handler.size++] = dir == round_direction::up ? '1' : '0';
+ return digits::done;
+ }
+ }
// Generate digits for the integral part. This can produce up to 10 digits.
do {
uint32_t digit = 0;
@@ -699,9 +767,9 @@
}
--exp;
auto remainder = (static_cast<uint64_t>(integral) << -one.e) + fractional;
- result = handler.on_digit(static_cast<char>('0' + digit),
- power_of_10_64(exp) << -one.e, remainder, error,
- exp, true);
+ auto result = handler.on_digit(static_cast<char>('0' + digit),
+ impl_data::power_of_10_64[exp] << -one.e,
+ remainder, error, true);
if (result != digits::more) return result;
} while (exp > 0);
// Generate digits for the fractional part.
@@ -711,69 +779,11 @@
char digit = static_cast<char>('0' + (fractional >> -one.e));
fractional &= one.f - 1;
--exp;
- result = handler.on_digit(digit, one.f, fractional, error, exp, false);
+ auto result = handler.on_digit(digit, one.f, fractional, error, false);
if (result != digits::more) return result;
}
}
-// The fixed precision digit handler.
-struct fixed_handler {
- char* buf;
- int size;
- int precision;
- int exp10;
- bool fixed;
-
- digits::result on_start(uint64_t divisor, uint64_t remainder, uint64_t error,
- int& exp) {
- // Non-fixed formats require at least one digit and no precision adjustment.
- if (!fixed) return digits::more;
- // Adjust fixed precision by exponent because it is relative to decimal
- // point.
- precision += exp + exp10;
- // Check if precision is satisfied just by leading zeros, e.g.
- // format("{:.2f}", 0.001) gives "0.00" without generating any digits.
- if (precision > 0) return digits::more;
- if (precision < 0) return digits::done;
- auto dir = get_round_direction(divisor, remainder, error);
- if (dir == round_direction::unknown) return digits::error;
- buf[size++] = dir == round_direction::up ? '1' : '0';
- return digits::done;
- }
-
- digits::result on_digit(char digit, uint64_t divisor, uint64_t remainder,
- uint64_t error, int, bool integral) {
- FMT_ASSERT(remainder < divisor, "");
- buf[size++] = digit;
- if (!integral && error >= remainder) return digits::error;
- if (size < precision) return digits::more;
- if (!integral) {
- // Check if error * 2 < divisor with overflow prevention.
- // The check is not needed for the integral part because error = 1
- // and divisor > (1 << 32) there.
- if (error >= divisor || error >= divisor - error) return digits::error;
- } else {
- FMT_ASSERT(error == 1 && divisor > 2, "");
- }
- auto dir = get_round_direction(divisor, remainder, error);
- if (dir != round_direction::up)
- return dir == round_direction::down ? digits::done : digits::error;
- ++buf[size - 1];
- for (int i = size - 1; i > 0 && buf[i] > '9'; --i) {
- buf[i] = '0';
- ++buf[i - 1];
- }
- if (buf[0] > '9') {
- buf[0] = '1';
- if (fixed)
- buf[size++] = '0';
- else
- ++exp10;
- }
- return digits::done;
- }
-};
-
// A 128-bit integer type used internally,
struct uint128_wrapper {
uint128_wrapper() = default;
@@ -897,8 +907,7 @@
inline int floor_log10_pow2(int e) FMT_NOEXCEPT {
FMT_ASSERT(e <= 1700 && e >= -1700, "too large exponent");
const int shift = 22;
- return (e * static_cast<int>(data::log10_2_significand >> (64 - shift))) >>
- shift;
+ return (e * static_cast<int>(log10_2_significand >> (64 - shift))) >> shift;
}
// Various fast log computations.
@@ -916,8 +925,7 @@
FMT_ASSERT(e <= 1700 && e >= -1700, "too large exponent");
const uint64_t log10_4_over_3_fractional_digits = 0x1ffbfc2bbc780375;
const int shift_amount = 22;
- return (e * static_cast<int>(data::log10_2_significand >>
- (64 - shift_amount)) -
+ return (e * static_cast<int>(log10_2_significand >> (64 - shift_amount)) -
static_cast<int>(log10_4_over_3_fractional_digits >>
(64 - shift_amount))) >>
shift_amount;
@@ -1042,7 +1050,7 @@
static uint64_t get_cached_power(int k) FMT_NOEXCEPT {
FMT_ASSERT(k >= float_info<float>::min_k && k <= float_info<float>::max_k,
"k is out of range");
- constexpr const uint64_t pow10_significands[] = {
+ static constexpr const uint64_t pow10_significands[] = {
0x81ceb32c4b43fcf5, 0xa2425ff75e14fc32, 0xcad2f7f5359a3b3f,
0xfd87b5f28300ca0e, 0x9e74d1b791e07e49, 0xc612062576589ddb,
0xf79687aed3eec552, 0x9abe14cd44753b53, 0xc16d9a0095928a28,
@@ -2210,24 +2218,21 @@
}
} // namespace dragonbox
-// Formats value using a variation of the Fixed-Precision Positive
-// Floating-Point Printout ((FPP)^2) algorithm by Steele & White:
+// Formats a floating-point number using a variation of the Fixed-Precision
+// Positive Floating-Point Printout ((FPP)^2) algorithm by Steele & White:
// https://fmt.dev/papers/p372-steele.pdf.
-template <typename Double>
-void fallback_format(Double d, int num_digits, bool binary32, buffer<char>& buf,
- int& exp10) {
+FMT_CONSTEXPR20 inline void format_dragon(fp value, bool is_predecessor_closer,
+ int num_digits, buffer<char>& buf,
+ int& exp10) {
bigint numerator; // 2 * R in (FPP)^2.
bigint denominator; // 2 * S in (FPP)^2.
// lower and upper are differences between value and corresponding boundaries.
bigint lower; // (M^- in (FPP)^2).
bigint upper_store; // upper's value if different from lower.
bigint* upper = nullptr; // (M^+ in (FPP)^2).
- fp value;
// Shift numerator and denominator by an extra bit or two (if lower boundary
// is closer) to make lower and upper integers. This eliminates multiplication
// by 2 during later computations.
- const bool is_predecessor_closer =
- binary32 ? value.assign(static_cast<float>(d)) : value.assign(d);
int shift = is_predecessor_closer ? 2 : 1;
uint64_t significand = value.f << shift;
if (value.e >= 0) {
@@ -2297,9 +2302,9 @@
// Generate the given number of digits.
exp10 -= num_digits - 1;
if (num_digits == 0) {
- buf.try_resize(1);
denominator *= 10;
- buf[0] = add_compare(numerator, numerator, denominator) > 0 ? '1' : '0';
+ auto digit = add_compare(numerator, numerator, denominator) > 0 ? '1' : '0';
+ buf.push_back(digit);
return;
}
buf.try_resize(to_unsigned(num_digits));
@@ -2330,9 +2335,12 @@
buf[num_digits - 1] = static_cast<char>('0' + digit);
}
-template <typename T>
-int format_float(T value, int precision, float_specs specs, buffer<char>& buf) {
- static_assert(!std::is_same<T, float>::value, "");
+template <typename Float>
+FMT_HEADER_ONLY_CONSTEXPR20 int format_float(Float value, int precision,
+ float_specs specs,
+ buffer<char>& buf) {
+ // float is passed as double to reduce the number of instantiations.
+ static_assert(!std::is_same<Float, float>::value, "");
FMT_ASSERT(value >= 0, "value is negative");
const bool fixed = specs.format == float_format::fixed;
@@ -2342,13 +2350,13 @@
return 0;
}
buf.try_resize(to_unsigned(precision));
- std::uninitialized_fill_n(buf.data(), precision, '0');
+ fill_n(buf.data(), precision, '0');
return -precision;
}
- if (!specs.use_grisu) return snprintf_float(value, precision, specs, buf);
+ if (specs.fallback) return snprintf_float(value, precision, specs, buf);
- if (precision < 0) {
+ if (!is_constant_evaluated() && precision < 0) {
// Use Dragonbox for the shortest format.
if (specs.binary32) {
auto dec = dragonbox::to_decimal(static_cast<float>(value));
@@ -2360,26 +2368,37 @@
return dec.exponent;
}
- // Use Grisu + Dragon4 for the given precision:
- // https://www.cs.tufts.edu/~nr/cs257/archive/florian-loitsch/printf.pdf.
int exp = 0;
- const int min_exp = -60; // alpha in Grisu.
- int cached_exp10 = 0; // K in Grisu.
- fp normalized = normalize(fp(value));
- const auto cached_pow = get_cached_power(
- min_exp - (normalized.e + fp::significand_size), cached_exp10);
- normalized = normalized * cached_pow;
- // Limit precision to the maximum possible number of significant digits in an
- // IEEE754 double because we don't need to generate zeros.
- const int max_double_digits = 767;
- if (precision > max_double_digits) precision = max_double_digits;
- fixed_handler handler{buf.data(), 0, precision, -cached_exp10, fixed};
- if (grisu_gen_digits(normalized, 1, exp, handler) == digits::error) {
- exp += handler.size - cached_exp10 - 1;
- fallback_format(value, handler.precision, specs.binary32, buf, exp);
- } else {
- exp += handler.exp10;
- buf.try_resize(to_unsigned(handler.size));
+ bool use_dragon = true;
+ if (is_fast_float<Float>()) {
+ // Use Grisu + Dragon4 for the given precision:
+ // https://www.cs.tufts.edu/~nr/cs257/archive/florian-loitsch/printf.pdf.
+ const int min_exp = -60; // alpha in Grisu.
+ int cached_exp10 = 0; // K in Grisu.
+ fp normalized = normalize(fp(value));
+ const auto cached_pow = get_cached_power(
+ min_exp - (normalized.e + fp::num_significand_bits), cached_exp10);
+ normalized = normalized * cached_pow;
+ gen_digits_handler handler{buf.data(), 0, precision, -cached_exp10, fixed};
+ if (grisu_gen_digits(normalized, 1, exp, handler) != digits::error &&
+ !is_constant_evaluated()) {
+ exp += handler.exp10;
+ buf.try_resize(to_unsigned(handler.size));
+ use_dragon = false;
+ } else {
+ exp += handler.size - cached_exp10 - 1;
+ precision = handler.precision;
+ }
+ }
+ if (use_dragon) {
+ auto f = fp();
+ bool is_predecessor_closer =
+ specs.binary32 ? f.assign(static_cast<float>(value)) : f.assign(value);
+ // Limit precision to the maximum possible number of significant digits in
+ // an IEEE754 double because we don't need to generate zeros.
+ const int max_double_digits = 767;
+ if (precision > max_double_digits) precision = max_double_digits;
+ format_dragon(f, is_predecessor_closer, precision, buf, exp);
}
if (!fixed && !specs.showpoint) {
// Remove trailing zeros.
@@ -2391,7 +2410,7 @@
buf.try_resize(num_digits);
}
return exp;
-} // namespace detail
+}
template <typename T>
int snprintf_float(T value, int precision, float_specs specs,
@@ -2525,8 +2544,8 @@
};
FMT_FUNC detail::utf8_to_utf16::utf8_to_utf16(string_view s) {
- for_each_codepoint(s, [this](uint32_t cp, int error) {
- if (error != 0) FMT_THROW(std::runtime_error("invalid utf8"));
+ for_each_codepoint(s, [this](uint32_t cp, string_view) {
+ if (cp == invalid_code_point) FMT_THROW(std::runtime_error("invalid utf8"));
if (cp <= 0xFFFF) {
buffer_.push_back(static_cast<wchar_t>(cp));
} else {
@@ -2534,6 +2553,7 @@
buffer_.push_back(static_cast<wchar_t>(0xD800 + (cp >> 10)));
buffer_.push_back(static_cast<wchar_t>(0xDC00 + (cp & 0x3FF)));
}
+ return true;
});
buffer_.push_back(0);
}
@@ -2549,15 +2569,17 @@
format_error_code(out, error_code, message);
}
-FMT_FUNC void detail::error_handler::on_error(const char* message) {
- FMT_THROW(format_error(message));
-}
-
FMT_FUNC void report_system_error(int error_code,
const char* message) FMT_NOEXCEPT {
report_error(format_system_error, error_code, message);
}
+// DEPRECATED!
+// This function is defined here and not inline for ABI compatiblity.
+FMT_FUNC void detail::error_handler::on_error(const char* message) {
+ throw_format_error(message);
+}
+
FMT_FUNC std::string vformat(string_view fmt, format_args args) {
// Don't optimize the "{}" case to keep the binary size small and because it
// can be better optimized in fmt::format anyway.
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/format.h b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/format.h
index 5398a23..ee69651 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/format.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/format.h
@@ -41,14 +41,16 @@
#include <system_error> // std::system_error
#include <utility> // std::swap
+#ifdef __cpp_lib_bit_cast
+# include <bit> // std::bitcast
+#endif
+
#include "core.h"
-#ifdef __INTEL_COMPILER
-# define FMT_ICC_VERSION __INTEL_COMPILER
-#elif defined(__ICL)
-# define FMT_ICC_VERSION __ICL
+#if FMT_GCC_VERSION
+# define FMT_GCC_VISIBILITY_HIDDEN __attribute__((visibility("hidden")))
#else
-# define FMT_ICC_VERSION 0
+# define FMT_GCC_VISIBILITY_HIDDEN
#endif
#ifdef __NVCC__
@@ -108,17 +110,11 @@
# define FMT_CATCH(x) if (false)
#endif
-#ifndef FMT_DEPRECATED
-# if FMT_HAS_CPP14_ATTRIBUTE(deprecated) || FMT_MSC_VER >= 1900
-# define FMT_DEPRECATED [[deprecated]]
+#ifndef FMT_MAYBE_UNUSED
+# if FMT_HAS_CPP17_ATTRIBUTE(maybe_unused)
+# define FMT_MAYBE_UNUSED [[maybe_unused]]
# else
-# if (defined(__GNUC__) && !defined(__LCC__)) || defined(__clang__)
-# define FMT_DEPRECATED __attribute__((deprecated))
-# elif FMT_MSC_VER
-# define FMT_DEPRECATED __declspec(deprecated)
-# else
-# define FMT_DEPRECATED /* deprecated */
-# endif
+# define FMT_MAYBE_UNUSED
# endif
#endif
@@ -149,18 +145,25 @@
#endif
// __builtin_clz is broken in clang with Microsoft CodeGen:
-// https://github.com/fmtlib/fmt/issues/519
-#if (FMT_GCC_VERSION || FMT_HAS_BUILTIN(__builtin_clz)) && !FMT_MSC_VER
-# define FMT_BUILTIN_CLZ(n) __builtin_clz(n)
+// https://github.com/fmtlib/fmt/issues/519.
+#if !FMT_MSC_VER
+# if FMT_HAS_BUILTIN(__builtin_clz) || FMT_GCC_VERSION || FMT_ICC_VERSION
+# define FMT_BUILTIN_CLZ(n) __builtin_clz(n)
+# endif
+# if FMT_HAS_BUILTIN(__builtin_clzll) || FMT_GCC_VERSION || FMT_ICC_VERSION
+# define FMT_BUILTIN_CLZLL(n) __builtin_clzll(n)
+# endif
#endif
-#if (FMT_GCC_VERSION || FMT_HAS_BUILTIN(__builtin_clzll)) && !FMT_MSC_VER
-# define FMT_BUILTIN_CLZLL(n) __builtin_clzll(n)
-#endif
-#if (FMT_GCC_VERSION || FMT_HAS_BUILTIN(__builtin_ctz))
-# define FMT_BUILTIN_CTZ(n) __builtin_ctz(n)
-#endif
-#if (FMT_GCC_VERSION || FMT_HAS_BUILTIN(__builtin_ctzll))
-# define FMT_BUILTIN_CTZLL(n) __builtin_ctzll(n)
+
+// __builtin_ctz is broken in Intel Compiler Classic on Windows:
+// https://github.com/fmtlib/fmt/issues/2510.
+#ifndef __ICL
+# if FMT_HAS_BUILTIN(__builtin_ctz) || FMT_GCC_VERSION || FMT_ICC_VERSION
+# define FMT_BUILTIN_CTZ(n) __builtin_ctz(n)
+# endif
+# if FMT_HAS_BUILTIN(__builtin_ctzll) || FMT_GCC_VERSION || FMT_ICC_VERSION
+# define FMT_BUILTIN_CTZLL(n) __builtin_ctzll(n)
+# endif
#endif
#if FMT_MSC_VER
@@ -175,7 +178,6 @@
namespace detail {
// Avoid Clang with Microsoft CodeGen's -Wunknown-pragmas warning.
# if !defined(__clang__)
-# pragma managed(push, off)
# pragma intrinsic(_BitScanForward)
# pragma intrinsic(_BitScanReverse)
# if defined(_WIN64)
@@ -237,40 +239,75 @@
return static_cast<int>(r);
}
# define FMT_BUILTIN_CTZLL(n) detail::ctzll(n)
-# if !defined(__clang__)
-# pragma managed(pop)
-# endif
} // namespace detail
FMT_END_NAMESPACE
#endif
+#ifdef FMT_HEADER_ONLY
+# define FMT_HEADER_ONLY_CONSTEXPR20 FMT_CONSTEXPR20
+#else
+# define FMT_HEADER_ONLY_CONSTEXPR20
+#endif
+
FMT_BEGIN_NAMESPACE
namespace detail {
-#if __cplusplus >= 202002L || \
- (__cplusplus >= 201709L && FMT_GCC_VERSION >= 1002)
-# define FMT_CONSTEXPR20 constexpr
-#else
-# define FMT_CONSTEXPR20
-#endif
+template <typename Streambuf> class formatbuf : public Streambuf {
+ private:
+ using char_type = typename Streambuf::char_type;
+ using streamsize = decltype(std::declval<Streambuf>().sputn(nullptr, 0));
+ using int_type = typename Streambuf::int_type;
+ using traits_type = typename Streambuf::traits_type;
-// An equivalent of `*reinterpret_cast<Dest*>(&source)` that doesn't have
-// undefined behavior (e.g. due to type aliasing).
-// Example: uint64_t d = bit_cast<uint64_t>(2.718);
-template <typename Dest, typename Source>
-inline auto bit_cast(const Source& source) -> Dest {
- static_assert(sizeof(Dest) == sizeof(Source), "size mismatch");
- Dest dest;
- std::memcpy(&dest, &source, sizeof(dest));
- return dest;
+ buffer<char_type>& buffer_;
+
+ public:
+ explicit formatbuf(buffer<char_type>& buf) : buffer_(buf) {}
+
+ protected:
+ // The put area is always empty. This makes the implementation simpler and has
+ // the advantage that the streambuf and the buffer are always in sync and
+ // sputc never writes into uninitialized memory. A disadvantage is that each
+ // call to sputc always results in a (virtual) call to overflow. There is no
+ // disadvantage here for sputn since this always results in a call to xsputn.
+
+ auto overflow(int_type ch) -> int_type override {
+ if (!traits_type::eq_int_type(ch, traits_type::eof()))
+ buffer_.push_back(static_cast<char_type>(ch));
+ return ch;
+ }
+
+ auto xsputn(const char_type* s, streamsize count) -> streamsize override {
+ buffer_.append(s, s + count);
+ return count;
+ }
+};
+
+// Implementation of std::bit_cast for pre-C++20.
+template <typename To, typename From>
+FMT_CONSTEXPR20 auto bit_cast(const From& from) -> To {
+ static_assert(sizeof(To) == sizeof(From), "size mismatch");
+#ifdef __cpp_lib_bit_cast
+ if (is_constant_evaluated()) return std::bit_cast<To>(from);
+#endif
+ auto to = To();
+ std::memcpy(&to, &from, sizeof(to));
+ return to;
}
inline auto is_big_endian() -> bool {
- const auto u = 1u;
+#ifdef _WIN32
+ return false;
+#elif defined(__BIG_ENDIAN__)
+ return true;
+#elif defined(__BYTE_ORDER__) && defined(__ORDER_BIG_ENDIAN__)
+ return __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__;
+#else
struct bytes {
- char data[sizeof(u)];
+ char data[sizeof(int)];
};
- return bit_cast<bytes>(u).data[0] == 0;
+ return bit_cast<bytes>(1).data[0] == 0;
+#endif
}
// A fallback implementation of uintptr_t for systems that lack it.
@@ -280,7 +317,7 @@
fallback_uintptr() = default;
explicit fallback_uintptr(const void* p) {
*this = bit_cast<fallback_uintptr>(p);
- if (is_big_endian()) {
+ if (const_check(is_big_endian())) {
for (size_t i = 0, j = sizeof(void*) - 1; i < j; ++i, --j)
std::swap(value[i], value[j]);
}
@@ -339,12 +376,15 @@
#if defined(_SECURE_SCL) && _SECURE_SCL
// Make a checked iterator to avoid MSVC warnings.
template <typename T> using checked_ptr = stdext::checked_array_iterator<T*>;
-template <typename T> auto make_checked(T* p, size_t size) -> checked_ptr<T> {
+template <typename T>
+constexpr auto make_checked(T* p, size_t size) -> checked_ptr<T> {
return {p, size};
}
#else
template <typename T> using checked_ptr = T*;
-template <typename T> inline auto make_checked(T* p, size_t) -> T* { return p; }
+template <typename T> constexpr auto make_checked(T* p, size_t) -> T* {
+ return p;
+}
#endif
// Attempts to reserve space for n extra characters in the output range.
@@ -480,27 +520,38 @@
return next;
}
+constexpr uint32_t invalid_code_point = ~uint32_t();
+
+// Invokes f(cp, sv) for every code point cp in s with sv being the string view
+// corresponding to the code point. cp is invalid_code_point on error.
template <typename F>
FMT_CONSTEXPR void for_each_codepoint(string_view s, F f) {
- auto decode = [f](const char* p) {
+ auto decode = [f](const char* buf_ptr, const char* ptr) {
auto cp = uint32_t();
auto error = 0;
- p = utf8_decode(p, &cp, &error);
- f(cp, error);
- return p;
+ auto end = utf8_decode(buf_ptr, &cp, &error);
+ bool result = f(error ? invalid_code_point : cp,
+ string_view(ptr, to_unsigned(end - buf_ptr)));
+ return result ? end : nullptr;
};
auto p = s.data();
const size_t block_size = 4; // utf8_decode always reads blocks of 4 chars.
if (s.size() >= block_size) {
- for (auto end = p + s.size() - block_size + 1; p < end;) p = decode(p);
+ for (auto end = p + s.size() - block_size + 1; p < end;) {
+ p = decode(p, p);
+ if (!p) return;
+ }
}
if (auto num_chars_left = s.data() + s.size() - p) {
char buf[2 * block_size - 1] = {};
copy_str<char>(p, p + num_chars_left, buf);
- p = buf;
+ const char* buf_ptr = buf;
do {
- p = decode(p);
- } while (p - buf < num_chars_left);
+ auto end = decode(buf_ptr, p);
+ if (!end) return;
+ p += end - buf_ptr;
+ buf_ptr = end;
+ } while (buf_ptr - buf < num_chars_left);
}
}
@@ -515,10 +566,10 @@
// It is not a lambda for compatibility with C++14.
struct count_code_points {
size_t* count;
- FMT_CONSTEXPR void operator()(uint32_t cp, int error) const {
+ FMT_CONSTEXPR auto operator()(uint32_t cp, string_view) const -> bool {
*count += detail::to_unsigned(
1 +
- (error == 0 && cp >= 0x1100 &&
+ (cp >= 0x1100 &&
(cp <= 0x115f || // Hangul Jamo init. consonants
cp == 0x2329 || // LEFT-POINTING ANGLE BRACKET
cp == 0x232a || // RIGHT-POINTING ANGLE BRACKET
@@ -536,6 +587,7 @@
(cp >= 0x1f300 && cp <= 0x1f64f) ||
// Supplemental Symbols and Pictographs:
(cp >= 0x1f900 && cp <= 0x1f9ff))));
+ return true;
}
};
for_each_codepoint(s, count_code_points{&num_code_points});
@@ -564,9 +616,10 @@
return s.size();
}
-template <typename T>
-using is_fast_float = bool_constant<std::numeric_limits<T>::is_iec559 &&
- sizeof(T) <= sizeof(double)>;
+template <typename T, bool = std::is_floating_point<T>::value>
+struct is_fast_float : bool_constant<std::numeric_limits<T>::is_iec559 &&
+ sizeof(T) <= sizeof(double)> {};
+template <typename T> struct is_fast_float<T, false> : std::false_type {};
#ifndef FMT_USE_FULL_CACHE_DRAGONBOX
# define FMT_USE_FULL_CACHE_DRAGONBOX 0
@@ -607,8 +660,8 @@
**Example**::
- fmt::memory_buffer out;
- format_to(out, "The answer is {}.", 42);
+ auto out = fmt::memory_buffer();
+ format_to(std::back_inserter(out), "The answer is {}.", 42);
This will append the following output to the ``out`` object:
@@ -629,34 +682,43 @@
Allocator alloc_;
// Deallocate memory allocated by the buffer.
- void deallocate() {
+ FMT_CONSTEXPR20 void deallocate() {
T* data = this->data();
if (data != store_) alloc_.deallocate(data, this->capacity());
}
protected:
- void grow(size_t size) final FMT_OVERRIDE;
+ FMT_CONSTEXPR20 void grow(size_t size) override;
public:
using value_type = T;
using const_reference = const T&;
- explicit basic_memory_buffer(const Allocator& alloc = Allocator())
+ FMT_CONSTEXPR20 explicit basic_memory_buffer(
+ const Allocator& alloc = Allocator())
: alloc_(alloc) {
this->set(store_, SIZE);
+ if (detail::is_constant_evaluated()) {
+ detail::fill_n(store_, SIZE, T{});
+ }
}
- ~basic_memory_buffer() { deallocate(); }
+ FMT_CONSTEXPR20 ~basic_memory_buffer() { deallocate(); }
private:
// Move data from other to this buffer.
- void move(basic_memory_buffer& other) {
+ FMT_CONSTEXPR20 void move(basic_memory_buffer& other) {
alloc_ = std::move(other.alloc_);
T* data = other.data();
size_t size = other.size(), capacity = other.capacity();
if (data == other.store_) {
this->set(store_, capacity);
- std::uninitialized_copy(other.store_, other.store_ + size,
- detail::make_checked(store_, capacity));
+ if (detail::is_constant_evaluated()) {
+ detail::copy_str<T>(other.store_, other.store_ + size,
+ detail::make_checked(store_, capacity));
+ } else {
+ std::uninitialized_copy(other.store_, other.store_ + size,
+ detail::make_checked(store_, capacity));
+ }
} else {
this->set(data, capacity);
// Set pointer to the inline array so that delete is not called
@@ -673,7 +735,10 @@
of the other object to it.
\endrst
*/
- basic_memory_buffer(basic_memory_buffer&& other) FMT_NOEXCEPT { move(other); }
+ FMT_CONSTEXPR20 basic_memory_buffer(basic_memory_buffer&& other)
+ FMT_NOEXCEPT {
+ move(other);
+ }
/**
\rst
@@ -695,7 +760,7 @@
Resizes the buffer to contain *count* elements. If T is a POD type new
elements may not be initialized.
*/
- void resize(size_t count) { this->try_resize(count); }
+ FMT_CONSTEXPR20 void resize(size_t count) { this->try_resize(count); }
/** Increases the buffer capacity to *new_capacity*. */
void reserve(size_t new_capacity) { this->try_reserve(new_capacity); }
@@ -709,7 +774,8 @@
};
template <typename T, size_t SIZE, typename Allocator>
-void basic_memory_buffer<T, SIZE, Allocator>::grow(size_t size) {
+FMT_CONSTEXPR20 void basic_memory_buffer<T, SIZE, Allocator>::grow(
+ size_t size) {
#ifdef FMT_FUZZ
if (size > 5000) throw std::runtime_error("fuzz mode - won't grow that much");
#endif
@@ -754,7 +820,7 @@
format_error& operator=(const format_error&) = default;
format_error(format_error&&) = default;
format_error& operator=(format_error&&) = default;
- ~format_error() FMT_NOEXCEPT FMT_OVERRIDE FMT_MSC_DEFAULT;
+ ~format_error() FMT_NOEXCEPT override FMT_MSC_DEFAULT;
};
/**
@@ -807,10 +873,6 @@
FMT_BEGIN_DETAIL_NAMESPACE
-inline void throw_format_error(const char* message) {
- FMT_THROW(format_error(message));
-}
-
template <typename T> struct is_integral : std::is_integral<T> {};
template <> struct is_integral<int128_t> : std::true_type {};
template <> struct is_integral<uint128_t> : std::true_type {};
@@ -853,48 +915,23 @@
(factor)*1000000, (factor)*10000000, (factor)*100000000, \
(factor)*1000000000
-// Static data is placed in this class template for the header-only config.
-template <typename T = void> struct basic_data {
- // log10(2) = 0x0.4d104d427de7fbcc...
- static const uint64_t log10_2_significand = 0x4d104d427de7fbcc;
+// Converts value in the range [0, 100) to a string.
+constexpr const char* digits2(size_t value) {
+ // GCC generates slightly better code when value is pointer-size.
+ return &"0001020304050607080910111213141516171819"
+ "2021222324252627282930313233343536373839"
+ "4041424344454647484950515253545556575859"
+ "6061626364656667686970717273747576777879"
+ "8081828384858687888990919293949596979899"[value * 2];
+}
- // GCC generates slightly better code for pairs than chars.
- FMT_API static constexpr const char digits[100][2] = {
- {'0', '0'}, {'0', '1'}, {'0', '2'}, {'0', '3'}, {'0', '4'}, {'0', '5'},
- {'0', '6'}, {'0', '7'}, {'0', '8'}, {'0', '9'}, {'1', '0'}, {'1', '1'},
- {'1', '2'}, {'1', '3'}, {'1', '4'}, {'1', '5'}, {'1', '6'}, {'1', '7'},
- {'1', '8'}, {'1', '9'}, {'2', '0'}, {'2', '1'}, {'2', '2'}, {'2', '3'},
- {'2', '4'}, {'2', '5'}, {'2', '6'}, {'2', '7'}, {'2', '8'}, {'2', '9'},
- {'3', '0'}, {'3', '1'}, {'3', '2'}, {'3', '3'}, {'3', '4'}, {'3', '5'},
- {'3', '6'}, {'3', '7'}, {'3', '8'}, {'3', '9'}, {'4', '0'}, {'4', '1'},
- {'4', '2'}, {'4', '3'}, {'4', '4'}, {'4', '5'}, {'4', '6'}, {'4', '7'},
- {'4', '8'}, {'4', '9'}, {'5', '0'}, {'5', '1'}, {'5', '2'}, {'5', '3'},
- {'5', '4'}, {'5', '5'}, {'5', '6'}, {'5', '7'}, {'5', '8'}, {'5', '9'},
- {'6', '0'}, {'6', '1'}, {'6', '2'}, {'6', '3'}, {'6', '4'}, {'6', '5'},
- {'6', '6'}, {'6', '7'}, {'6', '8'}, {'6', '9'}, {'7', '0'}, {'7', '1'},
- {'7', '2'}, {'7', '3'}, {'7', '4'}, {'7', '5'}, {'7', '6'}, {'7', '7'},
- {'7', '8'}, {'7', '9'}, {'8', '0'}, {'8', '1'}, {'8', '2'}, {'8', '3'},
- {'8', '4'}, {'8', '5'}, {'8', '6'}, {'8', '7'}, {'8', '8'}, {'8', '9'},
- {'9', '0'}, {'9', '1'}, {'9', '2'}, {'9', '3'}, {'9', '4'}, {'9', '5'},
- {'9', '6'}, {'9', '7'}, {'9', '8'}, {'9', '9'}};
-
- FMT_API static constexpr const char hex_digits[] = "0123456789abcdef";
- FMT_API static constexpr const char signs[4] = {0, '-', '+', ' '};
- FMT_API static constexpr const unsigned prefixes[4] = {0, 0, 0x1000000u | '+',
- 0x1000000u | ' '};
- FMT_API static constexpr const char left_padding_shifts[5] = {31, 31, 0, 1,
- 0};
- FMT_API static constexpr const char right_padding_shifts[5] = {0, 31, 0, 1,
- 0};
-};
-
-#ifdef FMT_SHARED
-// Required for -flto, -fivisibility=hidden and -shared to work
-extern template struct basic_data<void>;
+// Sign is a template parameter to workaround a bug in gcc 4.8.
+template <typename Char, typename Sign> constexpr Char sign(Sign s) {
+#if !FMT_GCC_VERSION || FMT_GCC_VERSION >= 604
+ static_assert(std::is_same<Sign, sign_t>::value, "");
#endif
-
-// This is a struct rather than an alias to avoid shadowing warnings in gcc.
-struct data : basic_data<> {};
+ return static_cast<Char>("\0-+ "[s]);
+}
template <typename T> FMT_CONSTEXPR auto count_digits_fallback(T n) -> int {
int count = 1;
@@ -916,23 +953,33 @@
}
#endif
+#ifdef FMT_BUILTIN_CLZLL
+// It is a separate function rather than a part of count_digits to workaround
+// the lack of static constexpr in constexpr functions.
+inline auto do_count_digits(uint64_t n) -> int {
+ // This has comparable performance to the version by Kendall Willets
+ // (https://github.com/fmtlib/format-benchmark/blob/master/digits10)
+ // but uses smaller tables.
+ // Maps bsr(n) to ceil(log10(pow(2, bsr(n) + 1) - 1)).
+ static constexpr uint8_t bsr2log10[] = {
+ 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5,
+ 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10, 10, 10,
+ 10, 11, 11, 11, 12, 12, 12, 13, 13, 13, 13, 14, 14, 14, 15, 15,
+ 15, 16, 16, 16, 16, 17, 17, 17, 18, 18, 18, 19, 19, 19, 19, 20};
+ auto t = bsr2log10[FMT_BUILTIN_CLZLL(n | 1) ^ 63];
+ static constexpr const uint64_t zero_or_powers_of_10[] = {
+ 0, 0, FMT_POWERS_OF_10(1U), FMT_POWERS_OF_10(1000000000ULL),
+ 10000000000000000000ULL};
+ return t - (n < zero_or_powers_of_10[t]);
+}
+#endif
+
// Returns the number of decimal digits in n. Leading zeros are not counted
// except for n == 0 in which case count_digits returns 1.
FMT_CONSTEXPR20 inline auto count_digits(uint64_t n) -> int {
#ifdef FMT_BUILTIN_CLZLL
if (!is_constant_evaluated()) {
- // https://github.com/fmtlib/format-benchmark/blob/master/digits10
- // Maps bsr(n) to ceil(log10(pow(2, bsr(n) + 1) - 1)).
- constexpr uint16_t bsr2log10[] = {
- 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5,
- 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10, 10, 10,
- 10, 11, 11, 11, 12, 12, 12, 13, 13, 13, 13, 14, 14, 14, 15, 15,
- 15, 16, 16, 16, 16, 17, 17, 17, 18, 18, 18, 19, 19, 19, 19, 20};
- auto t = bsr2log10[FMT_BUILTIN_CLZLL(n | 1) ^ 63];
- constexpr const uint64_t zero_or_powers_of_10[] = {
- 0, 0, FMT_POWERS_OF_10(1U), FMT_POWERS_OF_10(1000000000ULL),
- 10000000000000000000ULL};
- return t - (n < zero_or_powers_of_10[t]);
+ return do_count_digits(n);
}
#endif
return count_digits_fallback(n);
@@ -945,21 +992,25 @@
if (num_bits<UInt>() == 32)
return (FMT_BUILTIN_CLZ(static_cast<uint32_t>(n) | 1) ^ 31) / BITS + 1;
#endif
- int num_digits = 0;
- do {
- ++num_digits;
- } while ((n >>= BITS) != 0);
- return num_digits;
+ // Lambda avoids unreachable code warnings from NVHPC.
+ return [](UInt m) {
+ int num_digits = 0;
+ do {
+ ++num_digits;
+ } while ((m >>= BITS) != 0);
+ return num_digits;
+ }(n);
}
template <> auto count_digits<4>(detail::fallback_uintptr n) -> int;
+#ifdef FMT_BUILTIN_CLZ
// It is a separate function rather than a part of count_digits to workaround
// the lack of static constexpr in constexpr functions.
-FMT_INLINE uint64_t count_digits_inc(int n) {
- // An optimization by Kendall Willets from https://bit.ly/3uOIQrB.
- // This increments the upper 32 bits (log10(T) - 1) when >= T is added.
-#define FMT_INC(T) (((sizeof(#T) - 1ull) << 32) - T)
+FMT_INLINE auto do_count_digits(uint32_t n) -> int {
+// An optimization by Kendall Willets from https://bit.ly/3uOIQrB.
+// This increments the upper 32 bits (log10(T) - 1) when >= T is added.
+# define FMT_INC(T) (((sizeof(# T) - 1ull) << 32) - T)
static constexpr uint64_t table[] = {
FMT_INC(0), FMT_INC(0), FMT_INC(0), // 8
FMT_INC(10), FMT_INC(10), FMT_INC(10), // 64
@@ -973,15 +1024,16 @@
FMT_INC(1000000000), FMT_INC(1000000000), FMT_INC(1000000000), // 1024M
FMT_INC(1000000000), FMT_INC(1000000000) // 4B
};
- return table[n];
+ auto inc = table[FMT_BUILTIN_CLZ(n | 1) ^ 31];
+ return static_cast<int>((n + inc) >> 32);
}
+#endif
// Optional version of count_digits for better performance on 32-bit platforms.
FMT_CONSTEXPR20 inline auto count_digits(uint32_t n) -> int {
#ifdef FMT_BUILTIN_CLZ
if (!is_constant_evaluated()) {
- auto inc = count_digits_inc(FMT_BUILTIN_CLZ(n | 1) ^ 31);
- return static_cast<int>((n + inc) >> 32);
+ return do_count_digits(n);
}
#endif
return count_digits_fallback(n);
@@ -1032,11 +1084,15 @@
}
// Copies two characters from src to dst.
-template <typename Char> void copy2(Char* dst, const char* src) {
+template <typename Char>
+FMT_CONSTEXPR20 FMT_INLINE void copy2(Char* dst, const char* src) {
+ if (!is_constant_evaluated() && sizeof(Char) == sizeof(char)) {
+ memcpy(dst, src, 2);
+ return;
+ }
*dst++ = static_cast<Char>(*src++);
*dst = static_cast<Char>(*src);
}
-FMT_INLINE void copy2(char* dst, const char* src) { memcpy(dst, src, 2); }
template <typename Iterator> struct format_decimal_result {
Iterator begin;
@@ -1052,20 +1108,12 @@
FMT_ASSERT(size >= count_digits(value), "invalid digit count");
out += size;
Char* end = out;
- if (is_constant_evaluated()) {
- while (value >= 10) {
- *--out = static_cast<Char>('0' + value % 10);
- value /= 10;
- }
- *--out = static_cast<Char>('0' + value);
- return {out, end};
- }
while (value >= 100) {
// Integer division is slow so do it for a group of two digits instead
// of for every digit. The idea comes from the talk by Alexandrescu
// "Three Optimization Tips for C++". See speed-test for a comparison.
out -= 2;
- copy2(out, data::digits[value % 100]);
+ copy2(out, digits2(static_cast<size_t>(value % 100)));
value /= 100;
}
if (value < 10) {
@@ -1073,7 +1121,7 @@
return {out, end};
}
out -= 2;
- copy2(out, data::digits[value]);
+ copy2(out, digits2(static_cast<size_t>(value)));
return {out, end};
}
@@ -1093,7 +1141,7 @@
buffer += num_digits;
Char* end = buffer;
do {
- const char* digits = upper ? "0123456789ABCDEF" : data::hex_digits;
+ const char* digits = upper ? "0123456789ABCDEF" : "0123456789abcdef";
unsigned digit = (value & ((1 << BASE_BITS) - 1));
*--buffer = static_cast<Char>(BASE_BITS < 4 ? static_cast<char>('0' + digit)
: digits[digit]);
@@ -1116,7 +1164,7 @@
auto p = buffer;
for (int i = 0; i < char_digits; ++i) {
unsigned digit = (value & ((1 << BASE_BITS) - 1));
- *--p = static_cast<Char>(data::hex_digits[digit]);
+ *--p = static_cast<Char>("0123456789abcdef"[digit]);
value >>= BASE_BITS;
}
}
@@ -1226,7 +1274,7 @@
// Writes the exponent exp in the form "[+-]d{2,3}" to buffer.
template <typename Char, typename It>
-auto write_exponent(int exp, It it) -> It {
+FMT_CONSTEXPR auto write_exponent(int exp, It it) -> It {
FMT_ASSERT(-10000 < exp && exp < 10000, "exponent out of range");
if (exp < 0) {
*it++ = static_cast<Char>('-');
@@ -1235,28 +1283,31 @@
*it++ = static_cast<Char>('+');
}
if (exp >= 100) {
- const char* top = data::digits[exp / 100];
+ const char* top = digits2(to_unsigned(exp / 100));
if (exp >= 1000) *it++ = static_cast<Char>(top[0]);
*it++ = static_cast<Char>(top[1]);
exp %= 100;
}
- const char* d = data::digits[exp];
+ const char* d = digits2(to_unsigned(exp));
*it++ = static_cast<Char>(d[0]);
*it++ = static_cast<Char>(d[1]);
return it;
}
template <typename T>
-auto format_float(T value, int precision, float_specs specs, buffer<char>& buf)
- -> int;
+FMT_HEADER_ONLY_CONSTEXPR20 auto format_float(T value, int precision,
+ float_specs specs,
+ buffer<char>& buf) -> int;
// Formats a floating-point number with snprintf.
template <typename T>
auto snprintf_float(T value, int precision, float_specs specs,
buffer<char>& buf) -> int;
-template <typename T> auto promote_float(T value) -> T { return value; }
-inline auto promote_float(float value) -> double {
+template <typename T> constexpr auto promote_float(T value) -> T {
+ return value;
+}
+constexpr auto promote_float(float value) -> double {
return static_cast<double>(value);
}
@@ -1282,8 +1333,9 @@
static_assert(align == align::left || align == align::right, "");
unsigned spec_width = to_unsigned(specs.width);
size_t padding = spec_width > width ? spec_width - width : 0;
- auto* shifts = align == align::left ? data::left_padding_shifts
- : data::right_padding_shifts;
+ // Shifts are encoded as string literals because static constexpr is not
+ // supported in constexpr functions.
+ auto* shifts = align == align::left ? "\x1f\x1f\x00\x01" : "\x00\x1f\x00\x01";
size_t left_padding = padding >> shifts[specs.align];
size_t right_padding = padding - left_padding;
auto it = reserve(out, size + padding * specs.fill.size());
@@ -1393,56 +1445,91 @@
});
}
+template <typename Char> class digit_grouping {
+ private:
+ thousands_sep_result<Char> sep_;
+
+ struct next_state {
+ std::string::const_iterator group;
+ int pos;
+ };
+ next_state initial_state() const { return {sep_.grouping.begin(), 0}; }
+
+ // Returns the next digit group separator position.
+ int next(next_state& state) const {
+ if (!sep_.thousands_sep) return max_value<int>();
+ if (state.group == sep_.grouping.end())
+ return state.pos += sep_.grouping.back();
+ if (*state.group <= 0 || *state.group == max_value<char>())
+ return max_value<int>();
+ state.pos += *state.group++;
+ return state.pos;
+ }
+
+ public:
+ explicit digit_grouping(locale_ref loc, bool localized = true) {
+ if (localized)
+ sep_ = thousands_sep<Char>(loc);
+ else
+ sep_.thousands_sep = Char();
+ }
+ explicit digit_grouping(thousands_sep_result<Char> sep) : sep_(sep) {}
+
+ Char separator() const { return sep_.thousands_sep; }
+
+ int count_separators(int num_digits) const {
+ int count = 0;
+ auto state = initial_state();
+ while (num_digits > next(state)) ++count;
+ return count;
+ }
+
+ // Applies grouping to digits and write the output to out.
+ template <typename Out, typename C>
+ Out apply(Out out, basic_string_view<C> digits) const {
+ auto num_digits = static_cast<int>(digits.size());
+ auto separators = basic_memory_buffer<int>();
+ separators.push_back(0);
+ auto state = initial_state();
+ while (int i = next(state)) {
+ if (i >= num_digits) break;
+ separators.push_back(i);
+ }
+ for (int i = 0, sep_index = static_cast<int>(separators.size() - 1);
+ i < num_digits; ++i) {
+ if (num_digits - i == separators[sep_index]) {
+ *out++ = separator();
+ --sep_index;
+ }
+ *out++ = static_cast<Char>(digits[to_unsigned(i)]);
+ }
+ return out;
+ }
+};
+
+template <typename OutputIt, typename UInt, typename Char>
+auto write_int_localized(OutputIt out, UInt value, unsigned prefix,
+ const basic_format_specs<Char>& specs,
+ const digit_grouping<Char>& grouping) -> OutputIt {
+ static_assert(std::is_same<uint64_or_128_t<UInt>, UInt>::value, "");
+ int num_digits = count_digits(value);
+ char digits[40];
+ format_decimal(digits, value, num_digits);
+ unsigned size = to_unsigned((prefix != 0 ? 1 : 0) + num_digits +
+ grouping.count_separators(num_digits));
+ return write_padded<align::right>(
+ out, specs, size, size, [&](reserve_iterator<OutputIt> it) {
+ if (prefix != 0) *it++ = static_cast<Char>(prefix);
+ return grouping.apply(it, string_view(digits, to_unsigned(num_digits)));
+ });
+}
+
template <typename OutputIt, typename UInt, typename Char>
auto write_int_localized(OutputIt& out, UInt value, unsigned prefix,
const basic_format_specs<Char>& specs, locale_ref loc)
-> bool {
- static_assert(std::is_same<uint64_or_128_t<UInt>, UInt>::value, "");
- const auto sep_size = 1;
- auto ts = thousands_sep<Char>(loc);
- if (!ts.thousands_sep) return false;
- int num_digits = count_digits(value);
- int size = num_digits, n = num_digits;
- const std::string& groups = ts.grouping;
- std::string::const_iterator group = groups.cbegin();
- while (group != groups.cend() && n > *group && *group > 0 &&
- *group != max_value<char>()) {
- size += sep_size;
- n -= *group;
- ++group;
- }
- if (group == groups.cend()) size += sep_size * ((n - 1) / groups.back());
- char digits[40];
- format_decimal(digits, value, num_digits);
- basic_memory_buffer<Char> buffer;
- if (prefix != 0) ++size;
- const auto usize = to_unsigned(size);
- buffer.resize(usize);
- basic_string_view<Char> s(&ts.thousands_sep, sep_size);
- // Index of a decimal digit with the least significant digit having index 0.
- int digit_index = 0;
- group = groups.cbegin();
- auto p = buffer.data() + size - 1;
- for (int i = num_digits - 1; i > 0; --i) {
- *p-- = static_cast<Char>(digits[i]);
- if (*group <= 0 || ++digit_index % *group != 0 ||
- *group == max_value<char>())
- continue;
- if (group + 1 != groups.cend()) {
- digit_index = 0;
- ++group;
- }
- std::uninitialized_copy(s.data(), s.data() + s.size(),
- make_checked(p, s.size()));
- p -= s.size();
- }
- *p-- = static_cast<Char>(*digits);
- if (prefix != 0) *p = static_cast<Char>(prefix);
- auto data = buffer.data();
- out = write_padded<align::right>(
- out, specs, usize, usize, [=](reserve_iterator<OutputIt> it) {
- return copy_str<Char>(data, data + size, it);
- });
+ auto grouping = digit_grouping<Char>(loc);
+ out = write_int_localized(out, value, prefix, specs, grouping);
return true;
}
@@ -1465,7 +1552,9 @@
prefix = 0x01000000 | '-';
abs_value = 0 - abs_value;
} else {
- prefix = data::prefixes[sign];
+ constexpr const unsigned prefixes[4] = {0, 0, 0x1000000u | '+',
+ 0x1000000u | ' '};
+ prefix = prefixes[sign];
}
return {abs_value, prefix};
}
@@ -1477,10 +1566,9 @@
static_assert(std::is_same<T, uint32_or_64_or_128_t<T>>::value, "");
auto abs_value = arg.abs_value;
auto prefix = arg.prefix;
- auto utype = static_cast<unsigned>(specs.type);
switch (specs.type) {
- case 0:
- case 'd': {
+ case presentation_type::none:
+ case presentation_type::dec: {
if (specs.localized &&
write_int_localized(out, static_cast<uint64_or_128_t<T>>(abs_value),
prefix, specs, loc)) {
@@ -1492,52 +1580,61 @@
return format_decimal<Char>(it, abs_value, num_digits).end;
});
}
- case 'x':
- case 'X': {
- if (specs.alt) prefix_append(prefix, (utype << 8) | '0');
- bool upper = specs.type != 'x';
+ case presentation_type::hex_lower:
+ case presentation_type::hex_upper: {
+ bool upper = specs.type == presentation_type::hex_upper;
+ if (specs.alt)
+ prefix_append(prefix, unsigned(upper ? 'X' : 'x') << 8 | '0');
int num_digits = count_digits<4>(abs_value);
return write_int(
out, num_digits, prefix, specs, [=](reserve_iterator<OutputIt> it) {
return format_uint<4, Char>(it, abs_value, num_digits, upper);
});
}
- case 'b':
- case 'B': {
- if (specs.alt) prefix_append(prefix, (utype << 8) | '0');
+ case presentation_type::bin_lower:
+ case presentation_type::bin_upper: {
+ bool upper = specs.type == presentation_type::bin_upper;
+ if (specs.alt)
+ prefix_append(prefix, unsigned(upper ? 'B' : 'b') << 8 | '0');
int num_digits = count_digits<1>(abs_value);
return write_int(out, num_digits, prefix, specs,
[=](reserve_iterator<OutputIt> it) {
return format_uint<1, Char>(it, abs_value, num_digits);
});
}
- case 'o': {
+ case presentation_type::oct: {
int num_digits = count_digits<3>(abs_value);
- if (specs.alt && specs.precision <= num_digits && abs_value != 0) {
- // Octal prefix '0' is counted as a digit, so only add it if precision
- // is not greater than the number of digits.
+ // Octal prefix '0' is counted as a digit, so only add it if precision
+ // is not greater than the number of digits.
+ if (specs.alt && specs.precision <= num_digits && abs_value != 0)
prefix_append(prefix, '0');
- }
return write_int(out, num_digits, prefix, specs,
[=](reserve_iterator<OutputIt> it) {
return format_uint<3, Char>(it, abs_value, num_digits);
});
}
- case 'c':
+ case presentation_type::chr:
return write_char(out, static_cast<Char>(abs_value), specs);
default:
- FMT_THROW(format_error("invalid type specifier"));
+ throw_format_error("invalid type specifier");
}
return out;
}
+template <typename Char, typename OutputIt, typename T>
+FMT_CONSTEXPR FMT_NOINLINE auto write_int_noinline(
+ OutputIt out, write_int_arg<T> arg, const basic_format_specs<Char>& specs,
+ locale_ref loc) -> OutputIt {
+ return write_int(out, arg, specs, loc);
+}
template <typename Char, typename OutputIt, typename T,
FMT_ENABLE_IF(is_integral<T>::value &&
!std::is_same<T, bool>::value &&
std::is_same<OutputIt, buffer_appender<Char>>::value)>
-FMT_CONSTEXPR auto write(OutputIt out, T value,
- const basic_format_specs<Char>& specs, locale_ref loc)
- -> OutputIt {
- return write_int(out, make_write_int_arg(value, specs.sign), specs, loc);
+FMT_CONSTEXPR FMT_INLINE auto write(OutputIt out, T value,
+ const basic_format_specs<Char>& specs,
+ locale_ref loc) -> OutputIt {
+ return write_int_noinline(out, make_write_int_arg(value, specs.sign), specs,
+ loc);
}
// An inlined version of write used in format string compilation.
template <typename Char, typename OutputIt, typename T,
@@ -1582,8 +1679,9 @@
}
template <typename Char, typename OutputIt>
-auto write_nonfinite(OutputIt out, bool isinf, basic_format_specs<Char> specs,
- const float_specs& fspecs) -> OutputIt {
+FMT_CONSTEXPR20 auto write_nonfinite(OutputIt out, bool isinf,
+ basic_format_specs<Char> specs,
+ const float_specs& fspecs) -> OutputIt {
auto str =
isinf ? (fspecs.upper ? "INF" : "inf") : (fspecs.upper ? "NAN" : "nan");
constexpr size_t str_size = 3;
@@ -1594,7 +1692,7 @@
specs.fill.size() == 1 && *specs.fill.data() == static_cast<Char>('0');
if (is_zero_fill) specs.fill[0] = static_cast<Char>(' ');
return write_padded(out, specs, size, [=](reserve_iterator<OutputIt> it) {
- if (sign) *it++ = static_cast<Char>(data::signs[sign]);
+ if (sign) *it++ = detail::sign<Char>(sign);
return copy_str<Char>(str, str + str_size, it);
});
}
@@ -1606,7 +1704,7 @@
int exponent;
};
-inline auto get_significand_size(const big_decimal_fp& fp) -> int {
+constexpr auto get_significand_size(const big_decimal_fp& fp) -> int {
return fp.significand_size;
}
template <typename T>
@@ -1615,8 +1713,8 @@
}
template <typename Char, typename OutputIt>
-inline auto write_significand(OutputIt out, const char* significand,
- int& significand_size) -> OutputIt {
+constexpr auto write_significand(OutputIt out, const char* significand,
+ int significand_size) -> OutputIt {
return copy_str<Char>(significand, significand + significand_size, out);
}
template <typename Char, typename OutputIt, typename UInt>
@@ -1624,6 +1722,19 @@
int significand_size) -> OutputIt {
return format_decimal<Char>(out, significand, significand_size).end;
}
+template <typename Char, typename OutputIt, typename T, typename Grouping>
+FMT_CONSTEXPR20 auto write_significand(OutputIt out, T significand,
+ int significand_size, int exponent,
+ const Grouping& grouping) -> OutputIt {
+ if (!grouping.separator()) {
+ out = write_significand<Char>(out, significand, significand_size);
+ return detail::fill_n(out, exponent, static_cast<Char>('0'));
+ }
+ auto buffer = memory_buffer();
+ write_significand<char>(appender(buffer), significand, significand_size);
+ detail::fill_n(appender(buffer), exponent, '0');
+ return grouping.apply(out, string_view(buffer.data(), buffer.size()));
+}
template <typename Char, typename UInt,
FMT_ENABLE_IF(std::is_integral<UInt>::value)>
@@ -1631,14 +1742,20 @@
int integral_size, Char decimal_point) -> Char* {
if (!decimal_point)
return format_decimal(out, significand, significand_size).end;
- auto end = format_decimal(out + 1, significand, significand_size).end;
- if (integral_size == 1) {
- out[0] = out[1];
- } else {
- std::uninitialized_copy_n(out + 1, integral_size,
- make_checked(out, to_unsigned(integral_size)));
+ out += significand_size + 1;
+ Char* end = out;
+ int floating_size = significand_size - integral_size;
+ for (int i = floating_size / 2; i > 0; --i) {
+ out -= 2;
+ copy2(out, digits2(significand % 100));
+ significand /= 100;
}
- out[integral_size] = decimal_point;
+ if (floating_size % 2 != 0) {
+ *--out = static_cast<Char>('0' + significand % 10);
+ significand /= 10;
+ }
+ *--out = decimal_point;
+ format_decimal(out - integral_size, significand, integral_size);
return end;
}
@@ -1655,9 +1772,9 @@
}
template <typename OutputIt, typename Char>
-inline auto write_significand(OutputIt out, const char* significand,
- int significand_size, int integral_size,
- Char decimal_point) -> OutputIt {
+FMT_CONSTEXPR auto write_significand(OutputIt out, const char* significand,
+ int significand_size, int integral_size,
+ Char decimal_point) -> OutputIt {
out = detail::copy_str_noinline<Char>(significand,
significand + integral_size, out);
if (!decimal_point) return out;
@@ -1666,17 +1783,40 @@
significand + significand_size, out);
}
-template <typename OutputIt, typename DecimalFP, typename Char>
-auto write_float(OutputIt out, const DecimalFP& fp,
- const basic_format_specs<Char>& specs, float_specs fspecs,
- Char decimal_point) -> OutputIt {
+template <typename OutputIt, typename Char, typename T, typename Grouping>
+FMT_CONSTEXPR20 auto write_significand(OutputIt out, T significand,
+ int significand_size, int integral_size,
+ Char decimal_point,
+ const Grouping& grouping) -> OutputIt {
+ if (!grouping.separator()) {
+ return write_significand(out, significand, significand_size, integral_size,
+ decimal_point);
+ }
+ auto buffer = basic_memory_buffer<Char>();
+ write_significand(buffer_appender<Char>(buffer), significand,
+ significand_size, integral_size, decimal_point);
+ grouping.apply(
+ out, basic_string_view<Char>(buffer.data(), to_unsigned(integral_size)));
+ return detail::copy_str_noinline<Char>(buffer.data() + integral_size,
+ buffer.end(), out);
+}
+
+template <typename OutputIt, typename DecimalFP, typename Char,
+ typename Grouping = digit_grouping<Char>>
+FMT_CONSTEXPR20 auto do_write_float(OutputIt out, const DecimalFP& fp,
+ const basic_format_specs<Char>& specs,
+ float_specs fspecs, locale_ref loc)
+ -> OutputIt {
auto significand = fp.significand;
int significand_size = get_significand_size(fp);
- static const Char zero = static_cast<Char>('0');
+ constexpr Char zero = static_cast<Char>('0');
auto sign = fspecs.sign;
size_t size = to_unsigned(significand_size) + (sign ? 1 : 0);
using iterator = reserve_iterator<OutputIt>;
+ Char decimal_point =
+ fspecs.locale ? detail::decimal_point<Char>(loc) : static_cast<Char>('.');
+
int output_exp = fp.exponent + significand_size - 1;
auto use_exp_format = [=]() {
if (fspecs.format == float_format::exp) return true;
@@ -1703,7 +1843,7 @@
size += to_unsigned((decimal_point ? 1 : 0) + 2 + exp_digits);
char exp_char = fspecs.upper ? 'E' : 'e';
auto write = [=](iterator it) {
- if (sign) *it++ = static_cast<Char>(data::signs[sign]);
+ if (sign) *it++ = detail::sign<Char>(sign);
// Insert a decimal point after the first digit and add an exponent.
it = write_significand(it, significand, significand_size, 1,
decimal_point);
@@ -1728,10 +1868,12 @@
if (num_zeros <= 0 && fspecs.format != float_format::fixed) num_zeros = 1;
if (num_zeros > 0) size += to_unsigned(num_zeros) + 1;
}
+ auto grouping = Grouping(loc, fspecs.locale);
+ size += to_unsigned(grouping.count_separators(significand_size));
return write_padded<align::right>(out, specs, size, [&](iterator it) {
- if (sign) *it++ = static_cast<Char>(data::signs[sign]);
- it = write_significand<Char>(it, significand, significand_size);
- it = detail::fill_n(it, fp.exponent, zero);
+ if (sign) *it++ = detail::sign<Char>(sign);
+ it = write_significand<Char>(it, significand, significand_size,
+ fp.exponent, grouping);
if (!fspecs.showpoint) return it;
*it++ = decimal_point;
return num_zeros > 0 ? detail::fill_n(it, num_zeros, zero) : it;
@@ -1740,10 +1882,12 @@
// 1234e-2 -> 12.34[0+]
int num_zeros = fspecs.showpoint ? fspecs.precision - significand_size : 0;
size += 1 + to_unsigned(num_zeros > 0 ? num_zeros : 0);
+ auto grouping = Grouping(loc, fspecs.locale);
+ size += to_unsigned(grouping.count_separators(significand_size));
return write_padded<align::right>(out, specs, size, [&](iterator it) {
- if (sign) *it++ = static_cast<Char>(data::signs[sign]);
+ if (sign) *it++ = detail::sign<Char>(sign);
it = write_significand(it, significand, significand_size, exp,
- decimal_point);
+ decimal_point, grouping);
return num_zeros > 0 ? detail::fill_n(it, num_zeros, zero) : it;
});
}
@@ -1756,7 +1900,7 @@
bool pointy = num_zeros != 0 || significand_size != 0 || fspecs.showpoint;
size += 1 + (pointy ? 1 : 0) + to_unsigned(num_zeros);
return write_padded<align::right>(out, specs, size, [&](iterator it) {
- if (sign) *it++ = static_cast<Char>(data::signs[sign]);
+ if (sign) *it++ = detail::sign<Char>(sign);
*it++ = zero;
if (!pointy) return it;
*it++ = decimal_point;
@@ -1765,26 +1909,97 @@
});
}
+template <typename Char> class fallback_digit_grouping {
+ public:
+ constexpr fallback_digit_grouping(locale_ref, bool) {}
+
+ constexpr Char separator() const { return Char(); }
+
+ constexpr int count_separators(int) const { return 0; }
+
+ template <typename Out, typename C>
+ constexpr Out apply(Out out, basic_string_view<C>) const {
+ return out;
+ }
+};
+
+template <typename OutputIt, typename DecimalFP, typename Char>
+FMT_CONSTEXPR20 auto write_float(OutputIt out, const DecimalFP& fp,
+ const basic_format_specs<Char>& specs,
+ float_specs fspecs, locale_ref loc)
+ -> OutputIt {
+ if (is_constant_evaluated()) {
+ return do_write_float<OutputIt, DecimalFP, Char,
+ fallback_digit_grouping<Char>>(out, fp, specs, fspecs,
+ loc);
+ } else {
+ return do_write_float(out, fp, specs, fspecs, loc);
+ }
+}
+
+template <typename T, FMT_ENABLE_IF(std::is_floating_point<T>::value)>
+FMT_CONSTEXPR20 bool isinf(T value) {
+ if (is_constant_evaluated()) {
+#if defined(__cpp_if_constexpr)
+ if constexpr (std::numeric_limits<double>::is_iec559) {
+ auto bits = detail::bit_cast<uint64_t>(static_cast<double>(value));
+ constexpr auto significand_bits =
+ dragonbox::float_info<double>::significand_bits;
+ return (bits & exponent_mask<double>()) &&
+ !(bits & ((uint64_t(1) << significand_bits) - 1));
+ }
+#endif
+ }
+ return std::isinf(value);
+}
+
+template <typename T, FMT_ENABLE_IF(std::is_floating_point<T>::value)>
+FMT_CONSTEXPR20 bool isfinite(T value) {
+ if (is_constant_evaluated()) {
+#if defined(__cpp_if_constexpr)
+ if constexpr (std::numeric_limits<double>::is_iec559) {
+ auto bits = detail::bit_cast<uint64_t>(static_cast<double>(value));
+ return (bits & exponent_mask<double>()) != exponent_mask<double>();
+ }
+#endif
+ }
+ return std::isfinite(value);
+}
+
+template <typename T, FMT_ENABLE_IF(std::is_floating_point<T>::value)>
+FMT_INLINE FMT_CONSTEXPR bool signbit(T value) {
+ if (is_constant_evaluated()) {
+#ifdef __cpp_if_constexpr
+ if constexpr (std::numeric_limits<double>::is_iec559) {
+ auto bits = detail::bit_cast<uint64_t>(static_cast<double>(value));
+ return (bits & (uint64_t(1) << (num_bits<uint64_t>() - 1))) != 0;
+ }
+#endif
+ }
+ return std::signbit(value);
+}
+
template <typename Char, typename OutputIt, typename T,
FMT_ENABLE_IF(std::is_floating_point<T>::value)>
-auto write(OutputIt out, T value, basic_format_specs<Char> specs,
- locale_ref loc = {}) -> OutputIt {
+FMT_CONSTEXPR20 auto write(OutputIt out, T value,
+ basic_format_specs<Char> specs, locale_ref loc = {})
+ -> OutputIt {
if (const_check(!is_supported_floating_point(value))) return out;
float_specs fspecs = parse_float_type_spec(specs);
fspecs.sign = specs.sign;
- if (std::signbit(value)) { // value < 0 is false for NaN so use signbit.
+ if (detail::signbit(value)) { // value < 0 is false for NaN so use signbit.
fspecs.sign = sign::minus;
value = -value;
} else if (fspecs.sign == sign::minus) {
fspecs.sign = sign::none;
}
- if (!std::isfinite(value))
- return write_nonfinite(out, std::isinf(value), specs, fspecs);
+ if (!detail::isfinite(value))
+ return write_nonfinite(out, detail::isinf(value), specs, fspecs);
if (specs.align == align::numeric && fspecs.sign) {
auto it = reserve(out, 1);
- *it++ = static_cast<Char>(data::signs[fspecs.sign]);
+ *it++ = detail::sign<Char>(fspecs.sign);
out = base_iterator(out, it);
fspecs.sign = sign::none;
if (specs.width != 0) --specs.width;
@@ -1792,31 +2007,35 @@
memory_buffer buffer;
if (fspecs.format == float_format::hex) {
- if (fspecs.sign) buffer.push_back(data::signs[fspecs.sign]);
+ if (fspecs.sign) buffer.push_back(detail::sign<char>(fspecs.sign));
snprintf_float(promote_float(value), specs.precision, fspecs, buffer);
return write_bytes<align::right>(out, {buffer.data(), buffer.size()},
specs);
}
- int precision = specs.precision >= 0 || !specs.type ? specs.precision : 6;
+ int precision = specs.precision >= 0 || specs.type == presentation_type::none
+ ? specs.precision
+ : 6;
if (fspecs.format == float_format::exp) {
if (precision == max_value<int>())
- FMT_THROW(format_error("number is too big"));
+ throw_format_error("number is too big");
else
++precision;
}
if (const_check(std::is_same<T, float>())) fspecs.binary32 = true;
- fspecs.use_grisu = is_fast_float<T>();
+ if (!is_fast_float<T>()) fspecs.fallback = true;
int exp = format_float(promote_float(value), precision, fspecs, buffer);
fspecs.precision = precision;
- Char point =
- fspecs.locale ? decimal_point<Char>(loc) : static_cast<Char>('.');
auto fp = big_decimal_fp{buffer.data(), static_cast<int>(buffer.size()), exp};
- return write_float(out, fp, specs, fspecs, point);
+ return write_float(out, fp, specs, fspecs, loc);
}
template <typename Char, typename OutputIt, typename T,
FMT_ENABLE_IF(is_fast_float<T>::value)>
-auto write(OutputIt out, T value) -> OutputIt {
+FMT_CONSTEXPR20 auto write(OutputIt out, T value) -> OutputIt {
+ if (is_constant_evaluated()) {
+ return write(out, value, basic_format_specs<Char>());
+ }
+
if (const_check(!is_supported_floating_point(value))) return out;
using floaty = conditional_t<std::is_same<T, long double>::value, double, T>;
@@ -1824,19 +2043,18 @@
auto bits = bit_cast<uint>(value);
auto fspecs = float_specs();
- auto sign_bit = bits & (uint(1) << (num_bits<uint>() - 1));
- if (sign_bit != 0) {
+ if (detail::signbit(value)) {
fspecs.sign = sign::minus;
value = -value;
}
- static const auto specs = basic_format_specs<Char>();
+ constexpr auto specs = basic_format_specs<Char>();
uint mask = exponent_mask<floaty>();
if ((bits & mask) == mask)
return write_nonfinite(out, std::isinf(value), specs, fspecs);
auto dec = dragonbox::to_decimal(static_cast<floaty>(value));
- return write_float(out, dec, specs, fspecs, static_cast<Char>('.'));
+ return write_float(out, dec, specs, fspecs, {});
}
template <typename Char, typename OutputIt, typename T,
@@ -1889,7 +2107,7 @@
return base_iterator(out, it);
}
-// FMT_ENABLE_IF() condition separated to workaround MSVC bug
+// FMT_ENABLE_IF() condition separated to workaround an MSVC bug.
template <
typename Char, typename OutputIt, typename T,
bool check =
@@ -1907,7 +2125,8 @@
FMT_CONSTEXPR auto write(OutputIt out, T value,
const basic_format_specs<Char>& specs = {},
locale_ref = {}) -> OutputIt {
- return specs.type && specs.type != 's'
+ return specs.type != presentation_type::none &&
+ specs.type != presentation_type::string
? write(out, value ? 1 : 0, specs, {})
: write_bytes(out, value ? "true" : "false", specs);
}
@@ -1923,10 +2142,9 @@
FMT_CONSTEXPR_CHAR_TRAITS auto write(OutputIt out, const Char* value)
-> OutputIt {
if (!value) {
- FMT_THROW(format_error("string pointer is null"));
+ throw_format_error("string pointer is null");
} else {
- auto length = std::char_traits<Char>::length(value);
- out = write(out, basic_string_view<Char>(value, length));
+ out = write(out, basic_string_view<Char>(value));
}
return out;
}
@@ -1940,18 +2158,28 @@
return write_ptr<Char>(out, to_uintptr(value), &specs);
}
-template <typename Char, typename OutputIt, typename T>
-FMT_CONSTEXPR auto write(OutputIt out, const T& value) ->
- typename std::enable_if<
- mapped_type_constant<T, basic_format_context<OutputIt, Char>>::value ==
- type::custom_type,
- OutputIt>::type {
- using context_type = basic_format_context<OutputIt, Char>;
+// A write overload that handles implicit conversions.
+template <typename Char, typename OutputIt, typename T,
+ typename Context = basic_format_context<OutputIt, Char>>
+FMT_CONSTEXPR auto write(OutputIt out, const T& value) -> enable_if_t<
+ std::is_class<T>::value && !is_string<T>::value &&
+ !std::is_same<T, Char>::value &&
+ !std::is_same<const T&,
+ decltype(arg_mapper<Context>().map(value))>::value,
+ OutputIt> {
+ return write<Char>(out, arg_mapper<Context>().map(value));
+}
+
+template <typename Char, typename OutputIt, typename T,
+ typename Context = basic_format_context<OutputIt, Char>>
+FMT_CONSTEXPR auto write(OutputIt out, const T& value)
+ -> enable_if_t<mapped_type_constant<T, Context>::value == type::custom_type,
+ OutputIt> {
using formatter_type =
- conditional_t<has_formatter<T, context_type>::value,
- typename context_type::template formatter_type<T>,
+ conditional_t<has_formatter<T, Context>::value,
+ typename Context::template formatter_type<T>,
fallback_formatter<T, Char>>;
- context_type ctx(out, {}, {});
+ auto ctx = Context(out, {}, {});
return formatter_type().format(value, ctx);
}
@@ -2368,6 +2596,7 @@
FMT_FORMAT_AS(Char*, const Char*);
FMT_FORMAT_AS(std::basic_string<Char>, basic_string_view<Char>);
FMT_FORMAT_AS(std::nullptr_t, const void*);
+FMT_FORMAT_AS(detail::byte, unsigned char);
FMT_FORMAT_AS(detail::std_string_view<Char>, basic_string_view<Char>);
template <typename Char>
@@ -2493,6 +2722,52 @@
}
};
+// group_digits_view is not derived from view because it copies the argument.
+template <typename T> struct group_digits_view { T value; };
+
+/**
+ \rst
+ Returns a view that formats an integer value using ',' as a locale-independent
+ thousands separator.
+
+ **Example**::
+
+ fmt::print("{}", fmt::group_digits(12345));
+ // Output: "12,345"
+ \endrst
+ */
+template <typename T> auto group_digits(T value) -> group_digits_view<T> {
+ return {value};
+}
+
+template <typename T> struct formatter<group_digits_view<T>> : formatter<T> {
+ private:
+ detail::dynamic_format_specs<char> specs_;
+
+ public:
+ template <typename ParseContext>
+ FMT_CONSTEXPR auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
+ using handler_type = detail::dynamic_specs_handler<ParseContext>;
+ detail::specs_checker<handler_type> handler(handler_type(specs_, ctx),
+ detail::type::int_type);
+ auto it = parse_format_specs(ctx.begin(), ctx.end(), handler);
+ detail::check_string_type_spec(specs_.type, ctx.error_handler());
+ return it;
+ }
+
+ template <typename FormatContext>
+ auto format(group_digits_view<T> t, FormatContext& ctx)
+ -> decltype(ctx.out()) {
+ detail::handle_dynamic_spec<detail::width_checker>(specs_.width,
+ specs_.width_ref, ctx);
+ detail::handle_dynamic_spec<detail::precision_checker>(
+ specs_.precision, specs_.precision_ref, ctx);
+ return detail::write_int_localized(
+ ctx.out(), static_cast<detail::uint64_or_128_t<T>>(t.value), 0, specs_,
+ detail::digit_grouping<char>({"\3", ','}));
+ }
+};
+
template <typename It, typename Sentinel, typename Char = char>
struct join_view : detail::view {
It begin;
@@ -2509,7 +2784,12 @@
template <typename It, typename Sentinel, typename Char>
struct formatter<join_view<It, Sentinel, Char>, Char> {
private:
- using value_type = typename std::iterator_traits<It>::value_type;
+ using value_type =
+#ifdef __cpp_lib_ranges
+ std::iter_value_t<It>;
+#else
+ typename std::iterator_traits<It>::value_type;
+#endif
using context = buffer_context<Char>;
using mapper = detail::arg_mapper<context>;
@@ -2543,11 +2823,13 @@
auto it = value.begin;
auto out = ctx.out();
if (it != value.end) {
- out = value_formatter_.format(map(*it++), ctx);
+ out = value_formatter_.format(map(*it), ctx);
+ ++it;
while (it != value.end) {
out = detail::copy_str<Char>(value.sep.begin(), value.sep.end(), out);
ctx.advance_to(out);
- out = value_formatter_.format(map(*it++), ctx);
+ out = value_formatter_.format(map(*it), ctx);
+ ++it;
}
}
return out;
@@ -2555,8 +2837,8 @@
};
/**
- Returns an object that formats the iterator range `[begin, end)` with
- elements separated by `sep`.
+ Returns a view that formats the iterator range `[begin, end)` with elements
+ separated by `sep`.
*/
template <typename It, typename Sentinel>
auto join(It begin, Sentinel end, string_view sep) -> join_view<It, Sentinel> {
@@ -2565,7 +2847,7 @@
/**
\rst
- Returns an object that formats `range` with elements separated by `sep`.
+ Returns a view that formats `range` with elements separated by `sep`.
**Example**::
@@ -2604,7 +2886,7 @@
}
template <typename T, FMT_ENABLE_IF(std::is_integral<T>::value)>
-inline auto to_string(T value) -> std::string {
+FMT_NODISCARD inline auto to_string(T value) -> std::string {
// The buffer should be large enough to store the number including the sign
// or "false" for bool.
constexpr int max_size = detail::digits10<T>() + 2;
@@ -2614,7 +2896,7 @@
}
template <typename Char, size_t SIZE>
-auto to_string(const basic_memory_buffer<Char, SIZE>& buf)
+FMT_NODISCARD auto to_string(const basic_memory_buffer<Char, SIZE>& buf)
-> std::basic_string<Char> {
auto size = buf.size();
detail::assume(size < std::basic_string<Char>().max_size());
@@ -2756,17 +3038,9 @@
}
# endif
-/**
- \rst
- User-defined literal equivalent of :func:`fmt::format`.
-
- **Example**::
-
- using namespace fmt::literals;
- std::string message = "The answer is {}"_format(42);
- \endrst
- */
-constexpr auto operator"" _format(const char* s, size_t n)
+// DEPRECATED!
+// User-defined literal equivalent of fmt::format.
+FMT_DEPRECATED constexpr auto operator"" _format(const char* s, size_t n)
-> detail::udl_formatter<char> {
return {{s, n}};
}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/os.h b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/os.h
index f6c0f32..b64f8bb 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/os.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/os.h
@@ -21,17 +21,20 @@
#include "format.h"
+#ifndef FMT_USE_FCNTL
// UWP doesn't provide _pipe.
-#if FMT_HAS_INCLUDE("winapifamily.h")
-# include <winapifamily.h>
-#endif
-#if (FMT_HAS_INCLUDE(<fcntl.h>) || defined(__APPLE__) || \
- defined(__linux__)) && \
- (!defined(WINAPI_FAMILY) || (WINAPI_FAMILY == WINAPI_FAMILY_DESKTOP_APP))
-# include <fcntl.h> // for O_RDONLY
-# define FMT_USE_FCNTL 1
-#else
-# define FMT_USE_FCNTL 0
+# if FMT_HAS_INCLUDE("winapifamily.h")
+# include <winapifamily.h>
+# endif
+# if (FMT_HAS_INCLUDE(<fcntl.h>) || defined(__APPLE__) || \
+ defined(__linux__)) && \
+ (!defined(WINAPI_FAMILY) || \
+ (WINAPI_FAMILY == WINAPI_FAMILY_DESKTOP_APP))
+# include <fcntl.h> // for O_RDONLY
+# define FMT_USE_FCNTL 1
+# else
+# define FMT_USE_FCNTL 0
+# endif
#endif
#ifndef FMT_POSIX
@@ -390,23 +393,26 @@
: ostream_params(params...) {
this->buffer_size = bs.value;
}
+
+// Intel has a bug that results in failure to deduce a constructor
+// for empty parameter packs.
+# if defined(__INTEL_COMPILER) && __INTEL_COMPILER < 2000
+ ostream_params(int new_oflag) : oflag(new_oflag) {}
+ ostream_params(detail::buffer_size bs) : buffer_size(bs.value) {}
+# endif
};
FMT_END_DETAIL_NAMESPACE
-constexpr detail::buffer_size buffer_size;
+// Added {} below to work around default constructor error known to
+// occur in Xcode versions 7.2.1 and 8.2.1.
+constexpr detail::buffer_size buffer_size{};
/** A fast output stream which is not thread-safe. */
class FMT_API ostream final : private detail::buffer<char> {
private:
file file_;
- void flush() {
- if (size() == 0) return;
- file_.write(data(), size());
- clear();
- }
-
void grow(size_t) override;
ostream(cstring_view path, const detail::ostream_params& params)
@@ -426,6 +432,12 @@
delete[] data();
}
+ void flush() {
+ if (size() == 0) return;
+ file_.write(data(), size());
+ clear();
+ }
+
template <typename... T>
friend ostream output_file(cstring_view path, T... params);
@@ -500,7 +512,7 @@
// Converts string to floating-point number and advances str past the end
// of the parsed input.
- double strtod(const char*& str) const {
+ FMT_DEPRECATED double strtod(const char*& str) const {
char* end = nullptr;
double result = strtod_l(str, &end, locale_);
str = end;
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/ostream.h b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/ostream.h
index d66248a..3d716ec 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/ostream.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/ostream.h
@@ -14,73 +14,20 @@
FMT_BEGIN_NAMESPACE
-template <typename Char> class basic_printf_parse_context;
template <typename OutputIt, typename Char> class basic_printf_context;
namespace detail {
-template <class Char> class formatbuf : public std::basic_streambuf<Char> {
- private:
- using int_type = typename std::basic_streambuf<Char>::int_type;
- using traits_type = typename std::basic_streambuf<Char>::traits_type;
-
- buffer<Char>& buffer_;
-
- public:
- formatbuf(buffer<Char>& buf) : buffer_(buf) {}
-
- protected:
- // The put-area is actually always empty. This makes the implementation
- // simpler and has the advantage that the streambuf and the buffer are always
- // in sync and sputc never writes into uninitialized memory. The obvious
- // disadvantage is that each call to sputc always results in a (virtual) call
- // to overflow. There is no disadvantage here for sputn since this always
- // results in a call to xsputn.
-
- int_type overflow(int_type ch = traits_type::eof()) FMT_OVERRIDE {
- if (!traits_type::eq_int_type(ch, traits_type::eof()))
- buffer_.push_back(static_cast<Char>(ch));
- return ch;
- }
-
- std::streamsize xsputn(const Char* s, std::streamsize count) FMT_OVERRIDE {
- buffer_.append(s, s + count);
- return count;
- }
-};
-
-struct converter {
- template <typename T, FMT_ENABLE_IF(is_integral<T>::value)> converter(T);
-};
-
-template <typename Char> struct test_stream : std::basic_ostream<Char> {
- private:
- void_t<> operator<<(converter);
-};
-
-// Hide insertion operators for built-in types.
-template <typename Char, typename Traits>
-void_t<> operator<<(std::basic_ostream<Char, Traits>&, Char);
-template <typename Char, typename Traits>
-void_t<> operator<<(std::basic_ostream<Char, Traits>&, char);
-template <typename Traits>
-void_t<> operator<<(std::basic_ostream<char, Traits>&, char);
-template <typename Traits>
-void_t<> operator<<(std::basic_ostream<char, Traits>&, signed char);
-template <typename Traits>
-void_t<> operator<<(std::basic_ostream<char, Traits>&, unsigned char);
-
-// Checks if T has a user-defined operator<< (e.g. not a member of
-// std::ostream).
-template <typename T, typename Char> class is_streamable {
+// Checks if T has a user-defined operator<<.
+template <typename T, typename Char, typename Enable = void>
+class is_streamable {
private:
template <typename U>
- static bool_constant<!std::is_same<decltype(std::declval<test_stream<Char>&>()
- << std::declval<U>()),
- void_t<>>::value>
- test(int);
+ static auto test(int)
+ -> bool_constant<sizeof(std::declval<std::basic_ostream<Char>&>()
+ << std::declval<U>()) != 0>;
- template <typename> static std::false_type test(...);
+ template <typename> static auto test(...) -> std::false_type;
using result = decltype(test<T>(0));
@@ -90,7 +37,21 @@
static const bool value = result::value;
};
+// Formatting of built-in types and arrays is intentionally disabled because
+// it's handled by standard (non-ostream) formatters.
+template <typename T, typename Char>
+struct is_streamable<
+ T, Char,
+ enable_if_t<
+ std::is_arithmetic<T>::value || std::is_array<T>::value ||
+ std::is_pointer<T>::value || std::is_same<T, char8_type>::value ||
+ std::is_same<T, std::basic_string<Char>>::value ||
+ std::is_same<T, std_string_view<Char>>::value ||
+ (std::is_convertible<T, int>::value && !std::is_enum<T>::value)>>
+ : std::false_type {};
+
// Write the content of buf to os.
+// It is a separate function rather than a part of vprint to simplify testing.
template <typename Char>
void write_buffer(std::basic_ostream<Char>& os, buffer<Char>& buf) {
const Char* buf_data = buf.data();
@@ -108,8 +69,8 @@
template <typename Char, typename T>
void format_value(buffer<Char>& buf, const T& value,
locale_ref loc = locale_ref()) {
- formatbuf<Char> format_buf(buf);
- std::basic_ostream<Char> output(&format_buf);
+ auto&& format_buf = formatbuf<std::basic_streambuf<Char>>(buf);
+ auto&& output = std::basic_ostream<Char>(&format_buf);
#if !defined(FMT_STATIC_THOUSANDS_SEPARATOR)
if (loc) output.imbue(loc.get<std::locale>());
#endif
@@ -122,29 +83,22 @@
template <typename T, typename Char>
struct fallback_formatter<T, Char, enable_if_t<is_streamable<T, Char>::value>>
: private formatter<basic_string_view<Char>, Char> {
- FMT_CONSTEXPR auto parse(basic_format_parse_context<Char>& ctx)
- -> decltype(ctx.begin()) {
- return formatter<basic_string_view<Char>, Char>::parse(ctx);
- }
- template <typename ParseCtx,
- FMT_ENABLE_IF(std::is_same<
- ParseCtx, basic_printf_parse_context<Char>>::value)>
- auto parse(ParseCtx& ctx) -> decltype(ctx.begin()) {
- return ctx.begin();
- }
+ using formatter<basic_string_view<Char>, Char>::parse;
template <typename OutputIt>
auto format(const T& value, basic_format_context<OutputIt, Char>& ctx)
-> OutputIt {
- basic_memory_buffer<Char> buffer;
+ auto buffer = basic_memory_buffer<Char>();
format_value(buffer, value, ctx.locale());
- basic_string_view<Char> str(buffer.data(), buffer.size());
- return formatter<basic_string_view<Char>, Char>::format(str, ctx);
+ return formatter<basic_string_view<Char>, Char>::format(
+ {buffer.data(), buffer.size()}, ctx);
}
+
+ // DEPRECATED!
template <typename OutputIt>
auto format(const T& value, basic_printf_context<OutputIt, Char>& ctx)
-> OutputIt {
- basic_memory_buffer<Char> buffer;
+ auto buffer = basic_memory_buffer<Char>();
format_value(buffer, value, ctx.locale());
return std::copy(buffer.begin(), buffer.end(), ctx.out());
}
@@ -155,7 +109,7 @@
template <typename Char>
void vprint(std::basic_ostream<Char>& os, basic_string_view<Char> format_str,
basic_format_args<buffer_context<type_identity_t<Char>>> args) {
- basic_memory_buffer<Char> buffer;
+ auto buffer = basic_memory_buffer<Char>();
detail::vformat_to(buffer, format_str, args);
detail::write_buffer(os, buffer);
}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/printf.h b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/printf.h
index 3a3cd15..19d550f 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/printf.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/printf.h
@@ -233,7 +233,7 @@
OutputIt write_null_pointer(bool is_string = false) {
auto s = this->specs;
- s.type = 0;
+ s.type = presentation_type::none;
return write_bytes(this->out, is_string ? "(null)" : "(nil)", s);
}
@@ -249,8 +249,10 @@
// std::is_same instead.
if (std::is_same<T, Char>::value) {
format_specs fmt_specs = this->specs;
- if (fmt_specs.type && fmt_specs.type != 'c')
+ if (fmt_specs.type != presentation_type::none &&
+ fmt_specs.type != presentation_type::chr) {
return (*this)(static_cast<int>(value));
+ }
fmt_specs.sign = sign::none;
fmt_specs.alt = false;
fmt_specs.fill[0] = ' '; // Ignore '0' flag for char types.
@@ -271,13 +273,13 @@
/** Formats a null-terminated C string. */
OutputIt operator()(const char* value) {
if (value) return base::operator()(value);
- return write_null_pointer(this->specs.type != 'p');
+ return write_null_pointer(this->specs.type != presentation_type::pointer);
}
/** Formats a null-terminated wide C string. */
OutputIt operator()(const wchar_t* value) {
if (value) return base::operator()(value);
- return write_null_pointer(this->specs.type != 'p');
+ return write_null_pointer(this->specs.type != presentation_type::pointer);
}
OutputIt operator()(basic_string_view<Char> value) {
@@ -490,13 +492,13 @@
// Parse type.
if (it == end) FMT_THROW(format_error("invalid format string"));
- specs.type = static_cast<char>(*it++);
+ char type = static_cast<char>(*it++);
if (arg.is_integral()) {
// Normalize type.
- switch (specs.type) {
+ switch (type) {
case 'i':
case 'u':
- specs.type = 'd';
+ type = 'd';
break;
case 'c':
visit_format_arg(
@@ -505,6 +507,9 @@
break;
}
}
+ specs.type = parse_presentation_type(type);
+ if (specs.type == presentation_type::none)
+ parse_ctx.on_error("invalid type specifier");
start = it;
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/ranges.h b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/ranges.h
index f0390df..eb9fb8a 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/ranges.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/ranges.h
@@ -13,37 +13,13 @@
#define FMT_RANGES_H_
#include <initializer_list>
+#include <tuple>
#include <type_traits>
#include "format.h"
FMT_BEGIN_NAMESPACE
-template <typename Char, typename Enable = void> struct formatting_range {
-#ifdef FMT_DEPRECATED_BRACED_RANGES
- Char prefix = '{';
- Char postfix = '}';
-#else
- Char prefix = '[';
- Char postfix = ']';
-#endif
-
- template <typename ParseContext>
- FMT_CONSTEXPR auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
- return ctx.begin();
- }
-};
-
-template <typename Char, typename Enable = void> struct formatting_tuple {
- Char prefix = '(';
- Char postfix = ')';
-
- template <typename ParseContext>
- FMT_CONSTEXPR auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
- return ctx.begin();
- }
-};
-
namespace detail {
template <typename RangeT, typename OutputIterator>
@@ -71,7 +47,7 @@
return out;
}
-/// Return true value if T has std::string interface, like std::string_view.
+// Returns true if T has a std::string-like interface, like std::string_view.
template <typename T> class is_std_string_like {
template <typename U>
static auto check(U* p)
@@ -80,12 +56,40 @@
public:
static FMT_CONSTEXPR_DECL const bool value =
- is_string<T>::value || !std::is_void<decltype(check<T>(nullptr))>::value;
+ is_string<T>::value ||
+ std::is_convertible<T, std_string_view<char>>::value ||
+ !std::is_void<decltype(check<T>(nullptr))>::value;
};
template <typename Char>
struct is_std_string_like<fmt::basic_string_view<Char>> : std::true_type {};
+template <typename T> class is_map {
+ template <typename U> static auto check(U*) -> typename U::mapped_type;
+ template <typename> static void check(...);
+
+ public:
+#ifdef FMT_FORMAT_MAP_AS_LIST
+ static FMT_CONSTEXPR_DECL const bool value = false;
+#else
+ static FMT_CONSTEXPR_DECL const bool value =
+ !std::is_void<decltype(check<T>(nullptr))>::value;
+#endif
+};
+
+template <typename T> class is_set {
+ template <typename U> static auto check(U*) -> typename U::key_type;
+ template <typename> static void check(...);
+
+ public:
+#ifdef FMT_FORMAT_SET_AS_LIST
+ static FMT_CONSTEXPR_DECL const bool value = false;
+#else
+ static FMT_CONSTEXPR_DECL const bool value =
+ !std::is_void<decltype(check<T>(nullptr))>::value && !is_map<T>::value;
+#endif
+};
+
template <typename... Ts> struct conditional_helper {};
template <typename T, typename _ = void> struct is_range_ : std::false_type {};
@@ -143,16 +147,16 @@
template <typename T>
struct has_const_begin_end<
- T, void_t<decltype(detail::range_begin(
- std::declval<const remove_cvref_t<T>&>())),
- decltype(detail::range_begin(
- std::declval<const remove_cvref_t<T>&>()))>>
+ T,
+ void_t<
+ decltype(detail::range_begin(std::declval<const remove_cvref_t<T>&>())),
+ decltype(detail::range_end(std::declval<const remove_cvref_t<T>&>()))>>
: std::true_type {};
template <typename T>
struct has_mutable_begin_end<
T, void_t<decltype(detail::range_begin(std::declval<T>())),
- decltype(detail::range_begin(std::declval<T>())),
+ decltype(detail::range_end(std::declval<T>())),
enable_if_t<std::is_copy_constructible<T>::value>>>
: std::true_type {};
@@ -160,34 +164,10 @@
struct is_range_<T, void>
: std::integral_constant<bool, (has_const_begin_end<T>::value ||
has_mutable_begin_end<T>::value)> {};
-
-template <typename T, typename Enable = void> struct range_to_view;
-template <typename T>
-struct range_to_view<T, enable_if_t<has_const_begin_end<T>::value>> {
- struct view_t {
- const T* m_range_ptr;
-
- auto begin() const FMT_DECLTYPE_RETURN(detail::range_begin(*m_range_ptr));
- auto end() const FMT_DECLTYPE_RETURN(detail::range_end(*m_range_ptr));
- };
- static auto view(const T& range) -> view_t { return {&range}; }
-};
-
-template <typename T>
-struct range_to_view<T, enable_if_t<!has_const_begin_end<T>::value &&
- has_mutable_begin_end<T>::value>> {
- struct view_t {
- T m_range_copy;
-
- auto begin() FMT_DECLTYPE_RETURN(detail::range_begin(m_range_copy));
- auto end() FMT_DECLTYPE_RETURN(detail::range_end(m_range_copy));
- };
- static auto view(const T& range) -> view_t { return {range}; }
-};
# undef FMT_DECLTYPE_RETURN
#endif
-/// tuple_size and tuple_element check.
+// tuple_size and tuple_element check.
template <typename T> class is_tuple_like_ {
template <typename U>
static auto check(U* p) -> decltype(std::tuple_size<U>::value, int());
@@ -251,16 +231,295 @@
return out;
}
-template <
- typename Char, typename OutputIt, typename Arg,
- FMT_ENABLE_IF(is_std_string_like<typename std::decay<Arg>::type>::value)>
-OutputIt write_range_entry(OutputIt out, const Arg& v) {
+struct singleton {
+ unsigned char upper;
+ unsigned char lower_count;
+};
+
+inline auto is_printable(uint16_t x, const singleton* singletons,
+ size_t singletons_size,
+ const unsigned char* singleton_lowers,
+ const unsigned char* normal, size_t normal_size)
+ -> bool {
+ auto upper = x >> 8;
+ auto lower_start = 0;
+ for (size_t i = 0; i < singletons_size; ++i) {
+ auto s = singletons[i];
+ auto lower_end = lower_start + s.lower_count;
+ if (upper < s.upper) break;
+ if (upper == s.upper) {
+ for (auto j = lower_start; j < lower_end; ++j) {
+ if (singleton_lowers[j] == (x & 0xff)) return false;
+ }
+ }
+ lower_start = lower_end;
+ }
+
+ auto xsigned = static_cast<int>(x);
+ auto current = true;
+ for (size_t i = 0; i < normal_size; ++i) {
+ auto v = static_cast<int>(normal[i]);
+ auto len = (v & 0x80) != 0 ? (v & 0x7f) << 8 | normal[++i] : v;
+ xsigned -= len;
+ if (xsigned < 0) break;
+ current = !current;
+ }
+ return current;
+}
+
+// Returns true iff the code point cp is printable.
+// This code is generated by support/printable.py.
+inline auto is_printable(uint32_t cp) -> bool {
+ static constexpr singleton singletons0[] = {
+ {0x00, 1}, {0x03, 5}, {0x05, 6}, {0x06, 3}, {0x07, 6}, {0x08, 8},
+ {0x09, 17}, {0x0a, 28}, {0x0b, 25}, {0x0c, 20}, {0x0d, 16}, {0x0e, 13},
+ {0x0f, 4}, {0x10, 3}, {0x12, 18}, {0x13, 9}, {0x16, 1}, {0x17, 5},
+ {0x18, 2}, {0x19, 3}, {0x1a, 7}, {0x1c, 2}, {0x1d, 1}, {0x1f, 22},
+ {0x20, 3}, {0x2b, 3}, {0x2c, 2}, {0x2d, 11}, {0x2e, 1}, {0x30, 3},
+ {0x31, 2}, {0x32, 1}, {0xa7, 2}, {0xa9, 2}, {0xaa, 4}, {0xab, 8},
+ {0xfa, 2}, {0xfb, 5}, {0xfd, 4}, {0xfe, 3}, {0xff, 9},
+ };
+ static constexpr unsigned char singletons0_lower[] = {
+ 0xad, 0x78, 0x79, 0x8b, 0x8d, 0xa2, 0x30, 0x57, 0x58, 0x8b, 0x8c, 0x90,
+ 0x1c, 0x1d, 0xdd, 0x0e, 0x0f, 0x4b, 0x4c, 0xfb, 0xfc, 0x2e, 0x2f, 0x3f,
+ 0x5c, 0x5d, 0x5f, 0xb5, 0xe2, 0x84, 0x8d, 0x8e, 0x91, 0x92, 0xa9, 0xb1,
+ 0xba, 0xbb, 0xc5, 0xc6, 0xc9, 0xca, 0xde, 0xe4, 0xe5, 0xff, 0x00, 0x04,
+ 0x11, 0x12, 0x29, 0x31, 0x34, 0x37, 0x3a, 0x3b, 0x3d, 0x49, 0x4a, 0x5d,
+ 0x84, 0x8e, 0x92, 0xa9, 0xb1, 0xb4, 0xba, 0xbb, 0xc6, 0xca, 0xce, 0xcf,
+ 0xe4, 0xe5, 0x00, 0x04, 0x0d, 0x0e, 0x11, 0x12, 0x29, 0x31, 0x34, 0x3a,
+ 0x3b, 0x45, 0x46, 0x49, 0x4a, 0x5e, 0x64, 0x65, 0x84, 0x91, 0x9b, 0x9d,
+ 0xc9, 0xce, 0xcf, 0x0d, 0x11, 0x29, 0x45, 0x49, 0x57, 0x64, 0x65, 0x8d,
+ 0x91, 0xa9, 0xb4, 0xba, 0xbb, 0xc5, 0xc9, 0xdf, 0xe4, 0xe5, 0xf0, 0x0d,
+ 0x11, 0x45, 0x49, 0x64, 0x65, 0x80, 0x84, 0xb2, 0xbc, 0xbe, 0xbf, 0xd5,
+ 0xd7, 0xf0, 0xf1, 0x83, 0x85, 0x8b, 0xa4, 0xa6, 0xbe, 0xbf, 0xc5, 0xc7,
+ 0xce, 0xcf, 0xda, 0xdb, 0x48, 0x98, 0xbd, 0xcd, 0xc6, 0xce, 0xcf, 0x49,
+ 0x4e, 0x4f, 0x57, 0x59, 0x5e, 0x5f, 0x89, 0x8e, 0x8f, 0xb1, 0xb6, 0xb7,
+ 0xbf, 0xc1, 0xc6, 0xc7, 0xd7, 0x11, 0x16, 0x17, 0x5b, 0x5c, 0xf6, 0xf7,
+ 0xfe, 0xff, 0x80, 0x0d, 0x6d, 0x71, 0xde, 0xdf, 0x0e, 0x0f, 0x1f, 0x6e,
+ 0x6f, 0x1c, 0x1d, 0x5f, 0x7d, 0x7e, 0xae, 0xaf, 0xbb, 0xbc, 0xfa, 0x16,
+ 0x17, 0x1e, 0x1f, 0x46, 0x47, 0x4e, 0x4f, 0x58, 0x5a, 0x5c, 0x5e, 0x7e,
+ 0x7f, 0xb5, 0xc5, 0xd4, 0xd5, 0xdc, 0xf0, 0xf1, 0xf5, 0x72, 0x73, 0x8f,
+ 0x74, 0x75, 0x96, 0x2f, 0x5f, 0x26, 0x2e, 0x2f, 0xa7, 0xaf, 0xb7, 0xbf,
+ 0xc7, 0xcf, 0xd7, 0xdf, 0x9a, 0x40, 0x97, 0x98, 0x30, 0x8f, 0x1f, 0xc0,
+ 0xc1, 0xce, 0xff, 0x4e, 0x4f, 0x5a, 0x5b, 0x07, 0x08, 0x0f, 0x10, 0x27,
+ 0x2f, 0xee, 0xef, 0x6e, 0x6f, 0x37, 0x3d, 0x3f, 0x42, 0x45, 0x90, 0x91,
+ 0xfe, 0xff, 0x53, 0x67, 0x75, 0xc8, 0xc9, 0xd0, 0xd1, 0xd8, 0xd9, 0xe7,
+ 0xfe, 0xff,
+ };
+ static constexpr singleton singletons1[] = {
+ {0x00, 6}, {0x01, 1}, {0x03, 1}, {0x04, 2}, {0x08, 8}, {0x09, 2},
+ {0x0a, 5}, {0x0b, 2}, {0x0e, 4}, {0x10, 1}, {0x11, 2}, {0x12, 5},
+ {0x13, 17}, {0x14, 1}, {0x15, 2}, {0x17, 2}, {0x19, 13}, {0x1c, 5},
+ {0x1d, 8}, {0x24, 1}, {0x6a, 3}, {0x6b, 2}, {0xbc, 2}, {0xd1, 2},
+ {0xd4, 12}, {0xd5, 9}, {0xd6, 2}, {0xd7, 2}, {0xda, 1}, {0xe0, 5},
+ {0xe1, 2}, {0xe8, 2}, {0xee, 32}, {0xf0, 4}, {0xf8, 2}, {0xf9, 2},
+ {0xfa, 2}, {0xfb, 1},
+ };
+ static constexpr unsigned char singletons1_lower[] = {
+ 0x0c, 0x27, 0x3b, 0x3e, 0x4e, 0x4f, 0x8f, 0x9e, 0x9e, 0x9f, 0x06, 0x07,
+ 0x09, 0x36, 0x3d, 0x3e, 0x56, 0xf3, 0xd0, 0xd1, 0x04, 0x14, 0x18, 0x36,
+ 0x37, 0x56, 0x57, 0x7f, 0xaa, 0xae, 0xaf, 0xbd, 0x35, 0xe0, 0x12, 0x87,
+ 0x89, 0x8e, 0x9e, 0x04, 0x0d, 0x0e, 0x11, 0x12, 0x29, 0x31, 0x34, 0x3a,
+ 0x45, 0x46, 0x49, 0x4a, 0x4e, 0x4f, 0x64, 0x65, 0x5c, 0xb6, 0xb7, 0x1b,
+ 0x1c, 0x07, 0x08, 0x0a, 0x0b, 0x14, 0x17, 0x36, 0x39, 0x3a, 0xa8, 0xa9,
+ 0xd8, 0xd9, 0x09, 0x37, 0x90, 0x91, 0xa8, 0x07, 0x0a, 0x3b, 0x3e, 0x66,
+ 0x69, 0x8f, 0x92, 0x6f, 0x5f, 0xee, 0xef, 0x5a, 0x62, 0x9a, 0x9b, 0x27,
+ 0x28, 0x55, 0x9d, 0xa0, 0xa1, 0xa3, 0xa4, 0xa7, 0xa8, 0xad, 0xba, 0xbc,
+ 0xc4, 0x06, 0x0b, 0x0c, 0x15, 0x1d, 0x3a, 0x3f, 0x45, 0x51, 0xa6, 0xa7,
+ 0xcc, 0xcd, 0xa0, 0x07, 0x19, 0x1a, 0x22, 0x25, 0x3e, 0x3f, 0xc5, 0xc6,
+ 0x04, 0x20, 0x23, 0x25, 0x26, 0x28, 0x33, 0x38, 0x3a, 0x48, 0x4a, 0x4c,
+ 0x50, 0x53, 0x55, 0x56, 0x58, 0x5a, 0x5c, 0x5e, 0x60, 0x63, 0x65, 0x66,
+ 0x6b, 0x73, 0x78, 0x7d, 0x7f, 0x8a, 0xa4, 0xaa, 0xaf, 0xb0, 0xc0, 0xd0,
+ 0xae, 0xaf, 0x79, 0xcc, 0x6e, 0x6f, 0x93,
+ };
+ static constexpr unsigned char normal0[] = {
+ 0x00, 0x20, 0x5f, 0x22, 0x82, 0xdf, 0x04, 0x82, 0x44, 0x08, 0x1b, 0x04,
+ 0x06, 0x11, 0x81, 0xac, 0x0e, 0x80, 0xab, 0x35, 0x28, 0x0b, 0x80, 0xe0,
+ 0x03, 0x19, 0x08, 0x01, 0x04, 0x2f, 0x04, 0x34, 0x04, 0x07, 0x03, 0x01,
+ 0x07, 0x06, 0x07, 0x11, 0x0a, 0x50, 0x0f, 0x12, 0x07, 0x55, 0x07, 0x03,
+ 0x04, 0x1c, 0x0a, 0x09, 0x03, 0x08, 0x03, 0x07, 0x03, 0x02, 0x03, 0x03,
+ 0x03, 0x0c, 0x04, 0x05, 0x03, 0x0b, 0x06, 0x01, 0x0e, 0x15, 0x05, 0x3a,
+ 0x03, 0x11, 0x07, 0x06, 0x05, 0x10, 0x07, 0x57, 0x07, 0x02, 0x07, 0x15,
+ 0x0d, 0x50, 0x04, 0x43, 0x03, 0x2d, 0x03, 0x01, 0x04, 0x11, 0x06, 0x0f,
+ 0x0c, 0x3a, 0x04, 0x1d, 0x25, 0x5f, 0x20, 0x6d, 0x04, 0x6a, 0x25, 0x80,
+ 0xc8, 0x05, 0x82, 0xb0, 0x03, 0x1a, 0x06, 0x82, 0xfd, 0x03, 0x59, 0x07,
+ 0x15, 0x0b, 0x17, 0x09, 0x14, 0x0c, 0x14, 0x0c, 0x6a, 0x06, 0x0a, 0x06,
+ 0x1a, 0x06, 0x59, 0x07, 0x2b, 0x05, 0x46, 0x0a, 0x2c, 0x04, 0x0c, 0x04,
+ 0x01, 0x03, 0x31, 0x0b, 0x2c, 0x04, 0x1a, 0x06, 0x0b, 0x03, 0x80, 0xac,
+ 0x06, 0x0a, 0x06, 0x21, 0x3f, 0x4c, 0x04, 0x2d, 0x03, 0x74, 0x08, 0x3c,
+ 0x03, 0x0f, 0x03, 0x3c, 0x07, 0x38, 0x08, 0x2b, 0x05, 0x82, 0xff, 0x11,
+ 0x18, 0x08, 0x2f, 0x11, 0x2d, 0x03, 0x20, 0x10, 0x21, 0x0f, 0x80, 0x8c,
+ 0x04, 0x82, 0x97, 0x19, 0x0b, 0x15, 0x88, 0x94, 0x05, 0x2f, 0x05, 0x3b,
+ 0x07, 0x02, 0x0e, 0x18, 0x09, 0x80, 0xb3, 0x2d, 0x74, 0x0c, 0x80, 0xd6,
+ 0x1a, 0x0c, 0x05, 0x80, 0xff, 0x05, 0x80, 0xdf, 0x0c, 0xee, 0x0d, 0x03,
+ 0x84, 0x8d, 0x03, 0x37, 0x09, 0x81, 0x5c, 0x14, 0x80, 0xb8, 0x08, 0x80,
+ 0xcb, 0x2a, 0x38, 0x03, 0x0a, 0x06, 0x38, 0x08, 0x46, 0x08, 0x0c, 0x06,
+ 0x74, 0x0b, 0x1e, 0x03, 0x5a, 0x04, 0x59, 0x09, 0x80, 0x83, 0x18, 0x1c,
+ 0x0a, 0x16, 0x09, 0x4c, 0x04, 0x80, 0x8a, 0x06, 0xab, 0xa4, 0x0c, 0x17,
+ 0x04, 0x31, 0xa1, 0x04, 0x81, 0xda, 0x26, 0x07, 0x0c, 0x05, 0x05, 0x80,
+ 0xa5, 0x11, 0x81, 0x6d, 0x10, 0x78, 0x28, 0x2a, 0x06, 0x4c, 0x04, 0x80,
+ 0x8d, 0x04, 0x80, 0xbe, 0x03, 0x1b, 0x03, 0x0f, 0x0d,
+ };
+ static constexpr unsigned char normal1[] = {
+ 0x5e, 0x22, 0x7b, 0x05, 0x03, 0x04, 0x2d, 0x03, 0x66, 0x03, 0x01, 0x2f,
+ 0x2e, 0x80, 0x82, 0x1d, 0x03, 0x31, 0x0f, 0x1c, 0x04, 0x24, 0x09, 0x1e,
+ 0x05, 0x2b, 0x05, 0x44, 0x04, 0x0e, 0x2a, 0x80, 0xaa, 0x06, 0x24, 0x04,
+ 0x24, 0x04, 0x28, 0x08, 0x34, 0x0b, 0x01, 0x80, 0x90, 0x81, 0x37, 0x09,
+ 0x16, 0x0a, 0x08, 0x80, 0x98, 0x39, 0x03, 0x63, 0x08, 0x09, 0x30, 0x16,
+ 0x05, 0x21, 0x03, 0x1b, 0x05, 0x01, 0x40, 0x38, 0x04, 0x4b, 0x05, 0x2f,
+ 0x04, 0x0a, 0x07, 0x09, 0x07, 0x40, 0x20, 0x27, 0x04, 0x0c, 0x09, 0x36,
+ 0x03, 0x3a, 0x05, 0x1a, 0x07, 0x04, 0x0c, 0x07, 0x50, 0x49, 0x37, 0x33,
+ 0x0d, 0x33, 0x07, 0x2e, 0x08, 0x0a, 0x81, 0x26, 0x52, 0x4e, 0x28, 0x08,
+ 0x2a, 0x56, 0x1c, 0x14, 0x17, 0x09, 0x4e, 0x04, 0x1e, 0x0f, 0x43, 0x0e,
+ 0x19, 0x07, 0x0a, 0x06, 0x48, 0x08, 0x27, 0x09, 0x75, 0x0b, 0x3f, 0x41,
+ 0x2a, 0x06, 0x3b, 0x05, 0x0a, 0x06, 0x51, 0x06, 0x01, 0x05, 0x10, 0x03,
+ 0x05, 0x80, 0x8b, 0x62, 0x1e, 0x48, 0x08, 0x0a, 0x80, 0xa6, 0x5e, 0x22,
+ 0x45, 0x0b, 0x0a, 0x06, 0x0d, 0x13, 0x39, 0x07, 0x0a, 0x36, 0x2c, 0x04,
+ 0x10, 0x80, 0xc0, 0x3c, 0x64, 0x53, 0x0c, 0x48, 0x09, 0x0a, 0x46, 0x45,
+ 0x1b, 0x48, 0x08, 0x53, 0x1d, 0x39, 0x81, 0x07, 0x46, 0x0a, 0x1d, 0x03,
+ 0x47, 0x49, 0x37, 0x03, 0x0e, 0x08, 0x0a, 0x06, 0x39, 0x07, 0x0a, 0x81,
+ 0x36, 0x19, 0x80, 0xb7, 0x01, 0x0f, 0x32, 0x0d, 0x83, 0x9b, 0x66, 0x75,
+ 0x0b, 0x80, 0xc4, 0x8a, 0xbc, 0x84, 0x2f, 0x8f, 0xd1, 0x82, 0x47, 0xa1,
+ 0xb9, 0x82, 0x39, 0x07, 0x2a, 0x04, 0x02, 0x60, 0x26, 0x0a, 0x46, 0x0a,
+ 0x28, 0x05, 0x13, 0x82, 0xb0, 0x5b, 0x65, 0x4b, 0x04, 0x39, 0x07, 0x11,
+ 0x40, 0x05, 0x0b, 0x02, 0x0e, 0x97, 0xf8, 0x08, 0x84, 0xd6, 0x2a, 0x09,
+ 0xa2, 0xf7, 0x81, 0x1f, 0x31, 0x03, 0x11, 0x04, 0x08, 0x81, 0x8c, 0x89,
+ 0x04, 0x6b, 0x05, 0x0d, 0x03, 0x09, 0x07, 0x10, 0x93, 0x60, 0x80, 0xf6,
+ 0x0a, 0x73, 0x08, 0x6e, 0x17, 0x46, 0x80, 0x9a, 0x14, 0x0c, 0x57, 0x09,
+ 0x19, 0x80, 0x87, 0x81, 0x47, 0x03, 0x85, 0x42, 0x0f, 0x15, 0x85, 0x50,
+ 0x2b, 0x80, 0xd5, 0x2d, 0x03, 0x1a, 0x04, 0x02, 0x81, 0x70, 0x3a, 0x05,
+ 0x01, 0x85, 0x00, 0x80, 0xd7, 0x29, 0x4c, 0x04, 0x0a, 0x04, 0x02, 0x83,
+ 0x11, 0x44, 0x4c, 0x3d, 0x80, 0xc2, 0x3c, 0x06, 0x01, 0x04, 0x55, 0x05,
+ 0x1b, 0x34, 0x02, 0x81, 0x0e, 0x2c, 0x04, 0x64, 0x0c, 0x56, 0x0a, 0x80,
+ 0xae, 0x38, 0x1d, 0x0d, 0x2c, 0x04, 0x09, 0x07, 0x02, 0x0e, 0x06, 0x80,
+ 0x9a, 0x83, 0xd8, 0x08, 0x0d, 0x03, 0x0d, 0x03, 0x74, 0x0c, 0x59, 0x07,
+ 0x0c, 0x14, 0x0c, 0x04, 0x38, 0x08, 0x0a, 0x06, 0x28, 0x08, 0x22, 0x4e,
+ 0x81, 0x54, 0x0c, 0x15, 0x03, 0x03, 0x05, 0x07, 0x09, 0x19, 0x07, 0x07,
+ 0x09, 0x03, 0x0d, 0x07, 0x29, 0x80, 0xcb, 0x25, 0x0a, 0x84, 0x06,
+ };
+ auto lower = static_cast<uint16_t>(cp);
+ if (cp < 0x10000) {
+ return is_printable(lower, singletons0,
+ sizeof(singletons0) / sizeof(*singletons0),
+ singletons0_lower, normal0, sizeof(normal0));
+ }
+ if (cp < 0x20000) {
+ return is_printable(lower, singletons1,
+ sizeof(singletons1) / sizeof(*singletons1),
+ singletons1_lower, normal1, sizeof(normal1));
+ }
+ if (0x2a6de <= cp && cp < 0x2a700) return false;
+ if (0x2b735 <= cp && cp < 0x2b740) return false;
+ if (0x2b81e <= cp && cp < 0x2b820) return false;
+ if (0x2cea2 <= cp && cp < 0x2ceb0) return false;
+ if (0x2ebe1 <= cp && cp < 0x2f800) return false;
+ if (0x2fa1e <= cp && cp < 0x30000) return false;
+ if (0x3134b <= cp && cp < 0xe0100) return false;
+ if (0xe01f0 <= cp && cp < 0x110000) return false;
+ return cp < 0x110000;
+}
+
+inline auto needs_escape(uint32_t cp) -> bool {
+ return cp < 0x20 || cp == 0x7f || cp == '"' || cp == '\\' ||
+ !is_printable(cp);
+}
+
+template <typename Char> struct find_escape_result {
+ const Char* begin;
+ const Char* end;
+ uint32_t cp;
+};
+
+template <typename Char>
+auto find_escape(const Char* begin, const Char* end)
+ -> find_escape_result<Char> {
+ for (; begin != end; ++begin) {
+ auto cp = static_cast<typename std::make_unsigned<Char>::type>(*begin);
+ if (sizeof(Char) == 1 && cp >= 0x80) continue;
+ if (needs_escape(cp)) return {begin, begin + 1, cp};
+ }
+ return {begin, nullptr, 0};
+}
+
+inline auto find_escape(const char* begin, const char* end)
+ -> find_escape_result<char> {
+ if (!is_utf8()) return find_escape<char>(begin, end);
+ auto result = find_escape_result<char>{end, nullptr, 0};
+ for_each_codepoint(string_view(begin, to_unsigned(end - begin)),
+ [&](uint32_t cp, string_view sv) {
+ if (needs_escape(cp)) {
+ result = {sv.begin(), sv.end(), cp};
+ return false;
+ }
+ return true;
+ });
+ return result;
+}
+
+template <typename Char, typename OutputIt>
+auto write_range_entry(OutputIt out, basic_string_view<Char> str) -> OutputIt {
*out++ = '"';
- out = write<Char>(out, v);
+ auto begin = str.begin(), end = str.end();
+ do {
+ auto escape = find_escape(begin, end);
+ out = copy_str<Char>(begin, escape.begin, out);
+ begin = escape.end;
+ if (!begin) break;
+ auto c = static_cast<Char>(escape.cp);
+ switch (escape.cp) {
+ case '\n':
+ *out++ = '\\';
+ c = 'n';
+ break;
+ case '\r':
+ *out++ = '\\';
+ c = 'r';
+ break;
+ case '\t':
+ *out++ = '\\';
+ c = 't';
+ break;
+ case '"':
+ FMT_FALLTHROUGH;
+ case '\\':
+ *out++ = '\\';
+ break;
+ default:
+ if (is_utf8()) {
+ if (escape.cp < 0x100) {
+ out = format_to(out, "\\x{:02x}", escape.cp);
+ continue;
+ }
+ if (escape.cp < 0x10000) {
+ out = format_to(out, "\\u{:04x}", escape.cp);
+ continue;
+ }
+ if (escape.cp < 0x110000) {
+ out = format_to(out, "\\U{:08x}", escape.cp);
+ continue;
+ }
+ }
+ for (Char escape_char : basic_string_view<Char>(
+ escape.begin, to_unsigned(escape.end - escape.begin))) {
+ out = format_to(
+ out, "\\x{:02x}",
+ static_cast<typename std::make_unsigned<Char>::type>(escape_char));
+ }
+ continue;
+ }
+ *out++ = c;
+ } while (begin != end);
*out++ = '"';
return out;
}
+template <typename Char, typename OutputIt, typename T,
+ FMT_ENABLE_IF(std::is_convertible<T, std_string_view<char>>::value)>
+inline auto write_range_entry(OutputIt out, const T& str) -> OutputIt {
+ auto sv = std_string_view<Char>(str);
+ return write_range_entry<Char>(out, basic_string_view<Char>(sv));
+}
+
template <typename Char, typename OutputIt, typename Arg,
FMT_ENABLE_IF(std::is_same<Arg, Char>::value)>
OutputIt write_range_entry(OutputIt out, const Arg v) {
@@ -288,43 +547,37 @@
template <typename TupleT, typename Char>
struct formatter<TupleT, Char, enable_if_t<fmt::is_tuple_like<TupleT>::value>> {
private:
- // C++11 generic lambda for format()
+ // C++11 generic lambda for format().
template <typename FormatContext> struct format_each {
template <typename T> void operator()(const T& v) {
if (i > 0) out = detail::write_delimiter(out);
out = detail::write_range_entry<Char>(out, v);
++i;
}
- formatting_tuple<Char>& formatting;
- size_t& i;
- typename std::add_lvalue_reference<
- decltype(std::declval<FormatContext>().out())>::type out;
+ int i;
+ typename FormatContext::iterator& out;
};
public:
- formatting_tuple<Char> formatting;
-
template <typename ParseContext>
FMT_CONSTEXPR auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
- return formatting.parse(ctx);
+ return ctx.begin();
}
template <typename FormatContext = format_context>
auto format(const TupleT& values, FormatContext& ctx) -> decltype(ctx.out()) {
auto out = ctx.out();
- size_t i = 0;
-
- detail::copy(formatting.prefix, out);
- detail::for_each(values, format_each<FormatContext>{formatting, i, out});
- detail::copy(formatting.postfix, out);
-
- return ctx.out();
+ *out++ = '(';
+ detail::for_each(values, format_each<FormatContext>{0, out});
+ *out++ = ')';
+ return out;
}
};
template <typename T, typename Char> struct is_range {
static FMT_CONSTEXPR_DECL const bool value =
detail::is_range_<T>::value && !detail::is_std_string_like<T>::value &&
+ !detail::is_map<T>::value &&
!std::is_convertible<T, std::basic_string<Char>>::value &&
!std::is_constructible<detail::std_string_view<Char>, T>::value;
};
@@ -334,32 +587,80 @@
T, Char,
enable_if_t<
fmt::is_range<T, Char>::value
-// Workaround a bug in MSVC 2017 and earlier.
-#if !FMT_MSC_VER || FMT_MSC_VER >= 1927
- && (has_formatter<detail::value_type<T>, format_context>::value ||
+// Workaround a bug in MSVC 2019 and earlier.
+#if !FMT_MSC_VER
+ && (is_formattable<detail::value_type<T>, Char>::value ||
detail::has_fallback_formatter<detail::value_type<T>, Char>::value)
#endif
>> {
- formatting_range<Char> formatting;
-
template <typename ParseContext>
FMT_CONSTEXPR auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
- return formatting.parse(ctx);
+ return ctx.begin();
}
- template <typename FormatContext>
- typename FormatContext::iterator format(const T& values, FormatContext& ctx) {
- auto out = detail::copy(formatting.prefix, ctx.out());
- size_t i = 0;
- auto view = detail::range_to_view<T>::view(values);
- auto it = view.begin();
- auto end = view.end();
+ template <
+ typename FormatContext, typename U,
+ FMT_ENABLE_IF(
+ std::is_same<U, conditional_t<detail::has_const_begin_end<T>::value,
+ const T, T>>::value)>
+ auto format(U& range, FormatContext& ctx) -> decltype(ctx.out()) {
+#ifdef FMT_DEPRECATED_BRACED_RANGES
+ Char prefix = '{';
+ Char postfix = '}';
+#else
+ Char prefix = detail::is_set<T>::value ? '{' : '[';
+ Char postfix = detail::is_set<T>::value ? '}' : ']';
+#endif
+ auto out = ctx.out();
+ *out++ = prefix;
+ int i = 0;
+ auto it = std::begin(range);
+ auto end = std::end(range);
for (; it != end; ++it) {
if (i > 0) out = detail::write_delimiter(out);
out = detail::write_range_entry<Char>(out, *it);
++i;
}
- return detail::copy(formatting.postfix, out);
+ *out++ = postfix;
+ return out;
+ }
+};
+
+template <typename T, typename Char>
+struct formatter<
+ T, Char,
+ enable_if_t<
+ detail::is_map<T>::value
+// Workaround a bug in MSVC 2019 and earlier.
+#if !FMT_MSC_VER
+ && (is_formattable<detail::value_type<T>, Char>::value ||
+ detail::has_fallback_formatter<detail::value_type<T>, Char>::value)
+#endif
+ >> {
+ template <typename ParseContext>
+ FMT_CONSTEXPR auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
+ return ctx.begin();
+ }
+
+ template <
+ typename FormatContext, typename U,
+ FMT_ENABLE_IF(
+ std::is_same<U, conditional_t<detail::has_const_begin_end<T>::value,
+ const T, T>>::value)>
+ auto format(U& map, FormatContext& ctx) -> decltype(ctx.out()) {
+ auto out = ctx.out();
+ *out++ = '{';
+ int i = 0;
+ for (const auto& item : map) {
+ if (i > 0) out = detail::write_delimiter(out);
+ out = detail::write_range_entry<Char>(out, item.first);
+ *out++ = ':';
+ *out++ = ' ';
+ out = detail::write_range_entry<Char>(out, item.second);
+ ++i;
+ }
+ *out++ = '}';
+ return out;
}
};
@@ -374,46 +675,70 @@
template <typename Char, typename... T>
using tuple_arg_join = tuple_join_view<Char, T...>;
+// Define FMT_TUPLE_JOIN_SPECIFIERS to enable experimental format specifiers
+// support in tuple_join. It is disabled by default because of issues with
+// the dynamic width and precision.
+#ifndef FMT_TUPLE_JOIN_SPECIFIERS
+# define FMT_TUPLE_JOIN_SPECIFIERS 0
+#endif
+
template <typename Char, typename... T>
struct formatter<tuple_join_view<Char, T...>, Char> {
template <typename ParseContext>
FMT_CONSTEXPR auto parse(ParseContext& ctx) -> decltype(ctx.begin()) {
- return ctx.begin();
+ return do_parse(ctx, std::integral_constant<size_t, sizeof...(T)>());
}
template <typename FormatContext>
- auto format(const tuple_join_view<Char, T...>& value, FormatContext& ctx) ->
- typename FormatContext::iterator {
- return format(value, ctx, detail::make_index_sequence<sizeof...(T)>{});
+ auto format(const tuple_join_view<Char, T...>& value,
+ FormatContext& ctx) const -> typename FormatContext::iterator {
+ return do_format(value, ctx,
+ std::integral_constant<size_t, sizeof...(T)>());
}
private:
- template <typename FormatContext, size_t... N>
- auto format(const tuple_join_view<Char, T...>& value, FormatContext& ctx,
- detail::index_sequence<N...>) ->
- typename FormatContext::iterator {
- using std::get;
- return format_args(value, ctx, get<N>(value.tuple)...);
+ std::tuple<formatter<typename std::decay<T>::type, Char>...> formatters_;
+
+ template <typename ParseContext>
+ FMT_CONSTEXPR auto do_parse(ParseContext& ctx,
+ std::integral_constant<size_t, 0>)
+ -> decltype(ctx.begin()) {
+ return ctx.begin();
+ }
+
+ template <typename ParseContext, size_t N>
+ FMT_CONSTEXPR auto do_parse(ParseContext& ctx,
+ std::integral_constant<size_t, N>)
+ -> decltype(ctx.begin()) {
+ auto end = ctx.begin();
+#if FMT_TUPLE_JOIN_SPECIFIERS
+ end = std::get<sizeof...(T) - N>(formatters_).parse(ctx);
+ if (N > 1) {
+ auto end1 = do_parse(ctx, std::integral_constant<size_t, N - 1>());
+ if (end != end1)
+ FMT_THROW(format_error("incompatible format specs for tuple elements"));
+ }
+#endif
+ return end;
}
template <typename FormatContext>
- auto format_args(const tuple_join_view<Char, T...>&, FormatContext& ctx) ->
+ auto do_format(const tuple_join_view<Char, T...>&, FormatContext& ctx,
+ std::integral_constant<size_t, 0>) const ->
typename FormatContext::iterator {
- // NOTE: for compilers that support C++17, this empty function instantiation
- // can be replaced with a constexpr branch in the variadic overload.
return ctx.out();
}
- template <typename FormatContext, typename Arg, typename... Args>
- auto format_args(const tuple_join_view<Char, T...>& value, FormatContext& ctx,
- const Arg& arg, const Args&... args) ->
+ template <typename FormatContext, size_t N>
+ auto do_format(const tuple_join_view<Char, T...>& value, FormatContext& ctx,
+ std::integral_constant<size_t, N>) const ->
typename FormatContext::iterator {
- using base = formatter<typename std::decay<Arg>::type, Char>;
- auto out = base().format(arg, ctx);
- if (sizeof...(Args) > 0) {
+ auto out = std::get<sizeof...(T) - N>(formatters_)
+ .format(std::get<sizeof...(T) - N>(value.tuple), ctx);
+ if (N > 1) {
out = std::copy(value.sep.begin(), value.sep.end(), out);
ctx.advance_to(out);
- return format_args(value, ctx, args...);
+ return do_format(value, ctx, std::integral_constant<size_t, N - 1>());
}
return out;
}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/xchar.h b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/xchar.h
index a0dd032..9acb893 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/xchar.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/include/fmt/xchar.h
@@ -5,8 +5,8 @@
//
// For the license information refer to format.h.
-#ifndef FMT_WCHAR_H_
-#define FMT_WCHAR_H_
+#ifndef FMT_XCHAR_H_
+#define FMT_XCHAR_H_
#include <cwchar>
#include <tuple>
@@ -207,8 +207,7 @@
wmemory_buffer buffer;
detail::vformat_to(buffer, fmt, args);
buffer.push_back(L'\0');
- if (std::fputws(buffer.data(), f) == -1)
- FMT_THROW(system_error(errno, FMT_STRING("cannot write to file")));
+ std::fputws(buffer.data(), f);
}
inline void vprint(wstring_view fmt, wformat_args args) {
@@ -217,11 +216,11 @@
template <typename... T>
void print(std::FILE* f, wformat_string<T...> fmt, T&&... args) {
- return vprint(f, wstring_view(fmt), make_wformat_args(args...));
+ return vprint(f, wstring_view(fmt), fmt::make_wformat_args(args...));
}
template <typename... T> void print(wformat_string<T...> fmt, T&&... args) {
- return vprint(wstring_view(fmt), make_wformat_args(args...));
+ return vprint(wstring_view(fmt), fmt::make_wformat_args(args...));
}
/**
@@ -233,4 +232,4 @@
FMT_MODULE_EXPORT_END
FMT_END_NAMESPACE
-#endif // FMT_WCHAR_H_
+#endif // FMT_XCHAR_H_
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/src/format.cpp b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/src/format.cpp
index 66925b4..ecb8cc7 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/src/format.cpp
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/src/format.cpp
@@ -10,6 +10,52 @@
FMT_BEGIN_NAMESPACE
namespace detail {
+// DEPRECATED!
+template <typename T = void> struct basic_data {
+ FMT_API static constexpr const char digits[100][2] = {
+ {'0', '0'}, {'0', '1'}, {'0', '2'}, {'0', '3'}, {'0', '4'}, {'0', '5'},
+ {'0', '6'}, {'0', '7'}, {'0', '8'}, {'0', '9'}, {'1', '0'}, {'1', '1'},
+ {'1', '2'}, {'1', '3'}, {'1', '4'}, {'1', '5'}, {'1', '6'}, {'1', '7'},
+ {'1', '8'}, {'1', '9'}, {'2', '0'}, {'2', '1'}, {'2', '2'}, {'2', '3'},
+ {'2', '4'}, {'2', '5'}, {'2', '6'}, {'2', '7'}, {'2', '8'}, {'2', '9'},
+ {'3', '0'}, {'3', '1'}, {'3', '2'}, {'3', '3'}, {'3', '4'}, {'3', '5'},
+ {'3', '6'}, {'3', '7'}, {'3', '8'}, {'3', '9'}, {'4', '0'}, {'4', '1'},
+ {'4', '2'}, {'4', '3'}, {'4', '4'}, {'4', '5'}, {'4', '6'}, {'4', '7'},
+ {'4', '8'}, {'4', '9'}, {'5', '0'}, {'5', '1'}, {'5', '2'}, {'5', '3'},
+ {'5', '4'}, {'5', '5'}, {'5', '6'}, {'5', '7'}, {'5', '8'}, {'5', '9'},
+ {'6', '0'}, {'6', '1'}, {'6', '2'}, {'6', '3'}, {'6', '4'}, {'6', '5'},
+ {'6', '6'}, {'6', '7'}, {'6', '8'}, {'6', '9'}, {'7', '0'}, {'7', '1'},
+ {'7', '2'}, {'7', '3'}, {'7', '4'}, {'7', '5'}, {'7', '6'}, {'7', '7'},
+ {'7', '8'}, {'7', '9'}, {'8', '0'}, {'8', '1'}, {'8', '2'}, {'8', '3'},
+ {'8', '4'}, {'8', '5'}, {'8', '6'}, {'8', '7'}, {'8', '8'}, {'8', '9'},
+ {'9', '0'}, {'9', '1'}, {'9', '2'}, {'9', '3'}, {'9', '4'}, {'9', '5'},
+ {'9', '6'}, {'9', '7'}, {'9', '8'}, {'9', '9'}};
+ FMT_API static constexpr const char hex_digits[] = "0123456789abcdef";
+ FMT_API static constexpr const char signs[4] = {0, '-', '+', ' '};
+ FMT_API static constexpr const char left_padding_shifts[5] = {31, 31, 0, 1,
+ 0};
+ FMT_API static constexpr const char right_padding_shifts[5] = {0, 31, 0, 1,
+ 0};
+ FMT_API static constexpr const unsigned prefixes[4] = {0, 0, 0x1000000u | '+',
+ 0x1000000u | ' '};
+};
+
+#ifdef FMT_SHARED
+// Required for -flto, -fivisibility=hidden and -shared to work
+extern template struct basic_data<void>;
+#endif
+
+#if __cplusplus < 201703L
+// DEPRECATED! These are here only for ABI compatiblity.
+template <typename T> constexpr const char basic_data<T>::digits[][2];
+template <typename T> constexpr const char basic_data<T>::hex_digits[];
+template <typename T> constexpr const char basic_data<T>::signs[];
+template <typename T> constexpr const char basic_data<T>::left_padding_shifts[];
+template <typename T>
+constexpr const char basic_data<T>::right_padding_shifts[];
+template <typename T> constexpr const unsigned basic_data<T>::prefixes[];
+#endif
+
template <typename T>
int format_float(char* buf, std::size_t size, const char* format, int precision,
T value) {
diff --git a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/src/os.cpp b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/src/os.cpp
index 934629d..4eb3e1f 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/fmtlib/src/os.cpp
+++ b/third_party/allwpilib/wpiutil/src/main/native/fmtlib/src/os.cpp
@@ -26,19 +26,17 @@
# endif
# include <io.h>
-# define O_CREAT _O_CREAT
-# define O_TRUNC _O_TRUNC
-
# ifndef S_IRUSR
# define S_IRUSR _S_IREAD
# endif
-
# ifndef S_IWUSR
# define S_IWUSR _S_IWRITE
# endif
-
-# ifdef __MINGW32__
-# define _SH_DENYNO 0x40
+# ifndef S_IRGRP
+# define S_IRGRP 0
+# endif
+# ifndef S_IROTH
+# define S_IROTH 0
# endif
# endif // _WIN32
#endif // FMT_USE_FCNTL
@@ -213,7 +211,10 @@
#if FMT_USE_FCNTL
file::file(cstring_view path, int oflag) {
- int mode = S_IRUSR | S_IWUSR;
+# ifdef _WIN32
+ using mode_t = int;
+# endif
+ mode_t mode = S_IRUSR | S_IWUSR | S_IRGRP | S_IROTH;
# if defined(_WIN32) && !defined(__MINGW32__)
fd_ = -1;
FMT_POSIX_CALL(sopen_s(&fd_, path.c_str(), oflag, _SH_DENYNO, mode));
@@ -276,8 +277,7 @@
std::size_t file::write(const void* buffer, std::size_t count) {
rwresult result = 0;
FMT_RETRY(result, FMT_POSIX_CALL(write(fd_, buffer, convert_rwcount(count))));
- if (result < 0) FMT_THROW(system_error(errno, "cannot write to file"));
- return detail::to_unsigned(result);
+ return count;
}
file file::dup(int fd) {
diff --git a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/MathExtras.h b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/MathExtras.h
index 52a56a1..ac88cb9 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/MathExtras.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/MathExtras.h
@@ -845,6 +845,20 @@
return (T(0) < val) - (val < T(0));
}
+/**
+ * Linearly interpolates between two values.
+ *
+ * @param startValue The start value.
+ * @param endValue The end value.
+ * @param t The fraction for interpolation.
+ *
+ * @return The interpolated value.
+ */
+template <typename T>
+constexpr T Lerp(const T& startValue, const T& endValue, double t) {
+ return startValue + (endValue - startValue) * t;
+}
+
} // namespace wpi
#endif
diff --git a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/MulticastServiceAnnouncer.h b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/MulticastServiceAnnouncer.h
new file mode 100644
index 0000000..5d2048d
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/MulticastServiceAnnouncer.h
@@ -0,0 +1,61 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+#include <memory>
+#include <string>
+#include <string_view>
+#include <utility>
+
+#include "wpi/span.h"
+namespace wpi {
+class MulticastServiceAnnouncer {
+ public:
+ MulticastServiceAnnouncer(
+ std::string_view serviceName, std::string_view serviceType, int port,
+ wpi::span<const std::pair<std::string, std::string>> txt);
+ MulticastServiceAnnouncer(
+ std::string_view serviceName, std::string_view serviceType, int port,
+ wpi::span<const std::pair<std::string_view, std::string_view>> txt);
+ ~MulticastServiceAnnouncer() noexcept;
+ void Start();
+ void Stop();
+ bool HasImplementation() const;
+ struct Impl;
+
+ private:
+ std::unique_ptr<Impl> pImpl;
+};
+} // namespace wpi
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef unsigned int WPI_MulticastServiceAnnouncerHandle; // NOLINT
+
+WPI_MulticastServiceAnnouncerHandle WPI_CreateMulticastServiceAnnouncer(
+ const char* serviceName, const char* serviceType, int32_t port,
+ int32_t txtCount, const char** keys, const char** values);
+
+void WPI_FreeMulticastServiceAnnouncer(
+ WPI_MulticastServiceAnnouncerHandle handle);
+
+void WPI_StartMulticastServiceAnnouncer(
+ WPI_MulticastServiceAnnouncerHandle handle);
+
+void WPI_StopMulticastServiceAnnouncer(
+ WPI_MulticastServiceAnnouncerHandle handle);
+
+int32_t WPI_GetMulticastServiceAnnouncerHasImplementation(
+ WPI_MulticastServiceAnnouncerHandle handle);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
diff --git a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/MulticastServiceResolver.h b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/MulticastServiceResolver.h
new file mode 100644
index 0000000..0b63c2f
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/MulticastServiceResolver.h
@@ -0,0 +1,102 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "wpi/Synchronization.h"
+
+#ifdef __cplusplus
+#include <functional>
+#include <memory>
+#include <string>
+#include <string_view>
+#include <utility>
+#include <vector>
+
+#include "wpi/mutex.h"
+#include "wpi/span.h"
+namespace wpi {
+class MulticastServiceResolver {
+ public:
+ explicit MulticastServiceResolver(std::string_view serviceType);
+ ~MulticastServiceResolver() noexcept;
+ struct ServiceData {
+ unsigned int ipv4Address;
+ int port;
+ std::string serviceName;
+ std::string hostName;
+ std::vector<std::pair<std::string, std::string>> txt;
+ };
+ void Start();
+ void Stop();
+ WPI_EventHandle GetEventHandle() const { return event.GetHandle(); }
+ std::vector<ServiceData> GetData() {
+ std::scoped_lock lock{mutex};
+ event.Reset();
+ if (queue.empty()) {
+ return {};
+ }
+ std::vector<ServiceData> ret;
+ queue.swap(ret);
+ return ret;
+ }
+ bool HasImplementation() const;
+ struct Impl;
+
+ private:
+ void PushData(ServiceData&& data) {
+ std::scoped_lock lock{mutex};
+ queue.emplace_back(std::forward<ServiceData>(data));
+ event.Set();
+ }
+ wpi::Event event{true};
+ std::vector<ServiceData> queue;
+ wpi::mutex mutex;
+ std::unique_ptr<Impl> pImpl;
+};
+} // namespace wpi
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef unsigned int WPI_MulticastServiceResolverHandle; // NOLINT
+
+WPI_MulticastServiceResolverHandle WPI_CreateMulticastServiceResolver(
+ const char* serviceType);
+
+void WPI_FreeMulticastServiceResolver(
+ WPI_MulticastServiceResolverHandle handle);
+
+void WPI_StartMulticastServiceResolver(
+ WPI_MulticastServiceResolverHandle handle);
+
+void WPI_StopMulticastServiceResolver(
+ WPI_MulticastServiceResolverHandle handle);
+
+int32_t WPI_GetMulticastServiceResolverHasImplementation(
+ WPI_MulticastServiceResolverHandle handle);
+
+WPI_EventHandle WPI_GetMulticastServiceResolverEventHandle(
+ WPI_MulticastServiceResolverHandle handle);
+
+typedef struct WPI_ServiceData { // NOLINT
+ uint32_t ipv4Address;
+ int32_t port;
+ const char* serviceName;
+ const char* hostName;
+ int32_t txtCount;
+ const char** txtKeys;
+ const char** txtValues;
+} WPI_ServiceData;
+
+WPI_ServiceData* WPI_GetMulticastServiceResolverData(
+ WPI_MulticastServiceResolverHandle handle, int32_t* dataCount);
+
+void WPI_FreeServiceData(WPI_ServiceData* serviceData, int32_t length);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
diff --git a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/SmallString.h b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/SmallString.h
index 1d44f24..da4b2e4 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/SmallString.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/SmallString.h
@@ -181,21 +181,6 @@
}
/// @}
- /// @name Substring Operations
- /// @{
-
- /// Return a reference to the substring from [Start, Start + N).
- ///
- /// \param Start The index of the starting character in the substring; if
- /// the index is npos or greater than the length of the string then the
- /// empty substring will be returned.
- ///
- /// \param N The number of characters to included in the substring. If \p N
- /// exceeds the number of characters remaining in the string, the string
- /// suffix (starting with \p Start) will be returned.
- std::string_view substr(size_t Start, size_t N = std::string_view::npos) const {
- return str().substr(Start, N);
- }
// Extra methods.
diff --git a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/StackTrace.h b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/StackTrace.h
index f9ee989..44e0b21 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/StackTrace.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/StackTrace.h
@@ -16,6 +16,20 @@
*/
std::string GetStackTrace(int offset);
+/**
+ * The default implementation used for GetStackTrace().
+ *
+ * @param offset The number of symbols at the top of the stack to ignore
+ */
+std::string GetStackTraceDefault(int offset);
+
+/**
+ * Set the implementation used by GetStackTrace().
+ *
+ * @param func Function called by GetStackTrace().
+ */
+void SetGetStackTraceImpl(std::string (*func)(int offset));
+
} // namespace wpi
#endif // WPIUTIL_WPI_STACKTRACE_H_
diff --git a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/StringExtras.h b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/StringExtras.h
index 74874ff..9e70f52 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/StringExtras.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/StringExtras.h
@@ -208,11 +208,30 @@
}
/**
+ * Returns the substring of @p str from [start, start + n).
+ *
+ * @param start The index of the starting character in the substring; if
+ * the index is npos or greater than the length of the string then the
+ * empty substring will be returned.
+ *
+ * @param n The number of characters to included in the substring. If n
+ * exceeds the number of characters remaining in the string, the string
+ * suffix (starting with @p start) will be returned.
+ */
+constexpr std::string_view substr(
+ std::string_view str, std::string_view::size_type start,
+ std::string_view::size_type n = std::string_view::npos) noexcept {
+ auto length = str.size();
+ start = (std::min)(start, length);
+ return {str.data() + start, (std::min)(n, length - start)};
+}
+
+/**
* Checks if @p str starts with the given @p prefix.
*/
constexpr bool starts_with(std::string_view str,
std::string_view prefix) noexcept {
- return str.substr(0, prefix.size()) == prefix;
+ return substr(str, 0, prefix.size()) == prefix;
}
/**
@@ -355,6 +374,34 @@
}
/**
+ * Returns a view equal to @p str but with only the first @p n
+ * elements remaining. If @p n is greater than the length of the
+ * string, the entire string is returned.
+ */
+constexpr std::string_view take_front(
+ std::string_view str, std::string_view::size_type n = 1) noexcept {
+ auto length = str.size();
+ if (n >= length) {
+ return str;
+ }
+ return drop_back(str, length - n);
+}
+
+/**
+ * Returns a view equal to @p str but with only the last @p n
+ * elements remaining. If @p n is greater than the length of the
+ * string, the entire string is returned.
+ */
+constexpr std::string_view take_back(
+ std::string_view str, std::string_view::size_type n = 1) noexcept {
+ auto length = str.size();
+ if (n >= length) {
+ return str;
+ }
+ return drop_front(str, length - n);
+}
+
+/**
* Returns a reference to the substring of @p str from [start, end).
*
* @param start The index of the starting character in the substring; if
diff --git a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/Synchronization.h b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/Synchronization.h
index 8050358..57fc4ee 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/Synchronization.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/Synchronization.h
@@ -4,7 +4,7 @@
#pragma once
-#include <limits.h> // NOLINT
+#include <climits> // NOLINT
#ifdef __cplusplus
#include <initializer_list>
diff --git a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/UrlParser.h b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/UrlParser.h
index 3b6107b..1932c3e 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/UrlParser.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/UrlParser.h
@@ -7,6 +7,7 @@
#include <string_view>
+#include "wpi/StringExtras.h"
#include "wpi/http_parser.h"
namespace wpi {
@@ -52,35 +53,35 @@
}
std::string_view GetSchema() const {
- return m_data.substr(m_url.field_data[UF_SCHEMA].off,
- m_url.field_data[UF_SCHEMA].len);
+ return wpi::substr(m_data, m_url.field_data[UF_SCHEMA].off,
+ m_url.field_data[UF_SCHEMA].len);
}
std::string_view GetHost() const {
- return m_data.substr(m_url.field_data[UF_HOST].off,
- m_url.field_data[UF_HOST].len);
+ return wpi::substr(m_data, m_url.field_data[UF_HOST].off,
+ m_url.field_data[UF_HOST].len);
}
unsigned int GetPort() const { return m_url.port; }
std::string_view GetPath() const {
- return m_data.substr(m_url.field_data[UF_PATH].off,
- m_url.field_data[UF_PATH].len);
+ return wpi::substr(m_data, m_url.field_data[UF_PATH].off,
+ m_url.field_data[UF_PATH].len);
}
std::string_view GetQuery() const {
- return m_data.substr(m_url.field_data[UF_QUERY].off,
- m_url.field_data[UF_QUERY].len);
+ return wpi::substr(m_data, m_url.field_data[UF_QUERY].off,
+ m_url.field_data[UF_QUERY].len);
}
std::string_view GetFragment() const {
- return m_data.substr(m_url.field_data[UF_FRAGMENT].off,
- m_url.field_data[UF_FRAGMENT].len);
+ return wpi::substr(m_data, m_url.field_data[UF_FRAGMENT].off,
+ m_url.field_data[UF_FRAGMENT].len);
}
std::string_view GetUserInfo() const {
- return m_data.substr(m_url.field_data[UF_USERINFO].off,
- m_url.field_data[UF_USERINFO].len);
+ return wpi::substr(m_data, m_url.field_data[UF_USERINFO].off,
+ m_url.field_data[UF_USERINFO].len);
}
private:
diff --git a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/array.h b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/array.h
index 5a03371..f2604ec 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/array.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/array.h
@@ -18,8 +18,8 @@
* This class is a wrapper around std::array that does compile time size
* checking.
*
- * std::array's implicit constructor can lead result in uninitialized elements
- * if the number of arguments doesn't match the std::array size.
+ * std::array's implicit constructor can result in uninitialized elements if the
+ * number of arguments doesn't match the std::array size.
*/
template <typename T, size_t N>
class array : public std::array<T, N> {
@@ -28,7 +28,7 @@
template <typename... Ts>
array(T arg, Ts&&... args) // NOLINT
- : std::array<T, N>{arg, std::forward<Ts>(args)...} {
+ : std::array<T, N>{std::forward<T>(arg), std::forward<Ts>(args)...} {
static_assert(1 + sizeof...(args) == N, "Dimension mismatch");
}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/jni_util.h b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/jni_util.h
index 195e37e..585c1c6 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/jni_util.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/jni_util.h
@@ -567,6 +567,28 @@
}
/**
+ * Convert an array of std::string into a jarray of jstring.
+ *
+ * @param env JRE environment.
+ * @param arr Array to convert.
+ */
+inline jobjectArray MakeJStringArray(JNIEnv* env, span<std::string_view> arr) {
+ static JClass stringCls{env, "java/lang/String"};
+ if (!stringCls) {
+ return nullptr;
+ }
+ jobjectArray jarr = env->NewObjectArray(arr.size(), stringCls, nullptr);
+ if (!jarr) {
+ return nullptr;
+ }
+ for (size_t i = 0; i < arr.size(); ++i) {
+ JLocal<jstring> elem{env, MakeJString(env, arr[i])};
+ env->SetObjectArrayElement(jarr, i, elem.obj());
+ }
+ return jarr;
+}
+
+/**
* Generic callback thread implementation.
*
* JNI's AttachCurrentThread() creates a Java Thread object on every
diff --git a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/timestamp.h b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/timestamp.h
index 789e125..c50117c 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/include/wpi/timestamp.h
+++ b/third_party/allwpilib/wpiutil/src/main/native/include/wpi/timestamp.h
@@ -33,6 +33,14 @@
*/
uint64_t WPI_Now(void);
+/**
+ * Return the current system time in microseconds since the Unix epoch
+ * (January 1st, 1970 00:00 UTC).
+ *
+ * @return Time in microseconds.
+ */
+uint64_t WPI_GetSystemTime(void);
+
#ifdef __cplusplus
} // extern "C"
#endif
@@ -62,6 +70,14 @@
*/
uint64_t Now(void);
+/**
+ * Return the current system time in microseconds since the Unix epoch
+ * (January 1st, 1970 00:00 UTC).
+ *
+ * @return Time in microseconds.
+ */
+uint64_t GetSystemTime();
+
} // namespace wpi
#endif
diff --git a/third_party/allwpilib/wpiutil/src/main/native/libuv/src/unix/thread.cpp b/third_party/allwpilib/wpiutil/src/main/native/libuv/src/unix/thread.cpp
index 05f6c90..012cd6a 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/libuv/src/unix/thread.cpp
+++ b/third_party/allwpilib/wpiutil/src/main/native/libuv/src/unix/thread.cpp
@@ -190,7 +190,7 @@
* on the architecture.
*/
if (lim.rlim_cur >= 8192)
- if (lim.rlim_cur >= PTHREAD_STACK_MIN)
+ if (lim.rlim_cur >= (rlim_t) PTHREAD_STACK_MIN)
return lim.rlim_cur;
}
#endif
@@ -232,7 +232,7 @@
/* Round up to the nearest page boundary. */
stack_size = (stack_size + pagesize - 1) &~ (pagesize - 1);
#ifdef PTHREAD_STACK_MIN
- if (stack_size < PTHREAD_STACK_MIN)
+ if (stack_size < (size_t) PTHREAD_STACK_MIN)
stack_size = PTHREAD_STACK_MIN;
#endif
}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/linux/AvahiClient.cpp b/third_party/allwpilib/wpiutil/src/main/native/linux/AvahiClient.cpp
new file mode 100644
index 0000000..6a17ea0
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/linux/AvahiClient.cpp
@@ -0,0 +1,118 @@
+// 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 "AvahiClient.h"
+
+#include <wpi/mutex.h>
+
+#include <thread>
+
+#include "dlfcn.h"
+
+using namespace wpi;
+
+#define AvahiFunctionLoad(snake_name) \
+ do { \
+ snake_name = \
+ reinterpret_cast<snake_name##_func>(dlsym(lib, "avahi_" #snake_name)); \
+ if (!snake_name) { \
+ return; \
+ } \
+ } while (false)
+
+AvahiFunctionTable::AvahiFunctionTable() {
+ void* lib = dlopen("libavahi-common.so.3", RTLD_LAZY);
+
+ valid = false;
+
+ if (lib == nullptr) {
+ return;
+ }
+
+ AvahiFunctionLoad(threaded_poll_new);
+ AvahiFunctionLoad(threaded_poll_free);
+ AvahiFunctionLoad(threaded_poll_get);
+ AvahiFunctionLoad(threaded_poll_start);
+ AvahiFunctionLoad(threaded_poll_stop);
+ AvahiFunctionLoad(threaded_poll_lock);
+ AvahiFunctionLoad(threaded_poll_unlock);
+ AvahiFunctionLoad(string_list_new_from_array);
+ AvahiFunctionLoad(string_list_free);
+ AvahiFunctionLoad(unescape_label);
+ AvahiFunctionLoad(alternative_service_name);
+ AvahiFunctionLoad(free);
+
+ lib = dlopen("libavahi-client.so.3", RTLD_LAZY);
+
+ if (lib == nullptr) {
+ return;
+ }
+
+ AvahiFunctionLoad(client_new);
+ AvahiFunctionLoad(client_free);
+ AvahiFunctionLoad(service_browser_new);
+ AvahiFunctionLoad(service_browser_get_client);
+ AvahiFunctionLoad(service_browser_free);
+ AvahiFunctionLoad(service_resolver_new);
+ AvahiFunctionLoad(service_resolver_free);
+ AvahiFunctionLoad(entry_group_new);
+ AvahiFunctionLoad(entry_group_free);
+ AvahiFunctionLoad(entry_group_add_service_strlst);
+ AvahiFunctionLoad(entry_group_reset);
+ AvahiFunctionLoad(entry_group_is_empty);
+ AvahiFunctionLoad(entry_group_commit);
+ AvahiFunctionLoad(entry_group_get_client);
+
+ valid = true;
+}
+
+AvahiFunctionTable& AvahiFunctionTable::Get() {
+ static AvahiFunctionTable table;
+ return table;
+}
+
+static wpi::mutex ThreadLoopLock;
+static std::weak_ptr<AvahiThread> ThreadLoop;
+
+std::shared_ptr<AvahiThread> AvahiThread::Get() {
+ std::scoped_lock lock{ThreadLoopLock};
+ auto locked = ThreadLoop.lock();
+ if (!locked) {
+ locked = std::make_unique<AvahiThread>(private_init{});
+ ThreadLoop = locked;
+ }
+ return locked;
+}
+
+AvahiThread::AvahiThread(const private_init&) {
+ if (!table.IsValid()) {
+ return;
+ }
+
+ threadedPoll = table.threaded_poll_new();
+ table.threaded_poll_start(threadedPoll);
+}
+
+AvahiThread::~AvahiThread() noexcept {
+ if (!table.IsValid()) {
+ return;
+ }
+
+ if (threadedPoll) {
+ table.threaded_poll_stop(threadedPoll);
+ table.threaded_poll_free(threadedPoll);
+ }
+}
+
+void AvahiThread::lock() {
+ table.threaded_poll_lock(threadedPoll);
+}
+
+void AvahiThread::unlock() {
+ table.threaded_poll_unlock(threadedPoll);
+}
+
+const AvahiPoll* AvahiThread::GetPoll() const {
+ return table.threaded_poll_get(threadedPoll);
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/linux/AvahiClient.h b/third_party/allwpilib/wpiutil/src/main/native/linux/AvahiClient.h
new file mode 100644
index 0000000..ca679bb
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/linux/AvahiClient.h
@@ -0,0 +1,316 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include <memory>
+
+/***
+ This file is part of avahi.
+ avahi is free software; you can redistribute it and/or modify it
+ under the terms of the GNU Lesser General Public License as
+ published by the Free Software Foundation; either version 2.1 of the
+ License, or (at your option) any later version.
+ avahi is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General
+ Public License for more details.
+ You should have received a copy of the GNU Lesser General Public
+ License along with avahi; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
+ USA.
+***/
+
+typedef struct AvahiPoll AvahiPoll;
+
+typedef enum {
+ AVAHI_SERVER_INVALID,
+ AVAHI_SERVER_REGISTERING,
+ AVAHI_SERVER_RUNNING,
+ AVAHI_SERVER_COLLISION,
+ AVAHI_SERVER_FAILURE
+} AvahiServerState;
+
+typedef struct AvahiClient AvahiClient;
+
+typedef enum {
+ AVAHI_CLIENT_S_REGISTERING = AVAHI_SERVER_REGISTERING,
+ AVAHI_CLIENT_S_RUNNING = AVAHI_SERVER_RUNNING,
+ AVAHI_CLIENT_S_COLLISION = AVAHI_SERVER_COLLISION,
+ AVAHI_CLIENT_FAILURE = 100,
+ AVAHI_CLIENT_CONNECTING = 101
+} AvahiClientState;
+
+typedef enum {
+ AVAHI_CLIENT_IGNORE_USER_CONFIG = 1,
+ AVAHI_CLIENT_NO_FAIL = 2
+} AvahiClientFlags;
+
+typedef void (*AvahiClientCallback)(AvahiClient* s, AvahiClientState state,
+ void* userdata);
+
+typedef struct AvahiServiceBrowser AvahiServiceBrowser;
+
+typedef int AvahiProtocol;
+
+typedef int AvahiIfIndex;
+
+typedef enum {
+ AVAHI_BROWSER_NEW,
+ AVAHI_BROWSER_REMOVE,
+ AVAHI_BROWSER_CACHE_EXHAUSTED,
+ AVAHI_BROWSER_ALL_FOR_NOW,
+ AVAHI_BROWSER_FAILURE
+} AvahiBrowserEvent;
+
+typedef enum {
+ AVAHI_LOOKUP_RESULT_CACHED = 1,
+ AVAHI_LOOKUP_RESULT_WIDE_AREA = 2,
+ AVAHI_LOOKUP_RESULT_MULTICAST = 4,
+ AVAHI_LOOKUP_RESULT_LOCAL = 8,
+ AVAHI_LOOKUP_RESULT_OUR_OWN = 16,
+ AVAHI_LOOKUP_RESULT_STATIC = 32
+} AvahiLookupResultFlags;
+
+typedef void (*AvahiServiceBrowserCallback)(
+ AvahiServiceBrowser* b, AvahiIfIndex interface, AvahiProtocol protocol,
+ AvahiBrowserEvent event, const char* name, const char* type,
+ const char* domain, AvahiLookupResultFlags flags, void* userdata);
+
+typedef enum {
+ AVAHI_LOOKUP_USE_WIDE_AREA = 1,
+ AVAHI_LOOKUP_USE_MULTICAST = 2,
+
+ AVAHI_LOOKUP_NO_TXT = 4,
+ AVAHI_LOOKUP_NO_ADDRESS = 8
+} AvahiLookupFlags;
+
+typedef struct AvahiServiceResolver AvahiServiceResolver;
+
+typedef enum {
+ AVAHI_RESOLVER_FOUND,
+ AVAHI_RESOLVER_FAILURE
+} AvahiResolverEvent;
+
+typedef struct AvahiIPv4Address {
+ uint32_t address;
+} AvahiIPv4Address;
+
+typedef struct AvahiIPv6Address {
+ uint8_t address[16];
+} AvahiIPv6Address;
+
+typedef struct AvahiAddress {
+ AvahiProtocol proto;
+
+ union {
+ AvahiIPv6Address ipv6;
+ AvahiIPv4Address ipv4;
+ uint8_t data[1];
+ } data;
+} AvahiAddress;
+
+typedef struct AvahiStringList {
+ struct AvahiStringList* next;
+ size_t size;
+ uint8_t text[1];
+} AvahiStringList;
+
+typedef void (*AvahiServiceResolverCallback)(
+ AvahiServiceResolver* r, AvahiIfIndex interface, AvahiProtocol protocol,
+ AvahiResolverEvent event, const char* name, const char* type,
+ const char* domain, const char* host_name, const AvahiAddress* a,
+ uint16_t port, AvahiStringList* txt, AvahiLookupResultFlags flags,
+ void* userdata);
+
+typedef struct AvahiThreadedPoll AvahiThreadedPoll;
+
+typedef struct AvahiEntryGroup AvahiEntryGroup;
+
+typedef enum {
+ AVAHI_ENTRY_GROUP_UNCOMMITED,
+ AVAHI_ENTRY_GROUP_REGISTERING,
+ AVAHI_ENTRY_GROUP_ESTABLISHED,
+ AVAHI_ENTRY_GROUP_COLLISION,
+ AVAHI_ENTRY_GROUP_FAILURE
+} AvahiEntryGroupState;
+
+typedef void (*AvahiEntryGroupCallback)(AvahiEntryGroup* g,
+ AvahiEntryGroupState state,
+ void* userdata);
+
+typedef enum {
+ AVAHI_PUBLISH_UNIQUE = 1,
+ AVAHI_PUBLISH_NO_PROBE = 2,
+ AVAHI_PUBLISH_NO_ANNOUNCE = 4,
+ AVAHI_PUBLISH_ALLOW_MULTIPLE = 8,
+
+ AVAHI_PUBLISH_NO_REVERSE = 16,
+ AVAHI_PUBLISH_NO_COOKIE = 32,
+ AVAHI_PUBLISH_UPDATE = 64,
+ AVAHI_PUBLISH_USE_WIDE_AREA = 128,
+ AVAHI_PUBLISH_USE_MULTICAST = 256
+} AvahiPublishFlags;
+
+enum { AVAHI_IF_UNSPEC = -1 };
+
+enum { AVAHI_PROTO_INET = 0, AVAHI_PROTO_INET6 = 1, AVAHI_PROTO_UNSPEC = -1 };
+
+enum {
+ AVAHI_OK = 0,
+ AVAHI_ERR_FAILURE = -1,
+ AVAHI_ERR_BAD_STATE = -2,
+ AVAHI_ERR_INVALID_HOST_NAME = -3,
+ AVAHI_ERR_INVALID_DOMAIN_NAME = -4,
+ AVAHI_ERR_NO_NETWORK = -5,
+ AVAHI_ERR_INVALID_TTL = -6,
+ AVAHI_ERR_IS_PATTERN = -7,
+ AVAHI_ERR_COLLISION = -8,
+ AVAHI_ERR_INVALID_RECORD = -9,
+
+ AVAHI_ERR_INVALID_SERVICE_NAME = -10,
+ AVAHI_ERR_INVALID_SERVICE_TYPE = -11,
+ AVAHI_ERR_INVALID_PORT = -12,
+ AVAHI_ERR_INVALID_KEY = -13,
+ AVAHI_ERR_INVALID_ADDRESS = -14,
+ AVAHI_ERR_TIMEOUT = -15,
+ AVAHI_ERR_TOO_MANY_CLIENTS = -16,
+ AVAHI_ERR_TOO_MANY_OBJECTS = -17,
+ AVAHI_ERR_TOO_MANY_ENTRIES = -18,
+ AVAHI_ERR_OS = -19,
+
+ AVAHI_ERR_ACCESS_DENIED = -20,
+ AVAHI_ERR_INVALID_OPERATION = -21,
+ AVAHI_ERR_DBUS_ERROR = -22,
+ AVAHI_ERR_DISCONNECTED = -23,
+ AVAHI_ERR_NO_MEMORY = -24,
+ AVAHI_ERR_INVALID_OBJECT = -25,
+ AVAHI_ERR_NO_DAEMON = -26,
+ AVAHI_ERR_INVALID_INTERFACE = -27,
+ AVAHI_ERR_INVALID_PROTOCOL = -28,
+ AVAHI_ERR_INVALID_FLAGS = -29,
+
+ AVAHI_ERR_NOT_FOUND = -30,
+ AVAHI_ERR_INVALID_CONFIG = -31,
+ AVAHI_ERR_VERSION_MISMATCH = -32,
+ AVAHI_ERR_INVALID_SERVICE_SUBTYPE = -33,
+ AVAHI_ERR_INVALID_PACKET = -34,
+ AVAHI_ERR_INVALID_DNS_ERROR = -35,
+ AVAHI_ERR_DNS_FORMERR = -36,
+ AVAHI_ERR_DNS_SERVFAIL = -37,
+ AVAHI_ERR_DNS_NXDOMAIN = -38,
+ AVAHI_ERR_DNS_NOTIMP = -39,
+
+ AVAHI_ERR_DNS_REFUSED = -40,
+ AVAHI_ERR_DNS_YXDOMAIN = -41,
+ AVAHI_ERR_DNS_YXRRSET = -42,
+ AVAHI_ERR_DNS_NXRRSET = -43,
+ AVAHI_ERR_DNS_NOTAUTH = -44,
+ AVAHI_ERR_DNS_NOTZONE = -45,
+ AVAHI_ERR_INVALID_RDATA = -46,
+ AVAHI_ERR_INVALID_DNS_CLASS = -47,
+ AVAHI_ERR_INVALID_DNS_TYPE = -48,
+ AVAHI_ERR_NOT_SUPPORTED = -49,
+
+ AVAHI_ERR_NOT_PERMITTED = -50,
+ AVAHI_ERR_INVALID_ARGUMENT = -51,
+ AVAHI_ERR_IS_EMPTY = -52,
+ AVAHI_ERR_NO_CHANGE = -53,
+
+ AVAHI_ERR_MAX = -54
+};
+
+namespace wpi {
+class AvahiFunctionTable {
+ public:
+#define AvahiFunction(CapName, RetType, Parameters) \
+ using CapName##_func = RetType(*) Parameters; \
+ CapName##_func CapName = nullptr
+
+ AvahiFunction(threaded_poll_new, AvahiThreadedPoll*, (void));
+ AvahiFunction(threaded_poll_free, void, (AvahiThreadedPoll*));
+ AvahiFunction(threaded_poll_get, const AvahiPoll*, (AvahiThreadedPoll*));
+ AvahiFunction(threaded_poll_start, int, (AvahiThreadedPoll*));
+ AvahiFunction(threaded_poll_stop, int, (AvahiThreadedPoll*));
+ AvahiFunction(threaded_poll_lock, int, (AvahiThreadedPoll*));
+ AvahiFunction(threaded_poll_unlock, int, (AvahiThreadedPoll*));
+
+ AvahiFunction(client_new, AvahiClient*,
+ (const AvahiPoll* poll_api, AvahiClientFlags flags,
+ AvahiClientCallback callback, void* userdata, int* error));
+ AvahiFunction(client_free, void, (AvahiClient*));
+
+ AvahiFunction(service_browser_new, AvahiServiceBrowser*,
+ (AvahiClient * client, AvahiIfIndex interface,
+ AvahiProtocol protocol, const char* type, const char* domain,
+ AvahiLookupFlags flags, AvahiServiceBrowserCallback callback,
+ void* userdata));
+
+ AvahiFunction(service_browser_free, int, (AvahiServiceBrowser*));
+
+ AvahiFunction(service_resolver_new, AvahiServiceResolver*,
+ (AvahiClient * client, AvahiIfIndex interface,
+ AvahiProtocol protocol, const char* name, const char* type,
+ const char* domain, AvahiProtocol aprotocol,
+ AvahiLookupFlags flags, AvahiServiceResolverCallback callback,
+ void* userdata));
+ AvahiFunction(service_resolver_free, int, (AvahiServiceResolver*));
+
+ AvahiFunction(entry_group_new, AvahiEntryGroup*,
+ (AvahiClient*, AvahiEntryGroupCallback, void*));
+ AvahiFunction(entry_group_free, int, (AvahiEntryGroup*));
+
+ AvahiFunction(entry_group_add_service_strlst, int,
+ (AvahiEntryGroup * group, AvahiIfIndex interface,
+ AvahiProtocol protocol, AvahiPublishFlags flags,
+ const char* name, const char* type, const char* domain,
+ const char* host, uint16_t port, AvahiStringList*));
+
+ AvahiFunction(entry_group_reset, int, (AvahiEntryGroup*));
+ AvahiFunction(entry_group_is_empty, int, (AvahiEntryGroup*));
+ AvahiFunction(entry_group_commit, int, (AvahiEntryGroup*));
+ AvahiFunction(entry_group_get_client, AvahiClient*, (AvahiEntryGroup*));
+
+ AvahiFunction(string_list_new_from_array, AvahiStringList*,
+ (const char** array, int len));
+ AvahiFunction(string_list_free, void, (AvahiStringList*));
+
+ AvahiFunction(service_browser_get_client, AvahiClient*,
+ (AvahiServiceBrowser*));
+
+ AvahiFunction(unescape_label, char*, (const char**, char*, size_t));
+ AvahiFunction(alternative_service_name, char*, (const char*));
+ AvahiFunction(free, void, (void*));
+
+ bool IsValid() const { return valid; }
+
+ static AvahiFunctionTable& Get();
+
+ private:
+ AvahiFunctionTable();
+ bool valid;
+};
+
+class AvahiThread {
+ private:
+ struct private_init {};
+
+ public:
+ explicit AvahiThread(const private_init&);
+ ~AvahiThread() noexcept;
+
+ void lock();
+ const AvahiPoll* GetPoll() const;
+ void unlock();
+
+ static std::shared_ptr<AvahiThread> Get();
+
+ private:
+ AvahiThreadedPoll* threadedPoll;
+ AvahiFunctionTable& table = AvahiFunctionTable::Get();
+};
+
+} // namespace wpi
diff --git a/third_party/allwpilib/wpiutil/src/main/native/linux/MulticastServiceAnnouncer.cpp b/third_party/allwpilib/wpiutil/src/main/native/linux/MulticastServiceAnnouncer.cpp
new file mode 100644
index 0000000..1a7af39
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/linux/MulticastServiceAnnouncer.cpp
@@ -0,0 +1,169 @@
+// 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 "wpi/MulticastServiceAnnouncer.h"
+
+#include <vector>
+
+#include "AvahiClient.h"
+#include "fmt/format.h"
+#include "wpi/mutex.h"
+
+using namespace wpi;
+
+struct MulticastServiceAnnouncer::Impl {
+ AvahiFunctionTable& table = AvahiFunctionTable::Get();
+ std::shared_ptr<AvahiThread> thread = AvahiThread::Get();
+ AvahiClient* client;
+ AvahiEntryGroup* group = nullptr;
+ std::string serviceName;
+ std::string serviceType;
+ int port;
+ AvahiStringList* stringList = nullptr;
+
+ ~Impl() noexcept {
+ if (stringList != nullptr && table.IsValid()) {
+ table.string_list_free(stringList);
+ }
+ }
+
+ template <typename T>
+ Impl(std::string_view serviceName, std::string_view serviceType, int port,
+ wpi::span<const std::pair<T, T>> txt);
+};
+
+template <typename T>
+MulticastServiceAnnouncer::Impl::Impl(std::string_view serviceName,
+ std::string_view serviceType, int port,
+ wpi::span<const std::pair<T, T>> txt) {
+ if (!this->table.IsValid()) {
+ return;
+ }
+
+ this->serviceName = serviceName;
+ this->serviceType = serviceType;
+ this->port = port;
+
+ std::vector<std::string> txts;
+ for (auto&& i : txt) {
+ txts.push_back(fmt::format("{}={}", i.first, i.second));
+ }
+
+ std::vector<const char*> txtArr;
+ for (auto&& i : txts) {
+ txtArr.push_back(i.c_str());
+ }
+
+ this->stringList =
+ this->table.string_list_new_from_array(txtArr.data(), txtArr.size());
+}
+
+static void RegisterService(AvahiClient* client,
+ MulticastServiceAnnouncer::Impl* impl);
+
+static void EntryGroupCallback(AvahiEntryGroup* group,
+ AvahiEntryGroupState state, void* userdata) {
+ if (state == AVAHI_ENTRY_GROUP_COLLISION) {
+ // Remote collision
+ MulticastServiceAnnouncer::Impl* impl =
+ reinterpret_cast<MulticastServiceAnnouncer::Impl*>(userdata);
+ char* newName =
+ impl->table.alternative_service_name(impl->serviceName.c_str());
+ impl->serviceName = newName;
+ impl->table.free(newName);
+ RegisterService(impl->table.entry_group_get_client(group), impl);
+ }
+}
+
+static void RegisterService(AvahiClient* client,
+ MulticastServiceAnnouncer::Impl* impl) {
+ if (impl->group == nullptr) {
+ impl->group = impl->table.entry_group_new(client, EntryGroupCallback, impl);
+ }
+
+ while (true) {
+ if (impl->table.entry_group_is_empty(impl->group)) {
+ auto ret = impl->table.entry_group_add_service_strlst(
+ impl->group, AVAHI_IF_UNSPEC, AVAHI_PROTO_UNSPEC,
+ AVAHI_PUBLISH_USE_MULTICAST, impl->serviceName.c_str(),
+ impl->serviceType.c_str(), "local", nullptr, impl->port,
+ impl->stringList);
+ if (ret == AVAHI_ERR_COLLISION) {
+ // Local collision
+ char* newName =
+ impl->table.alternative_service_name(impl->serviceName.c_str());
+ impl->serviceName = newName;
+ impl->table.free(newName);
+ continue;
+ } else if (ret != AVAHI_OK) {
+ break;
+ }
+ impl->table.entry_group_commit(impl->group);
+ break;
+ }
+ }
+}
+
+static void ClientCallback(AvahiClient* client, AvahiClientState state,
+ void* userdata) {
+ MulticastServiceAnnouncer::Impl* impl =
+ reinterpret_cast<MulticastServiceAnnouncer::Impl*>(userdata);
+
+ if (state == AVAHI_CLIENT_S_RUNNING) {
+ RegisterService(client, impl);
+ } else if (state == AVAHI_CLIENT_S_COLLISION ||
+ state == AVAHI_CLIENT_S_REGISTERING) {
+ if (impl->group) {
+ impl->table.entry_group_reset(impl->group);
+ }
+ }
+}
+
+MulticastServiceAnnouncer::MulticastServiceAnnouncer(
+ std::string_view serviceName, std::string_view serviceType, int port,
+ wpi::span<const std::pair<std::string, std::string>> txt) {
+ pImpl = std::make_unique<Impl>(serviceName, serviceType, port, txt);
+}
+
+MulticastServiceAnnouncer::MulticastServiceAnnouncer(
+ std::string_view serviceName, std::string_view serviceType, int port,
+ wpi::span<const std::pair<std::string_view, std::string_view>> txt) {
+ pImpl = std::make_unique<Impl>(serviceName, serviceType, port, txt);
+}
+
+MulticastServiceAnnouncer::~MulticastServiceAnnouncer() noexcept {
+ Stop();
+}
+
+bool MulticastServiceAnnouncer::HasImplementation() const {
+ return pImpl->table.IsValid();
+}
+
+void MulticastServiceAnnouncer::Start() {
+ if (!pImpl->table.IsValid()) {
+ return;
+ }
+ std::scoped_lock lock{*pImpl->thread};
+ if (pImpl->client) {
+ return;
+ }
+ pImpl->client =
+ pImpl->table.client_new(pImpl->thread->GetPoll(), AVAHI_CLIENT_NO_FAIL,
+ ClientCallback, pImpl.get(), nullptr);
+}
+
+void MulticastServiceAnnouncer::Stop() {
+ if (!pImpl->table.IsValid()) {
+ return;
+ }
+ std::scoped_lock lock{*pImpl->thread};
+ if (pImpl->client) {
+ if (pImpl->group) {
+ pImpl->table.entry_group_free(pImpl->group);
+ pImpl->group = nullptr;
+ }
+ pImpl->table.client_free(pImpl->client);
+ pImpl->client = nullptr;
+ }
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/linux/MulticastServiceResolver.cpp b/third_party/allwpilib/wpiutil/src/main/native/linux/MulticastServiceResolver.cpp
new file mode 100644
index 0000000..6585443
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/linux/MulticastServiceResolver.cpp
@@ -0,0 +1,149 @@
+// 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 "wpi/MulticastServiceResolver.h"
+
+#include "AvahiClient.h"
+#include "wpi/SmallString.h"
+#include "wpi/StringExtras.h"
+#include "wpi/mutex.h"
+
+using namespace wpi;
+
+struct MulticastServiceResolver::Impl {
+ AvahiFunctionTable& table = AvahiFunctionTable::Get();
+ std::shared_ptr<AvahiThread> thread = AvahiThread::Get();
+ AvahiClient* client;
+ AvahiServiceBrowser* browser;
+ std::string serviceType;
+ MulticastServiceResolver* resolver;
+
+ void onFound(ServiceData&& data) {
+ resolver->PushData(std::forward<ServiceData>(data));
+ }
+};
+
+MulticastServiceResolver::MulticastServiceResolver(
+ std::string_view serviceType) {
+ pImpl = std::make_unique<Impl>();
+ pImpl->serviceType = serviceType;
+ pImpl->resolver = this;
+}
+
+MulticastServiceResolver::~MulticastServiceResolver() noexcept {
+ Stop();
+}
+
+bool MulticastServiceResolver::HasImplementation() const {
+ return pImpl->table.IsValid();
+}
+
+static void ResolveCallback(AvahiServiceResolver* r, AvahiIfIndex interface,
+ AvahiProtocol protocol, AvahiResolverEvent event,
+ const char* name, const char* type,
+ const char* domain, const char* host_name,
+ const AvahiAddress* address, uint16_t port,
+ AvahiStringList* txt, AvahiLookupResultFlags flags,
+ void* userdata) {
+ MulticastServiceResolver::Impl* impl =
+ reinterpret_cast<MulticastServiceResolver::Impl*>(userdata);
+
+ if (event == AVAHI_RESOLVER_FOUND) {
+ if (address->proto == AVAHI_PROTO_INET) {
+ AvahiStringList* strLst = txt;
+ MulticastServiceResolver::ServiceData data;
+ while (strLst != nullptr) {
+ std::string_view value{reinterpret_cast<const char*>(strLst->text),
+ strLst->size};
+ strLst = strLst->next;
+ size_t splitIndex = value.find('=');
+ if (splitIndex == value.npos) {
+ // Todo make this just do key
+ continue;
+ }
+ std::string_view key = wpi::substr(value, 0, splitIndex);
+ value =
+ wpi::substr(value, splitIndex + 1, value.size() - splitIndex - 1);
+ data.txt.emplace_back(std::pair<std::string, std::string>{key, value});
+ }
+ wpi::SmallString<256> outputHostName;
+ char label[256];
+ do {
+ impl->table.unescape_label(&host_name, label, sizeof(label));
+ if (label[0] == '\0') {
+ break;
+ }
+ outputHostName.append(label);
+ outputHostName.append(".");
+ } while (true);
+
+ data.ipv4Address = address->data.ipv4.address;
+ data.port = port;
+ data.serviceName = name;
+ data.hostName = outputHostName.string();
+
+ impl->onFound(std::move(data));
+ }
+ }
+
+ impl->table.service_resolver_free(r);
+}
+
+static void BrowseCallback(AvahiServiceBrowser* b, AvahiIfIndex interface,
+ AvahiProtocol protocol, AvahiBrowserEvent event,
+ const char* name, const char* type,
+ const char* domain, AvahiLookupResultFlags flags,
+ void* userdata) {
+ MulticastServiceResolver::Impl* impl =
+ reinterpret_cast<MulticastServiceResolver::Impl*>(userdata);
+
+ if (event == AVAHI_BROWSER_NEW) {
+ impl->table.service_resolver_new(
+ impl->table.service_browser_get_client(b), interface, protocol, name,
+ type, domain, AVAHI_PROTO_UNSPEC, AVAHI_LOOKUP_USE_MULTICAST,
+ ResolveCallback, userdata);
+ }
+}
+
+static void ClientCallback(AvahiClient* client, AvahiClientState state,
+ void* userdata) {
+ MulticastServiceResolver::Impl* impl =
+ reinterpret_cast<MulticastServiceResolver::Impl*>(userdata);
+
+ if (state == AVAHI_CLIENT_S_RUNNING) {
+ impl->browser = impl->table.service_browser_new(
+ client, AVAHI_IF_UNSPEC, AVAHI_PROTO_UNSPEC, impl->serviceType.c_str(),
+ "local", AvahiLookupFlags::AVAHI_LOOKUP_USE_MULTICAST, BrowseCallback,
+ userdata);
+ }
+}
+
+void MulticastServiceResolver::Start() {
+ if (!pImpl->table.IsValid()) {
+ return;
+ }
+ std::scoped_lock lock{*pImpl->thread};
+ if (pImpl->client) {
+ return;
+ }
+
+ pImpl->client =
+ pImpl->table.client_new(pImpl->thread->GetPoll(), AVAHI_CLIENT_NO_FAIL,
+ ClientCallback, pImpl.get(), nullptr);
+}
+
+void MulticastServiceResolver::Stop() {
+ if (!pImpl->table.IsValid()) {
+ return;
+ }
+ std::scoped_lock lock{*pImpl->thread};
+ if (pImpl->client) {
+ if (pImpl->browser) {
+ pImpl->table.service_browser_free(pImpl->browser);
+ pImpl->browser = nullptr;
+ }
+ pImpl->table.client_free(pImpl->client);
+ pImpl->client = nullptr;
+ }
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/macOS/MulticastServiceAnnouncer.cpp b/third_party/allwpilib/wpiutil/src/main/native/macOS/MulticastServiceAnnouncer.cpp
new file mode 100644
index 0000000..ad2ff48
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/macOS/MulticastServiceAnnouncer.cpp
@@ -0,0 +1,86 @@
+// 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 "wpi/MulticastServiceAnnouncer.h"
+
+#include <wpi/SmallString.h>
+
+#include "dns_sd.h"
+
+using namespace wpi;
+
+struct MulticastServiceAnnouncer::Impl {
+ std::string serviceName;
+ std::string serviceType;
+ int port;
+ DNSServiceRef serviceRef{nullptr};
+ TXTRecordRef txtRecord;
+
+ Impl() { TXTRecordCreate(&txtRecord, 0, nullptr); }
+
+ ~Impl() noexcept { TXTRecordDeallocate(&txtRecord); }
+};
+
+MulticastServiceAnnouncer::MulticastServiceAnnouncer(
+ std::string_view serviceName, std::string_view serviceType, int port,
+ wpi::span<const std::pair<std::string, std::string>> txt) {
+ pImpl = std::make_unique<Impl>();
+ pImpl->serviceName = serviceName;
+ pImpl->serviceType = serviceType;
+ pImpl->port = port;
+
+ for (auto&& i : txt) {
+ TXTRecordSetValue(&pImpl->txtRecord, i.first.c_str(), i.second.length(),
+ i.second.c_str());
+ }
+}
+
+MulticastServiceAnnouncer::MulticastServiceAnnouncer(
+ std::string_view serviceName, std::string_view serviceType, int port,
+ wpi::span<const std::pair<std::string_view, std::string_view>> txt) {
+ pImpl = std::make_unique<Impl>();
+ pImpl->serviceName = serviceName;
+ pImpl->serviceType = serviceType;
+ pImpl->port = port;
+
+ wpi::SmallString<64> key;
+
+ for (auto&& i : txt) {
+ key.clear();
+ key.append(i.first);
+ key.emplace_back('\0');
+
+ TXTRecordSetValue(&pImpl->txtRecord, key.data(), i.second.length(),
+ i.second.data());
+ }
+}
+
+MulticastServiceAnnouncer::~MulticastServiceAnnouncer() noexcept {
+ Stop();
+}
+
+bool MulticastServiceAnnouncer::HasImplementation() const {
+ return true;
+}
+
+void MulticastServiceAnnouncer::Start() {
+ if (pImpl->serviceRef) {
+ return;
+ }
+
+ uint16_t len = TXTRecordGetLength(&pImpl->txtRecord);
+ const void* ptr = TXTRecordGetBytesPtr(&pImpl->txtRecord);
+
+ (void)DNSServiceRegister(&pImpl->serviceRef, 0, 0, pImpl->serviceName.c_str(),
+ pImpl->serviceType.c_str(), "local", nullptr,
+ htons(pImpl->port), len, ptr, nullptr, nullptr);
+}
+
+void MulticastServiceAnnouncer::Stop() {
+ if (!pImpl->serviceRef) {
+ return;
+ }
+ DNSServiceRefDeallocate(pImpl->serviceRef);
+ pImpl->serviceRef = nullptr;
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/macOS/MulticastServiceResolver.cpp b/third_party/allwpilib/wpiutil/src/main/native/macOS/MulticastServiceResolver.cpp
new file mode 100644
index 0000000..4af8cad
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/macOS/MulticastServiceResolver.cpp
@@ -0,0 +1,213 @@
+// 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 "wpi/MulticastServiceResolver.h"
+
+#include <netinet/in.h>
+#include <poll.h>
+
+#include <atomic>
+#include <thread>
+#include <vector>
+
+#include "ResolverThread.h"
+#include "dns_sd.h"
+#include "wpi/SmallVector.h"
+
+using namespace wpi;
+
+struct DnsResolveState {
+ DnsResolveState(MulticastServiceResolver::Impl* impl,
+ std::string_view serviceNameView)
+ : pImpl{impl} {
+ data.serviceName = serviceNameView;
+ }
+
+ DNSServiceRef ResolveRef = nullptr;
+ MulticastServiceResolver::Impl* pImpl;
+
+ MulticastServiceResolver::ServiceData data;
+};
+
+struct MulticastServiceResolver::Impl {
+ std::string serviceType;
+ MulticastServiceResolver* resolver;
+ std::shared_ptr<ResolverThread> thread = ResolverThread::Get();
+ std::vector<std::unique_ptr<DnsResolveState>> ResolveStates;
+ DNSServiceRef serviceRef = nullptr;
+
+ void onFound(ServiceData&& data) {
+ resolver->PushData(std::forward<ServiceData>(data));
+ }
+};
+
+MulticastServiceResolver::MulticastServiceResolver(
+ std::string_view serviceType) {
+ pImpl = std::make_unique<Impl>();
+ pImpl->serviceType = serviceType;
+ pImpl->resolver = this;
+}
+
+MulticastServiceResolver::~MulticastServiceResolver() noexcept {
+ Stop();
+}
+
+void ServiceGetAddrInfoReply(DNSServiceRef sdRef, DNSServiceFlags flags,
+ uint32_t interfaceIndex,
+ DNSServiceErrorType errorCode,
+ const char* hostname,
+ const struct sockaddr* address, uint32_t ttl,
+ void* context) {
+ if (errorCode != kDNSServiceErr_NoError) {
+ return;
+ }
+
+ DnsResolveState* resolveState = static_cast<DnsResolveState*>(context);
+
+ resolveState->data.hostName = hostname;
+ resolveState->data.ipv4Address =
+ reinterpret_cast<const struct sockaddr_in*>(address)->sin_addr.s_addr;
+
+ resolveState->pImpl->onFound(std::move(resolveState->data));
+
+ resolveState->pImpl->thread->RemoveServiceRefInThread(
+ resolveState->ResolveRef);
+
+ resolveState->pImpl->ResolveStates.erase(std::find_if(
+ resolveState->pImpl->ResolveStates.begin(),
+ resolveState->pImpl->ResolveStates.end(),
+ [resolveState](auto& a) { return a.get() == resolveState; }));
+}
+
+void ServiceResolveReply(DNSServiceRef sdRef, DNSServiceFlags flags,
+ uint32_t interfaceIndex, DNSServiceErrorType errorCode,
+ const char* fullname, const char* hosttarget,
+ uint16_t port, /* In network byte order */
+ uint16_t txtLen, const unsigned char* txtRecord,
+ void* context) {
+ if (errorCode != kDNSServiceErr_NoError) {
+ return;
+ }
+
+ DnsResolveState* resolveState = static_cast<DnsResolveState*>(context);
+ resolveState->pImpl->thread->RemoveServiceRefInThread(
+ resolveState->ResolveRef);
+ DNSServiceRefDeallocate(resolveState->ResolveRef);
+ resolveState->ResolveRef = nullptr;
+ resolveState->data.port = ntohs(port);
+
+ int txtCount = TXTRecordGetCount(txtLen, txtRecord);
+ char keyBuf[256];
+ uint8_t valueLen;
+ const void* value;
+
+ for (int i = 0; i < txtCount; i++) {
+ errorCode = TXTRecordGetItemAtIndex(txtLen, txtRecord, i, sizeof(keyBuf),
+ keyBuf, &valueLen, &value);
+ if (errorCode == kDNSServiceErr_NoError) {
+ if (valueLen == 0) {
+ // No value
+ resolveState->data.txt.emplace_back(
+ std::pair<std::string, std::string>{std::string{keyBuf}, {}});
+ } else {
+ resolveState->data.txt.emplace_back(std::pair<std::string, std::string>{
+ std::string{keyBuf},
+ std::string{reinterpret_cast<const char*>(value), valueLen}});
+ }
+ }
+ }
+
+ errorCode = DNSServiceGetAddrInfo(
+ &resolveState->ResolveRef, flags, interfaceIndex,
+ kDNSServiceProtocol_IPv4, hosttarget, ServiceGetAddrInfoReply, context);
+
+ if (errorCode == kDNSServiceErr_NoError) {
+ dnssd_sock_t socket = DNSServiceRefSockFD(resolveState->ResolveRef);
+ resolveState->pImpl->thread->AddServiceRef(resolveState->ResolveRef,
+ socket);
+ } else {
+ resolveState->pImpl->thread->RemoveServiceRefInThread(
+ resolveState->ResolveRef);
+ resolveState->pImpl->ResolveStates.erase(std::find_if(
+ resolveState->pImpl->ResolveStates.begin(),
+ resolveState->pImpl->ResolveStates.end(),
+ [resolveState](auto& a) { return a.get() == resolveState; }));
+ }
+}
+
+static void DnsCompletion(DNSServiceRef sdRef, DNSServiceFlags flags,
+ uint32_t interfaceIndex,
+ DNSServiceErrorType errorCode,
+ const char* serviceName, const char* regtype,
+ const char* replyDomain, void* context) {
+ if (errorCode != kDNSServiceErr_NoError) {
+ return;
+ }
+ if (!(flags & kDNSServiceFlagsAdd)) {
+ return;
+ }
+
+ MulticastServiceResolver::Impl* impl =
+ static_cast<MulticastServiceResolver::Impl*>(context);
+ auto& resolveState = impl->ResolveStates.emplace_back(
+ std::make_unique<DnsResolveState>(impl, serviceName));
+
+ errorCode = DNSServiceResolve(&resolveState->ResolveRef, 0, interfaceIndex,
+ serviceName, regtype, replyDomain,
+ ServiceResolveReply, resolveState.get());
+
+ if (errorCode == kDNSServiceErr_NoError) {
+ dnssd_sock_t socket = DNSServiceRefSockFD(resolveState->ResolveRef);
+ resolveState->pImpl->thread->AddServiceRef(resolveState->ResolveRef,
+ socket);
+ } else {
+ resolveState->pImpl->ResolveStates.erase(std::find_if(
+ resolveState->pImpl->ResolveStates.begin(),
+ resolveState->pImpl->ResolveStates.end(),
+ [r = resolveState.get()](auto& a) { return a.get() == r; }));
+ }
+}
+
+bool MulticastServiceResolver::HasImplementation() const {
+ return true;
+}
+
+void MulticastServiceResolver::Start() {
+ if (pImpl->serviceRef) {
+ return;
+ }
+
+ DNSServiceErrorType status =
+ DNSServiceBrowse(&pImpl->serviceRef, 0, 0, pImpl->serviceType.c_str(),
+ "local", DnsCompletion, pImpl.get());
+ if (status == kDNSServiceErr_NoError) {
+ dnssd_sock_t socket = DNSServiceRefSockFD(pImpl->serviceRef);
+ pImpl->thread->AddServiceRef(pImpl->serviceRef, socket);
+ }
+}
+
+void MulticastServiceResolver::Stop() {
+ if (!pImpl->serviceRef) {
+ return;
+ }
+ wpi::SmallVector<WPI_EventHandle, 8> cleanupEvents;
+ for (auto&& i : pImpl->ResolveStates) {
+ cleanupEvents.push_back(
+ pImpl->thread->RemoveServiceRefOutsideThread(i->ResolveRef));
+ }
+ cleanupEvents.push_back(
+ pImpl->thread->RemoveServiceRefOutsideThread(pImpl->serviceRef));
+ wpi::SmallVector<WPI_Handle, 8> signaledBuf;
+ signaledBuf.resize(cleanupEvents.size());
+ while (!cleanupEvents.empty()) {
+ auto signaled = wpi::WaitForObjects(cleanupEvents, signaledBuf);
+ for (auto&& s : signaled) {
+ cleanupEvents.erase(
+ std::find(cleanupEvents.begin(), cleanupEvents.end(), s));
+ }
+ }
+
+ pImpl->ResolveStates.clear();
+ pImpl->serviceRef = nullptr;
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/macOS/ResolverThread.cpp b/third_party/allwpilib/wpiutil/src/main/native/macOS/ResolverThread.cpp
new file mode 100644
index 0000000..b91d6b6
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/macOS/ResolverThread.cpp
@@ -0,0 +1,109 @@
+// 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 "ResolverThread.h"
+
+#include "wpi/mutex.h"
+
+using namespace wpi;
+
+ResolverThread::ResolverThread(const private_init&) {}
+
+ResolverThread::~ResolverThread() noexcept {
+ running = false;
+ if (thread.joinable()) {
+ thread.join();
+ }
+}
+
+void ResolverThread::AddServiceRef(DNSServiceRef serviceRef,
+ dnssd_sock_t socket) {
+ std::scoped_lock lock{serviceRefMutex};
+ serviceRefs.emplace_back(
+ std::pair<DNSServiceRef, dnssd_sock_t>{serviceRef, socket});
+ if (serviceRefs.size() == 1) {
+ running = false;
+ if (thread.joinable()) {
+ thread.join();
+ }
+ running = true;
+ thread = std::thread([=] { ThreadMain(); });
+ }
+}
+
+void ResolverThread::RemoveServiceRefInThread(DNSServiceRef serviceRef) {
+ std::scoped_lock lock{serviceRefMutex};
+ serviceRefs.erase(
+ std::find_if(serviceRefs.begin(), serviceRefs.end(),
+ [=](auto& a) { return a.first == serviceRef; }));
+ DNSServiceRefDeallocate(serviceRef);
+}
+
+WPI_EventHandle ResolverThread::RemoveServiceRefOutsideThread(
+ DNSServiceRef serviceRef) {
+ std::scoped_lock lock{serviceRefMutex};
+ WPI_EventHandle handle = CreateEvent(true);
+ serviceRefsToRemove.push_back({serviceRef, handle});
+ return handle;
+}
+
+bool ResolverThread::CleanupRefs() {
+ std::scoped_lock lock{serviceRefMutex};
+ for (auto&& r : serviceRefsToRemove) {
+ serviceRefs.erase(
+ std::find_if(serviceRefs.begin(), serviceRefs.end(),
+ [=](auto& a) { return a.first == r.first; }));
+ DNSServiceRefDeallocate(r.first);
+ wpi::SetEvent(r.second);
+ }
+ serviceRefsToRemove.clear();
+ return serviceRefs.empty();
+}
+
+void ResolverThread::ThreadMain() {
+ std::vector<pollfd> readSockets;
+ std::vector<DNSServiceRef> serviceRefs;
+
+ while (running) {
+ readSockets.clear();
+ serviceRefs.clear();
+
+ for (auto&& i : this->serviceRefs) {
+ readSockets.emplace_back(pollfd{i.second, POLLIN, 0});
+ serviceRefs.emplace_back(i.first);
+ }
+
+ int res = poll(readSockets.begin().base(), readSockets.size(), 100);
+
+ if (res > 0) {
+ for (size_t i = 0; i < readSockets.size(); i++) {
+ if (readSockets[i].revents == POLLIN) {
+ DNSServiceProcessResult(serviceRefs[i]);
+ }
+ }
+ } else if (res == 0) {
+ if (!running) {
+ CleanupRefs();
+ break;
+ }
+ }
+
+ if (CleanupRefs()) {
+ break;
+ }
+ }
+}
+
+static wpi::mutex ThreadLoopLock;
+static std::weak_ptr<ResolverThread> ThreadLoop;
+
+std::shared_ptr<ResolverThread> ResolverThread::Get() {
+ std::scoped_lock lock{ThreadLoopLock};
+ auto locked = ThreadLoop.lock();
+ if (!locked) {
+ locked = std::make_unique<ResolverThread>(private_init{});
+ ThreadLoop = locked;
+ }
+ return locked;
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/macOS/ResolverThread.h b/third_party/allwpilib/wpiutil/src/main/native/macOS/ResolverThread.h
new file mode 100644
index 0000000..0162de5
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/macOS/ResolverThread.h
@@ -0,0 +1,45 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <netinet/in.h>
+#include <poll.h>
+
+#include <atomic>
+#include <memory>
+#include <thread>
+#include <utility>
+#include <vector>
+
+#include "dns_sd.h"
+#include "wpi/Synchronization.h"
+#include "wpi/mutex.h"
+
+namespace wpi {
+class ResolverThread {
+ private:
+ struct private_init {};
+
+ public:
+ explicit ResolverThread(const private_init&);
+ ~ResolverThread() noexcept;
+
+ void AddServiceRef(DNSServiceRef serviceRef, dnssd_sock_t socket);
+ void RemoveServiceRefInThread(DNSServiceRef serviceRef);
+ WPI_EventHandle RemoveServiceRefOutsideThread(DNSServiceRef serviceRef);
+
+ static std::shared_ptr<ResolverThread> Get();
+
+ private:
+ void ThreadMain();
+ bool CleanupRefs();
+
+ wpi::mutex serviceRefMutex;
+ std::vector<std::pair<DNSServiceRef, WPI_EventHandle>> serviceRefsToRemove;
+ std::vector<std::pair<DNSServiceRef, dnssd_sock_t>> serviceRefs;
+ std::thread thread;
+ std::atomic_bool running;
+};
+} // namespace wpi
diff --git a/third_party/allwpilib/wpiutil/src/main/native/unix/StackTrace.cpp b/third_party/allwpilib/wpiutil/src/main/native/unix/StackTrace.cpp
index 598c9da..3b66065 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/unix/StackTrace.cpp
+++ b/third_party/allwpilib/wpiutil/src/main/native/unix/StackTrace.cpp
@@ -13,7 +13,7 @@
namespace wpi {
-std::string GetStackTrace(int offset) {
+std::string GetStackTraceDefault(int offset) {
void* stackTrace[128];
int stackSize = backtrace(stackTrace, 128);
char** mangledSymbols = backtrace_symbols(stackTrace, stackSize);
diff --git a/third_party/allwpilib/wpiutil/src/main/native/windows/DynamicDns.cpp b/third_party/allwpilib/wpiutil/src/main/native/windows/DynamicDns.cpp
new file mode 100644
index 0000000..c59d554
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/windows/DynamicDns.cpp
@@ -0,0 +1,41 @@
+// 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 "DynamicDns.h"
+
+using namespace wpi;
+
+DynamicDns& DynamicDns::GetDynamicDns() {
+ static DynamicDns dns;
+ return dns;
+}
+
+DynamicDns::DynamicDns() {
+ HMODULE library = LoadLibraryW(L"dnsapi");
+
+ if (library == nullptr) {
+ return;
+ }
+
+ DnsServiceFreeInstancePtr = (DnsServiceFreeInstanceFunc)GetProcAddress(
+ library, "DnsServiceFreeInstance");
+ DnsServiceConstructInstancePtr =
+ (DnsServiceConstructInstanceFunc)GetProcAddress(
+ library, "DnsServiceConstructInstance");
+ DnsServiceRegisterPtr =
+ (DnsServiceRegisterFunc)GetProcAddress(library, "DnsServiceRegister");
+ DnsServiceDeRegisterPtr =
+ (DnsServiceDeRegisterFunc)GetProcAddress(library, "DnsServiceDeRegister");
+
+ CanDnsAnnounce = DnsServiceFreeInstancePtr &&
+ DnsServiceConstructInstancePtr && DnsServiceRegisterPtr &&
+ DnsServiceDeRegisterPtr;
+
+ DnsServiceBrowsePtr =
+ (DnsServiceBrowseFunc)GetProcAddress(library, "DnsServiceBrowse");
+ DnsServiceBrowseCancelPtr = (DnsServiceBrowseCancelFunc)GetProcAddress(
+ library, "DnsServiceBrowseCancel");
+
+ CanDnsResolve = DnsServiceBrowsePtr && DnsServiceBrowseCancelPtr;
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/windows/DynamicDns.h b/third_party/allwpilib/wpiutil/src/main/native/windows/DynamicDns.h
new file mode 100644
index 0000000..c8bee04
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/windows/DynamicDns.h
@@ -0,0 +1,59 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#ifndef UNICODE
+#define UNICODE
+#endif
+
+#include <windows.h>
+
+#include <WinDNS.h>
+
+namespace wpi {
+class DynamicDns {
+ public:
+ using DnsServiceFreeInstanceFunc =
+ VOID(WINAPI*)(_In_ PDNS_SERVICE_INSTANCE pInstance);
+
+ using DnsServiceConstructInstanceFunc = PDNS_SERVICE_INSTANCE(WINAPI*)(
+ _In_ PCWSTR pServiceName, _In_ PCWSTR pHostName,
+ _In_opt_ PIP4_ADDRESS pIp4, _In_opt_ PIP6_ADDRESS pIp6, _In_ WORD wPort,
+ _In_ WORD wPriority, _In_ WORD wWeight, _In_ DWORD dwPropertiesCount,
+ _In_reads_(dwPropertiesCount) PCWSTR* keys,
+ _In_reads_(dwPropertiesCount) PCWSTR* values);
+
+ using DnsServiceRegisterFunc =
+ DWORD(WINAPI*)(_In_ PDNS_SERVICE_REGISTER_REQUEST pRequest,
+ _Inout_opt_ PDNS_SERVICE_CANCEL pCancel);
+
+ using DnsServiceDeRegisterFunc =
+ DWORD(WINAPI*)(_In_ PDNS_SERVICE_REGISTER_REQUEST pRequest,
+ _Inout_opt_ PDNS_SERVICE_CANCEL pCancel);
+
+ using DnsServiceBrowseFunc =
+ DNS_STATUS(WINAPI*)(_In_ PDNS_SERVICE_BROWSE_REQUEST pRequest,
+ _Inout_ PDNS_SERVICE_CANCEL pCancel);
+
+ using DnsServiceBrowseCancelFunc =
+ DNS_STATUS(WINAPI*)(_In_ PDNS_SERVICE_CANCEL pCancelHandle);
+
+ DnsServiceBrowseFunc DnsServiceBrowsePtr{nullptr};
+ DnsServiceBrowseCancelFunc DnsServiceBrowseCancelPtr{nullptr};
+
+ DnsServiceFreeInstanceFunc DnsServiceFreeInstancePtr{nullptr};
+ DnsServiceConstructInstanceFunc DnsServiceConstructInstancePtr{nullptr};
+ DnsServiceRegisterFunc DnsServiceRegisterPtr{nullptr};
+ DnsServiceDeRegisterFunc DnsServiceDeRegisterPtr{nullptr};
+
+ bool CanDnsAnnounce{false};
+ bool CanDnsResolve{false};
+
+ static DynamicDns& GetDynamicDns();
+
+ private:
+ DynamicDns();
+};
+} // namespace wpi
diff --git a/third_party/allwpilib/wpiutil/src/main/native/windows/MulticastServiceAnnouncer.cpp b/third_party/allwpilib/wpiutil/src/main/native/windows/MulticastServiceAnnouncer.cpp
new file mode 100644
index 0000000..2327b8b
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/windows/MulticastServiceAnnouncer.cpp
@@ -0,0 +1,212 @@
+// 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.
+
+#ifndef UNICODE
+#define UNICODE
+#endif
+
+#include "wpi/MulticastServiceAnnouncer.h"
+
+#include <string>
+#include <vector>
+
+#include "DynamicDns.h"
+#include "wpi/ConvertUTF.h"
+#include "wpi/SmallString.h"
+#include "wpi/SmallVector.h"
+#include "wpi/StringExtras.h"
+#include "wpi/hostname.h"
+
+using namespace wpi;
+
+struct ImplBase {
+ wpi::DynamicDns& dynamicDns = wpi::DynamicDns::GetDynamicDns();
+ PDNS_SERVICE_INSTANCE serviceInstance = nullptr;
+ HANDLE event = nullptr;
+};
+
+struct MulticastServiceAnnouncer::Impl : ImplBase {
+ std::wstring serviceType;
+ std::wstring serviceInstanceName;
+ std::wstring hostName;
+ int port;
+ std::vector<std::wstring> keys;
+ std::vector<PCWSTR> keyPtrs;
+ std::vector<std::wstring> values;
+ std::vector<PCWSTR> valuePtrs;
+
+ template <typename T>
+ Impl(std::string_view serviceName, std::string_view serviceType, int port,
+ wpi::span<const std::pair<T, T>> txt);
+};
+
+template <typename T>
+MulticastServiceAnnouncer::Impl::Impl(std::string_view serviceName,
+ std::string_view serviceType, int port,
+ wpi::span<const std::pair<T, T>> txt) {
+ if (!dynamicDns.CanDnsAnnounce) {
+ return;
+ }
+
+ this->port = port;
+
+ wpi::SmallVector<wchar_t, 128> wideStorage;
+ std::string hostName = wpi::GetHostname() + ".local";
+
+ for (auto&& i : txt) {
+ wideStorage.clear();
+ wpi::sys::windows::UTF8ToUTF16(i.first, wideStorage);
+ this->keys.emplace_back(
+ std::wstring{wideStorage.data(), wideStorage.size()});
+ wideStorage.clear();
+ wpi::sys::windows::UTF8ToUTF16(i.second, wideStorage);
+ this->values.emplace_back(
+ std::wstring{wideStorage.data(), wideStorage.size()});
+ }
+
+ for (size_t i = 0; i < this->keys.size(); i++) {
+ this->keyPtrs.emplace_back(this->keys[i].c_str());
+ this->valuePtrs.emplace_back(this->values[i].c_str());
+ }
+
+ wpi::SmallString<128> storage;
+
+ wideStorage.clear();
+ wpi::sys::windows::UTF8ToUTF16(hostName, wideStorage);
+
+ this->hostName = std::wstring{wideStorage.data(), wideStorage.size()};
+
+ wideStorage.clear();
+ if (wpi::ends_with_lower(serviceType, ".local")) {
+ wpi::sys::windows::UTF8ToUTF16(serviceType, wideStorage);
+ } else {
+ storage.clear();
+ storage.append(serviceType);
+ storage.append(".local");
+ wpi::sys::windows::UTF8ToUTF16(storage.str(), wideStorage);
+ }
+ this->serviceType = std::wstring{wideStorage.data(), wideStorage.size()};
+
+ wideStorage.clear();
+ storage.clear();
+ storage.append(serviceName);
+ storage.append(".");
+ storage.append(serviceType);
+ if (!wpi::ends_with_lower(serviceType, ".local")) {
+ storage.append(".local");
+ }
+
+ wpi::sys::windows::UTF8ToUTF16(storage.str(), wideStorage);
+ this->serviceInstanceName =
+ std::wstring{wideStorage.data(), wideStorage.size()};
+}
+
+MulticastServiceAnnouncer::MulticastServiceAnnouncer(
+ std::string_view serviceName, std::string_view serviceType, int port,
+ wpi::span<const std::pair<std::string, std::string>> txt) {
+ pImpl = std::make_unique<Impl>(serviceName, serviceType, port, txt);
+}
+
+MulticastServiceAnnouncer::MulticastServiceAnnouncer(
+ std::string_view serviceName, std::string_view serviceType, int port,
+ wpi::span<const std::pair<std::string_view, std::string_view>> txt) {
+ pImpl = std::make_unique<Impl>(serviceName, serviceType, port, txt);
+}
+
+MulticastServiceAnnouncer::~MulticastServiceAnnouncer() noexcept {
+ Stop();
+}
+
+bool MulticastServiceAnnouncer::HasImplementation() const {
+ return pImpl->dynamicDns.CanDnsAnnounce;
+}
+
+static void WINAPI DnsServiceRegisterCallback(DWORD /*Status*/,
+ PVOID pQueryContext,
+ PDNS_SERVICE_INSTANCE pInstance) {
+ ImplBase* impl = reinterpret_cast<ImplBase*>(pQueryContext);
+
+ impl->serviceInstance = pInstance;
+
+ SetEvent(impl->event);
+}
+
+void MulticastServiceAnnouncer::Start() {
+ if (pImpl->serviceInstance) {
+ return;
+ }
+
+ if (!pImpl->dynamicDns.CanDnsAnnounce) {
+ return;
+ }
+
+ PDNS_SERVICE_INSTANCE serviceInst =
+ pImpl->dynamicDns.DnsServiceConstructInstancePtr(
+ pImpl->serviceInstanceName.c_str(), pImpl->hostName.c_str(), nullptr,
+ nullptr, pImpl->port, 0, 0, static_cast<DWORD>(pImpl->keyPtrs.size()),
+ pImpl->keyPtrs.data(), pImpl->valuePtrs.data());
+ if (serviceInst == nullptr) {
+ return;
+ }
+
+ DNS_SERVICE_REGISTER_REQUEST registerRequest = {};
+ registerRequest.pQueryContext = static_cast<ImplBase*>(pImpl.get());
+ registerRequest.pRegisterCompletionCallback = DnsServiceRegisterCallback;
+ registerRequest.Version = DNS_QUERY_REQUEST_VERSION1;
+ registerRequest.unicastEnabled = false;
+ registerRequest.pServiceInstance = serviceInst;
+ registerRequest.InterfaceIndex = 0;
+
+ pImpl->event = CreateEvent(NULL, true, false, NULL);
+
+ if (pImpl->dynamicDns.DnsServiceRegisterPtr(®isterRequest, nullptr) ==
+ DNS_REQUEST_PENDING) {
+ WaitForSingleObject(pImpl->event, INFINITE);
+ }
+
+ pImpl->dynamicDns.DnsServiceFreeInstancePtr(serviceInst);
+ CloseHandle(pImpl->event);
+ pImpl->event = nullptr;
+}
+
+static void WINAPI DnsServiceDeRegisterCallback(
+ DWORD /*Status*/, PVOID pQueryContext, PDNS_SERVICE_INSTANCE pInstance) {
+ ImplBase* impl = reinterpret_cast<ImplBase*>(pQueryContext);
+
+ if (pInstance != nullptr) {
+ impl->dynamicDns.DnsServiceFreeInstancePtr(pInstance);
+ pInstance = nullptr;
+ }
+
+ SetEvent(impl->event);
+}
+
+void MulticastServiceAnnouncer::Stop() {
+ if (!pImpl->dynamicDns.CanDnsAnnounce) {
+ return;
+ }
+
+ if (pImpl->serviceInstance == nullptr) {
+ return;
+ }
+
+ pImpl->event = CreateEvent(NULL, true, false, NULL);
+ DNS_SERVICE_REGISTER_REQUEST registerRequest = {};
+ registerRequest.pQueryContext = static_cast<ImplBase*>(pImpl.get());
+ registerRequest.pRegisterCompletionCallback = DnsServiceDeRegisterCallback;
+ registerRequest.Version = DNS_QUERY_REQUEST_VERSION1;
+ registerRequest.unicastEnabled = false;
+ registerRequest.pServiceInstance = pImpl->serviceInstance;
+ registerRequest.InterfaceIndex = 0;
+
+ if (pImpl->dynamicDns.DnsServiceDeRegisterPtr(®isterRequest, nullptr) ==
+ DNS_REQUEST_PENDING) {
+ WaitForSingleObject(pImpl->event, INFINITE);
+ }
+
+ pImpl->dynamicDns.DnsServiceFreeInstancePtr(pImpl->serviceInstance);
+ pImpl->serviceInstance = nullptr;
+ CloseHandle(pImpl->event);
+ pImpl->event = nullptr;
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/windows/MulticastServiceResolver.cpp b/third_party/allwpilib/wpiutil/src/main/native/windows/MulticastServiceResolver.cpp
new file mode 100644
index 0000000..115b43f
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/main/native/windows/MulticastServiceResolver.cpp
@@ -0,0 +1,205 @@
+// 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.
+
+#ifndef UNICODE
+#define UNICODE
+#endif
+
+#include "wpi/MulticastServiceResolver.h"
+
+#include <string>
+
+#include "DynamicDns.h"
+#include "wpi/ConvertUTF.h"
+#include "wpi/SmallString.h"
+#include "wpi/SmallVector.h"
+#include "wpi/StringExtras.h"
+
+#pragma comment(lib, "dnsapi")
+
+using namespace wpi;
+
+struct MulticastServiceResolver::Impl {
+ wpi::DynamicDns& dynamicDns = wpi::DynamicDns::GetDynamicDns();
+ std::wstring serviceType;
+ DNS_SERVICE_CANCEL serviceCancel{nullptr};
+
+ MulticastServiceResolver* resolver;
+
+ void onFound(ServiceData&& data) {
+ resolver->PushData(std::forward<ServiceData>(data));
+ }
+};
+
+MulticastServiceResolver::MulticastServiceResolver(
+ std::string_view serviceType) {
+ pImpl = std::make_unique<Impl>();
+ pImpl->resolver = this;
+
+ if (!pImpl->dynamicDns.CanDnsResolve) {
+ return;
+ }
+
+ wpi::SmallVector<wchar_t, 128> wideStorage;
+
+ if (wpi::ends_with_lower(serviceType, ".local")) {
+ wpi::sys::windows::UTF8ToUTF16(serviceType, wideStorage);
+ } else {
+ wpi::SmallString<128> storage;
+ storage.append(serviceType);
+ storage.append(".local");
+ wpi::sys::windows::UTF8ToUTF16(storage.str(), wideStorage);
+ }
+ pImpl->serviceType = std::wstring{wideStorage.data(), wideStorage.size()};
+}
+
+MulticastServiceResolver::~MulticastServiceResolver() noexcept {
+ Stop();
+}
+
+bool MulticastServiceResolver::HasImplementation() const {
+ return pImpl->dynamicDns.CanDnsResolve;
+}
+
+static _Function_class_(DNS_QUERY_COMPLETION_ROUTINE) VOID WINAPI
+ DnsCompletion(_In_ PVOID pQueryContext,
+ _Inout_ PDNS_QUERY_RESULT pQueryResults) {
+ MulticastServiceResolver::Impl* impl =
+ reinterpret_cast<MulticastServiceResolver::Impl*>(pQueryContext);
+
+ wpi::SmallVector<DNS_RECORDW*, 4> PtrRecords;
+ wpi::SmallVector<DNS_RECORDW*, 4> SrvRecords;
+ wpi::SmallVector<DNS_RECORDW*, 4> TxtRecords;
+ wpi::SmallVector<DNS_RECORDW*, 4> ARecords;
+
+ {
+ DNS_RECORDW* current = pQueryResults->pQueryRecords;
+ while (current != nullptr) {
+ switch (current->wType) {
+ case DNS_TYPE_PTR:
+ PtrRecords.push_back(current);
+ break;
+ case DNS_TYPE_SRV:
+ SrvRecords.push_back(current);
+ break;
+ case DNS_TYPE_TEXT:
+ TxtRecords.push_back(current);
+ break;
+ case DNS_TYPE_A:
+ ARecords.push_back(current);
+ break;
+ }
+ current = current->pNext;
+ }
+ }
+
+ for (DNS_RECORDW* Ptr : PtrRecords) {
+ if (std::wstring_view{Ptr->pName} != impl->serviceType) {
+ continue;
+ }
+
+ std::wstring_view nameHost = Ptr->Data.Ptr.pNameHost;
+ DNS_RECORDW* foundSrv = nullptr;
+ for (DNS_RECORDW* Srv : SrvRecords) {
+ if (std::wstring_view{Srv->pName} == nameHost) {
+ foundSrv = Srv;
+ break;
+ }
+ }
+
+ if (!foundSrv) {
+ continue;
+ }
+
+ for (DNS_RECORDW* A : ARecords) {
+ if (std::wstring_view{A->pName} ==
+ std::wstring_view{foundSrv->Data.Srv.pNameTarget}) {
+ MulticastServiceResolver::ServiceData data;
+ wpi::SmallString<128> storage;
+ for (DNS_RECORDW* Txt : TxtRecords) {
+ if (std::wstring_view{Txt->pName} == nameHost) {
+ for (DWORD i = 0; i < Txt->Data.Txt.dwStringCount; i++) {
+ std::wstring_view wideView = Txt->Data.TXT.pStringArray[i];
+ size_t splitIndex = wideView.find(L'=');
+ if (splitIndex == wideView.npos) {
+ // Todo make this just do key
+ continue;
+ }
+ storage.clear();
+ wpi::span<const wpi::UTF16> wideStr{
+ reinterpret_cast<const wpi::UTF16*>(wideView.data()),
+ splitIndex};
+ wpi::convertUTF16ToUTF8String(wideStr, storage);
+ auto& pair = data.txt.emplace_back(
+ std::pair<std::string, std::string>{storage.string(), {}});
+ storage.clear();
+ wideStr = wpi::span<const wpi::UTF16>{
+ reinterpret_cast<const wpi::UTF16*>(wideView.data() +
+ splitIndex + 1),
+ wideView.size() - splitIndex - 1};
+ wpi::convertUTF16ToUTF8String(wideStr, storage);
+ pair.second = storage.string();
+ }
+ }
+ }
+
+ storage.clear();
+ wpi::span<const wpi::UTF16> wideHostName{
+ reinterpret_cast<const wpi::UTF16*>(A->pName), wcslen(A->pName)};
+ wpi::convertUTF16ToUTF8String(wideHostName, storage);
+ storage.append(".");
+
+ data.hostName = storage.string();
+ storage.clear();
+
+ int len = nameHost.find(impl->serviceType.c_str());
+ wpi::span<const wpi::UTF16> wideServiceName{
+ reinterpret_cast<const wpi::UTF16*>(nameHost.data()),
+ nameHost.size()};
+ if (len != nameHost.npos) {
+ wideServiceName = wideServiceName.subspan(0, len - 1);
+ }
+ wpi::convertUTF16ToUTF8String(wideServiceName, storage);
+
+ data.serviceName = storage.string();
+ data.port = foundSrv->Data.Srv.wPort;
+ data.ipv4Address = A->Data.A.IpAddress;
+
+ impl->onFound(std::move(data));
+ }
+ }
+ }
+ DnsFree(pQueryResults->pQueryRecords, DNS_FREE_TYPE::DnsFreeRecordList);
+}
+
+void MulticastServiceResolver::Start() {
+ if (pImpl->serviceCancel.reserved != nullptr) {
+ return;
+ }
+
+ if (!pImpl->dynamicDns.CanDnsResolve) {
+ return;
+ }
+
+ DNS_SERVICE_BROWSE_REQUEST request = {};
+ request.InterfaceIndex = 0;
+ request.pQueryContext = pImpl.get();
+ request.QueryName = pImpl->serviceType.c_str();
+ request.Version = 2;
+ request.pBrowseCallbackV2 = DnsCompletion;
+ pImpl->dynamicDns.DnsServiceBrowsePtr(&request, &pImpl->serviceCancel);
+}
+
+void MulticastServiceResolver::Stop() {
+ if (!pImpl->dynamicDns.CanDnsResolve) {
+ return;
+ }
+
+ if (pImpl->serviceCancel.reserved == nullptr) {
+ return;
+ }
+
+ pImpl->dynamicDns.DnsServiceBrowseCancelPtr(&pImpl->serviceCancel);
+ pImpl->serviceCancel.reserved = nullptr;
+}
diff --git a/third_party/allwpilib/wpiutil/src/main/native/windows/StackTrace.cpp b/third_party/allwpilib/wpiutil/src/main/native/windows/StackTrace.cpp
index 3e3ccfa..bab5f83 100644
--- a/third_party/allwpilib/wpiutil/src/main/native/windows/StackTrace.cpp
+++ b/third_party/allwpilib/wpiutil/src/main/native/windows/StackTrace.cpp
@@ -32,7 +32,7 @@
namespace wpi {
-std::string GetStackTrace(int offset) {
+std::string GetStackTraceDefault(int offset) {
// TODO: implement offset
std::string output;
StackTraceWalker walker(output);
diff --git a/third_party/allwpilib/wpiutil/src/test/native/cpp/ArrayTest.cpp b/third_party/allwpilib/wpiutil/src/test/native/cpp/ArrayTest.cpp
new file mode 100644
index 0000000..15e1928
--- /dev/null
+++ b/third_party/allwpilib/wpiutil/src/test/native/cpp/ArrayTest.cpp
@@ -0,0 +1,30 @@
+// 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 "gtest/gtest.h"
+#include "wpi/array.h"
+
+namespace {
+class MoveOnlyType {
+ public:
+ MoveOnlyType() = default;
+ MoveOnlyType(MoveOnlyType&&) = default;
+ MoveOnlyType& operator=(MoveOnlyType&&) = default;
+};
+} // namespace
+
+TEST(ArrayTest, CopyableTypeCompiles) {
+ wpi::array<int, 3> arr1{1, 2, 3};
+
+ // Test deduction guide
+ wpi::array ar2{1, 2, 3};
+}
+
+TEST(ArrayTest, MoveOnlyTypeCompiles) {
+ wpi::array<MoveOnlyType, 3> arr1{MoveOnlyType{}, MoveOnlyType{},
+ MoveOnlyType{}};
+
+ // Test deduction guide
+ wpi::array arr2{MoveOnlyType{}, MoveOnlyType{}, MoveOnlyType{}};
+}
