Added support for 2017 WPILib.
Change-Id: Ib22e31d0999b123c65498c31c654e3fa7bab4798
diff --git a/NO_BUILD_AMD64 b/NO_BUILD_AMD64
index 3edc6fe..f4faeab 100644
--- a/NO_BUILD_AMD64
+++ b/NO_BUILD_AMD64
@@ -1,6 +1,8 @@
-//third_party:wpilib
-//third_party/allwpilib_2016/...
-//third_party/ntcore_2016/...
+-//third_party/allwpilib_2017/...
+-//third_party/ntcore_2017/...
-//frc971/wpilib/...
-//y2012/wpilib/...
-//y2012:download
diff --git a/WORKSPACE b/WORKSPACE
index 0d4eb2f..01187a5 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -62,16 +62,29 @@
)
new_http_archive(
- name = 'allwpilib_ni_libraries_repo',
- build_file = 'debian/ni-libraries.BUILD',
+ name = 'allwpilib_ni_libraries_repo_2016',
+ build_file = 'debian/ni-libraries-2016.BUILD',
sha256 = '821687afbee2d7531fb3e47d8d58ac10005695e59685be3ac3aa00b3179faf52',
url = 'http://frc971.org/Build-Dependencies/allwpilib_ni-libraries_20749ed.tar.gz',
strip_prefix = 'ni-libraries',
)
bind(
- name = 'ni-libraries',
- actual = '@allwpilib_ni_libraries_repo//:ni-libraries',
+ name = 'ni-libraries-2016',
+ actual = '@allwpilib_ni_libraries_repo_2016//:ni-libraries',
+)
+
+new_http_archive(
+ name = 'allwpilib_ni_libraries_repo_2017',
+ build_file = 'debian/ni-libraries-2017.BUILD',
+ sha256 = '67c1ad365fb712cc0acb0bf43465b831030523dc6f88daa02626994f644d91eb',
+ url = 'http://frc971.org/Build-Dependencies/allwpilib_ni-libraries_e375b4a.tar.gz',
+ strip_prefix = 'ni-libraries',
+)
+
+bind(
+ name = 'ni-libraries-2017',
+ actual = '@allwpilib_ni_libraries_repo_2017//:ni-libraries',
)
# Downloaded from:
diff --git a/debian/ni-libraries.BUILD b/debian/ni-libraries-2016.BUILD
similarity index 100%
rename from debian/ni-libraries.BUILD
rename to debian/ni-libraries-2016.BUILD
diff --git a/debian/ni-libraries-2017.BUILD b/debian/ni-libraries-2017.BUILD
new file mode 100644
index 0000000..9d79098
--- /dev/null
+++ b/debian/ni-libraries-2017.BUILD
@@ -0,0 +1,20 @@
+cc_library(
+ name = 'ni-libraries',
+ visibility = ['//visibility:public'],
+ srcs = [
+ 'lib/libFRC_NetworkCommunication.so.17.0.0',
+ 'lib/libRoboRIO_FRC_ChipObject.so.17.0.0',
+ 'lib/libNiFpgaLv.so.16.0.0',
+ 'lib/libNiFpga.so.16.0.0',
+ 'lib/libNiRioSrv.so.16.0.0',
+ 'lib/libspi.so.1.0.0',
+ 'lib/libi2c.so.2.0.0',
+ 'lib/libniriosession.so.16.0.0',
+ 'lib/libniriodevenum.so.16.0.0',
+ ],
+ includes = [
+ 'include',
+ ],
+ hdrs = glob(['include/**']),
+ linkstatic = True,
+)
diff --git a/doc/allwpilib_ni-libraries_tarball.sh b/doc/allwpilib_ni-libraries_tarball.sh
index 61fccd4..07058a0 100755
--- a/doc/allwpilib_ni-libraries_tarball.sh
+++ b/doc/allwpilib_ni-libraries_tarball.sh
@@ -3,8 +3,7 @@
# A script to generate a allwpilib_ni-libraries_bla.tar.gz file from a given
# revision of allwpilib.
-# Example: ./doc/allwpilib_ni-libraries_tarball.sh \
-# https://usfirst.collab.net/gerrit/allwpilib master
+# Example: `./doc/allwpilib_ni-libraries_tarball.sh https://github.com/wpilibsuite/allwpilib master`
set -e
set -u
diff --git a/doc/allwpilib_subtree.sh b/doc/allwpilib_subtree.sh
index aa83d0c..7f79dc0 100755
--- a/doc/allwpilib_subtree.sh
+++ b/doc/allwpilib_subtree.sh
@@ -7,8 +7,7 @@
# The implementation running `git filter-branch` over allwpilib's entire history
# isn't the fastest thing ever, but it's not all that bad.
-# Example: ./doc/allwpilib_subtree.sh add third_party/allwpilib_2016 \
-# https://usfirst.collab.net/gerrit/allwpilib master
+# Example: `./doc/allwpilib_subtree.sh add third_party/allwpilib_2017 https://github.com/wpilibsuite/allwpilib master`
set -e
set -u
@@ -26,8 +25,18 @@
git fetch "${REMOTE}" "${REF}"
-readonly REMOVE_DIRECTORIES="ni-libraries wpilibj wpilibjIntegrationTests gradle"
-readonly TREE_FILTER="$(for d in ${REMOVE_DIRECTORIES}; do
+readonly REMOVE_DIRECTORIES=(
+ni-libraries
+wpilibj
+wpilibjIntegrationTests
+gradle
+simulation
+myRobot
+myRobotCpp
+gen
+test-scripts
+)
+readonly TREE_FILTER="$(for d in "${REMOVE_DIRECTORIES[@]}"}; do
echo "if [ -d $d ]; then git rm -rf $d; fi && "
done)"
git filter-branch --tree-filter "${TREE_FILTER}true" FETCH_HEAD
diff --git a/frc971/wpilib/buffered_pcm.cc b/frc971/wpilib/buffered_pcm.cc
index 35df795..2ddbfa7 100644
--- a/frc971/wpilib/buffered_pcm.cc
+++ b/frc971/wpilib/buffered_pcm.cc
@@ -22,8 +22,8 @@
void BufferedPcm::Flush() {
LOG(DEBUG, "sending solenoids 0x%" PRIx8 "\n", values_);
-#ifdef WPILIB2015
- SolenoidBase::Set(values_, 0xFF);
+#ifdef WPILIB2017
+ SolenoidBase::SetAll(m_moduleNumber, values_);
#else
SolenoidBase::Set(values_, 0xFF, m_moduleNumber);
#endif
diff --git a/frc971/wpilib/dma.cc b/frc971/wpilib/dma.cc
index ea9f64c..dbbfc56 100644
--- a/frc971/wpilib/dma.cc
+++ b/frc971/wpilib/dma.cc
@@ -8,6 +8,9 @@
#include "DigitalSource.h"
#include "AnalogInput.h"
#include "Encoder.h"
+#ifdef WPILIB2017
+#include "HAL/HAL.h"
+#endif
// Interface to the roboRIO FPGA's DMA features.
@@ -22,14 +25,13 @@
};
} t1Output;
-static const uint32_t kNumHeaders = 10;
+static const int32_t kNumHeaders = 10;
-#ifdef WPILIB2015
-static constexpr ssize_t kChannelSize[18] = {2, 2, 4, 4, 2, 2, 4, 4, 3, 3,
- 2, 1, 4, 4, 4, 4, 4, 4};
-#else
static constexpr ssize_t kChannelSize[20] = {2, 2, 4, 4, 2, 2, 4, 4, 3, 3,
2, 1, 4, 4, 4, 4, 4, 4, 4, 4};
+
+#ifndef WPILIB2017
+#define HAL_GetErrorMessage getHALErrorMessage
#endif
enum DMAOffsetConstants {
@@ -49,25 +51,17 @@
kEnable_Counters_High = 13,
kEnable_CounterTimers_Low = 14,
kEnable_CounterTimers_High = 15,
-#ifdef WPILIB2015
- kEnable_Encoders = 16,
- kEnable_EncoderTimers = 17,
-#else
kEnable_Encoders_Low = 16,
kEnable_Encoders_High = 17,
kEnable_EncoderTimers_Low = 18,
kEnable_EncoderTimers_High = 19,
-#endif
};
DMA::DMA() {
tRioStatusCode status = 0;
tdma_config_ = tDMA::create(&status);
tdma_config_->writeConfig_ExternalClock(false, &status);
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
-#ifdef WPILIB2015
- NiFpga_WriteU32(0x10000, 0x1832c, 0x0);
-#endif
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
if (status != 0) {
return;
}
@@ -85,7 +79,7 @@
void DMA::SetPause(bool pause) {
tRioStatusCode status = 0;
tdma_config_->writeConfig_Pause(pause, &status);
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void DMA::SetRate(uint32_t cycles) {
@@ -94,7 +88,7 @@
}
tRioStatusCode status = 0;
tdma_config_->writeRate(cycles, &status);
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void DMA::Add(Encoder *encoder) {
@@ -107,17 +101,6 @@
}
const int index = encoder->GetFPGAIndex();
-#ifdef WPILIB2015
- if (index < 4) {
- // TODO(austin): Encoder uses a Counter for 1x or 2x; quad for 4x...
- tdma_config_->writeConfig_Enable_Encoders(true, &status);
- } else {
- wpi_setErrorWithContext(
- NiFpga_Status_InvalidParameter,
- "FPGA encoder index is not in the 4 that get logged.");
- return;
- }
-#else
if (index < 4) {
// TODO(austin): Encoder uses a Counter for 1x or 2x; quad for 4x...
tdma_config_->writeConfig_Enable_Encoders_Low(true, &status);
@@ -130,9 +113,8 @@
"FPGA encoder index is not in the 4 that get logged.");
return;
}
-#endif
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void DMA::Add(DigitalSource * /*input*/) {
@@ -145,7 +127,7 @@
}
tdma_config_->writeConfig_Enable_DI(true, &status);
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void DMA::Add(AnalogInput *input) {
@@ -162,7 +144,7 @@
} else {
tdma_config_->writeConfig_Enable_AI0_High(true, &status);
}
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void DMA::SetExternalTrigger(DigitalSource *input, bool rising, bool falling) {
@@ -190,13 +172,13 @@
if (status == 0) {
if (!is_external_clock) {
tdma_config_->writeConfig_ExternalClock(true, &status);
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
if (status != 0) {
return;
}
}
} else {
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return;
}
@@ -206,7 +188,12 @@
new_trigger.RisingEdge = rising;
new_trigger.ExternalClockSource_AnalogTrigger = false;
unsigned char module = 0;
- unsigned char channel = input->GetChannelForRouting();
+ uint32_t channel =
+#ifdef WPILIB2017
+ input->GetChannel();
+#else
+ input->GetChannelForRouting();
+#endif
if (channel >= kNumHeaders) {
module = 1;
channel -= kNumHeaders;
@@ -218,29 +205,12 @@
new_trigger.ExternalClockSource_Channel = channel;
// Configures the trigger to be external, not off the FPGA clock.
-#ifndef WPILIB2015
tdma_config_->writeExternalTriggers(channel_index / 4, channel_index % 4,
new_trigger, &status);
if (status != 0) {
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return;
}
-#else
- uint32_t current_triggers;
- tRioStatusCode register_status =
- NiFpga_ReadU32(0x10000, 0x1832c, ¤t_triggers);
- if (register_status != 0) {
- wpi_setErrorWithContext(register_status, getHALErrorMessage(status));
- return;
- }
- current_triggers = (current_triggers & ~(0xff << (channel_index * 8))) |
- (new_trigger.value << (channel_index * 8));
- register_status = NiFpga_WriteU32(0x10000, 0x1832c, current_triggers);
- if (register_status != 0) {
- wpi_setErrorWithContext(register_status, getHALErrorMessage(status));
- return;
- }
-#endif
}
DMA::ReadStatus DMA::Read(DMASample *sample, uint32_t timeout_ms,
@@ -269,7 +239,7 @@
} else if (status == NiFpga_Status_FifoTimeout) {
return STATUS_TIMEOUT;
} else {
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return STATUS_ERROR;
}
}
@@ -286,7 +256,7 @@
void DMA::Start(size_t queue_depth) {
tRioStatusCode status = 0;
tconfig_ = tdma_config_->readConfig(&status);
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
if (status != 0) {
return;
}
@@ -317,15 +287,10 @@
SET_SIZE(Enable_Counters_High);
SET_SIZE(Enable_CounterTimers_Low);
SET_SIZE(Enable_CounterTimers_High);
-#ifdef WPILIB2015
- SET_SIZE(Enable_Encoders);
- SET_SIZE(Enable_EncoderTimers);
-#else
SET_SIZE(Enable_Encoders_Low);
SET_SIZE(Enable_Encoders_High);
SET_SIZE(Enable_EncoderTimers_Low);
SET_SIZE(Enable_EncoderTimers_High);
-#endif
#undef SET_SIZE
capture_size_ = accum_size + 1;
}
@@ -333,23 +298,23 @@
manager_.reset(
new nFPGA::tDMAManager(0, queue_depth * capture_size_, &status));
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
if (status != 0) {
return;
}
// Start, stop, start to clear the buffer.
manager_->start(&status);
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
if (status != 0) {
return;
}
manager_->stop(&status);
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
if (status != 0) {
return;
}
manager_->start(&status);
- wpi_setErrorWithContext(status, getHALErrorMessage(status));
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
if (status != 0) {
return;
}
@@ -372,36 +337,30 @@
if (offset(kEnable_DI) == -1) {
wpi_setStaticErrorWithContext(
dma_, NiFpga_Status_ResourceNotFound,
- getHALErrorMessage(NiFpga_Status_ResourceNotFound));
+ HAL_GetErrorMessage(NiFpga_Status_ResourceNotFound));
return false;
}
- if (input->GetChannelForRouting() < kNumHeaders) {
- return (read_buffer_[offset(kEnable_DI)] >> input->GetChannelForRouting()) &
- 0x1;
+ const uint32_t channel =
+#ifdef WPILIB2017
+ input->GetChannel();
+#else
+ input->GetChannelForRouting();
+#endif
+ if (channel < kNumHeaders) {
+ return (read_buffer_[offset(kEnable_DI)] >> channel) & 0x1;
} else {
- return (read_buffer_[offset(kEnable_DI)] >>
- (input->GetChannelForRouting() + 6)) &
- 0x1;
+ return (read_buffer_[offset(kEnable_DI)] >> (channel + 6)) & 0x1;
}
}
int32_t DMASample::GetRaw(Encoder *input) const {
int index = input->GetFPGAIndex();
uint32_t dmaWord = 0;
-#ifdef WPILIB2015
- if (index >= 4 || offset(kEnable_Encoders) == -1) {
- wpi_setStaticErrorWithContext(
- dma_, NiFpga_Status_ResourceNotFound,
- getHALErrorMessage(NiFpga_Status_ResourceNotFound));
- return -1;
- }
- dmaWord = read_buffer_[offset(kEnable_Encoders) + index];
-#else
if (index < 4) {
if (offset(kEnable_Encoders_Low) == -1) {
wpi_setStaticErrorWithContext(
dma_, NiFpga_Status_ResourceNotFound,
- getHALErrorMessage(NiFpga_Status_ResourceNotFound));
+ HAL_GetErrorMessage(NiFpga_Status_ResourceNotFound));
return -1;
}
dmaWord = read_buffer_[offset(kEnable_Encoders_Low) + index];
@@ -409,17 +368,16 @@
if (offset(kEnable_Encoders_High) == -1) {
wpi_setStaticErrorWithContext(
dma_, NiFpga_Status_ResourceNotFound,
- getHALErrorMessage(NiFpga_Status_ResourceNotFound));
+ HAL_GetErrorMessage(NiFpga_Status_ResourceNotFound));
return -1;
}
dmaWord = read_buffer_[offset(kEnable_Encoders_High) + (index - 4)];
} else {
wpi_setStaticErrorWithContext(
dma_, NiFpga_Status_ResourceNotFound,
- getHALErrorMessage(NiFpga_Status_ResourceNotFound));
+ HAL_GetErrorMessage(NiFpga_Status_ResourceNotFound));
return 0;
}
-#endif
int32_t result = 0;
@@ -448,7 +406,7 @@
if (offset(kEnable_AI0_Low) == -1) {
wpi_setStaticErrorWithContext(
dma_, NiFpga_Status_ResourceNotFound,
- getHALErrorMessage(NiFpga_Status_ResourceNotFound));
+ HAL_GetErrorMessage(NiFpga_Status_ResourceNotFound));
return 0xffff;
}
dmaWord = read_buffer_[offset(kEnable_AI0_Low) + channel / 2];
@@ -456,14 +414,14 @@
if (offset(kEnable_AI0_High) == -1) {
wpi_setStaticErrorWithContext(
dma_, NiFpga_Status_ResourceNotFound,
- getHALErrorMessage(NiFpga_Status_ResourceNotFound));
+ HAL_GetErrorMessage(NiFpga_Status_ResourceNotFound));
return 0xffff;
}
dmaWord = read_buffer_[offset(kEnable_AI0_High) + (channel - 4) / 2];
} else {
wpi_setStaticErrorWithContext(
dma_, NiFpga_Status_ResourceNotFound,
- getHALErrorMessage(NiFpga_Status_ResourceNotFound));
+ HAL_GetErrorMessage(NiFpga_Status_ResourceNotFound));
return 0xffff;
}
if (channel % 2) {
diff --git a/frc971/wpilib/dma.h b/frc971/wpilib/dma.h
index 970497c..e07ab36 100644
--- a/frc971/wpilib/dma.h
+++ b/frc971/wpilib/dma.h
@@ -9,13 +9,30 @@
#include <array>
#include <memory>
+#ifdef WPILIB2017
+#include "HAL/ChipObject.h"
+#else
#include "ChipObject.h"
+#endif
#include "ErrorBase.h"
class DMA;
+#ifdef WPILIB2017
+namespace frc {
class DigitalSource;
class AnalogInput;
class Encoder;
+} // namespace frc
+#else
+class DigitalSource;
+class AnalogInput;
+class Encoder;
+namespace frc {
+using ::DigitalSource;
+using ::AnalogInput;
+using ::Encoder;
+} // namespace frc
+#endif
// A POD class which stores the data from a DMA sample and provides safe ways to
// access it.
diff --git a/frc971/wpilib/interrupt_edge_counting.cc b/frc971/wpilib/interrupt_edge_counting.cc
index 5c10b89..ec6f627 100644
--- a/frc971/wpilib/interrupt_edge_counting.cc
+++ b/frc971/wpilib/interrupt_edge_counting.cc
@@ -21,7 +21,11 @@
void EdgeCounter::operator()() {
::aos::SetCurrentThreadName("EdgeCounter_" +
+#ifdef WPILIB2017
+ ::std::to_string(input_->GetChannel()));
+#else
::std::to_string(input_->GetChannelForRouting()));
+#endif
input_->RequestInterrupts();
input_->SetUpSourceEdge(true, true);
@@ -55,7 +59,11 @@
current_value_ = hall_value;
} else {
LOG(WARNING, "Detected spurious edge on %d. Dropping it.\n",
+#ifdef WPILIB2017
+ input_->GetChannel());
+#else
input_->GetChannelForRouting());
+#endif
}
}
}
diff --git a/frc971/wpilib/joystick_sender.cc b/frc971/wpilib/joystick_sender.cc
index 4942eaa..b4866e9 100644
--- a/frc971/wpilib/joystick_sender.cc
+++ b/frc971/wpilib/joystick_sender.cc
@@ -6,7 +6,11 @@
#include "aos/common/logging/queue_logging.h"
#include "DriverStation.h"
+#ifdef WPILIB2017
+#include "HAL/HAL.h"
+#else
#include "HAL/HAL.hpp"
+#endif
namespace frc971 {
namespace wpilib {
@@ -27,8 +31,13 @@
ds->WaitForData();
auto new_state = ::aos::joystick_state.MakeMessage();
+#ifdef WPILIB2017
+ HAL_ControlWord control_word;
+ HAL_GetControlWord(&control_word);
+#else
HALControlWord control_word;
HALGetControlWord(&control_word);
+#endif
new_state->test_mode = control_word.test;
new_state->fms_attached = control_word.fmsAttached;
new_state->enabled = control_word.enabled;
diff --git a/frc971/wpilib/wpilib_interface.cc b/frc971/wpilib/wpilib_interface.cc
index 016f52f..af72f7d 100644
--- a/frc971/wpilib/wpilib_interface.cc
+++ b/frc971/wpilib/wpilib_interface.cc
@@ -7,15 +7,25 @@
#include "ControllerPower.h"
#undef ERROR
+#ifndef WPILIB2017
+namespace frc {
+using ::DriverStation;
+} // namespace frc
+#endif
+
namespace frc971 {
namespace wpilib {
-void SendRobotState(int32_t my_pid, DriverStation *ds) {
+void SendRobotState(int32_t my_pid, frc::DriverStation *ds) {
auto new_state = ::aos::robot_state.MakeMessage();
new_state->reader_pid = my_pid;
new_state->outputs_enabled = ds->IsSysActive();
+#ifdef WPILIB2017
+ new_state->browned_out = ds->IsBrownedOut();
+#else
new_state->browned_out = ds->IsSysBrownedOut();
+#endif
new_state->is_3v3_active = ControllerPower::GetEnabled3V3();
new_state->is_5v_active = ControllerPower::GetEnabled5V();
diff --git a/frc971/wpilib/wpilib_interface.h b/frc971/wpilib/wpilib_interface.h
index 216bf09..1c55cc7 100644
--- a/frc971/wpilib/wpilib_interface.h
+++ b/frc971/wpilib/wpilib_interface.h
@@ -3,13 +3,22 @@
#include <stdint.h>
+#ifdef WPILIB2017
+namespace frc {
class DriverStation;
+} // namespace frc
+#else
+class DriverStation;
+namespace frc {
+using ::DriverStation;
+} // namespace frc
+#endif
namespace frc971 {
namespace wpilib {
// Sends out a message on ::aos::robot_state.
-void SendRobotState(int32_t my_pid, DriverStation *ds);
+void SendRobotState(int32_t my_pid, ::frc::DriverStation *ds);
} // namespace wpilib
} // namespace frc971
diff --git a/third_party/BUILD b/third_party/BUILD
index da60a79..cef6fcf 100644
--- a/third_party/BUILD
+++ b/third_party/BUILD
@@ -1,6 +1,6 @@
cc_library(
name = 'wpilib',
- deps = ['//third_party/allwpilib_2016:wpilib'],
+ deps = ['//third_party/allwpilib_2017:wpilib'],
visibility = ['//visibility:public'],
linkstatic = True,
)
diff --git a/third_party/allwpilib_2016/BUILD b/third_party/allwpilib_2016/BUILD
index 2d789d7..fbe00dc 100644
--- a/third_party/allwpilib_2016/BUILD
+++ b/third_party/allwpilib_2016/BUILD
@@ -78,7 +78,7 @@
],
deps = [
'//third_party/ntcore_2016:ntcore',
- '//external:ni-libraries',
+ '//external:ni-libraries-2016',
'//aos/common/logging',
],
hdrs = _h_hdrs + _hpp_hdrs + ['wpilibc/shared/include/Task.inc'],
diff --git a/third_party/allwpilib_2017/BUILD b/third_party/allwpilib_2017/BUILD
new file mode 100644
index 0000000..054ef08
--- /dev/null
+++ b/third_party/allwpilib_2017/BUILD
@@ -0,0 +1,113 @@
+licenses(['notice'])
+
+genrule(
+ name = 'wpilib_version',
+ outs = ['shared/src/WPILibVersion.cpp'],
+ cmd = '\n'.join([
+ "cat > \"$@\" << EOF",
+ "// Autogenerated file! Do not manually edit this file.",
+ "#include \"WPILibVersion.h\"",
+ "const char *WPILibVersion = \"2017-frc971\";",
+ "EOF",
+ ]),
+)
+
+_header_dirs = [
+ 'wpilibc/shared/include',
+ 'wpilibc/athena/include',
+ 'hal/include',
+ 'hal/lib/athena',
+]
+
+# Names of WPILib "devices" I don't want to deal with making trivial updates to
+# chop out various ugliness or have to vet for sanity.
+_excluded_devices = [
+ 'ADXL345_I2C',
+ 'GearTooth',
+ 'Ultrasonic',
+ 'Victor',
+ 'TalonSRX',
+ 'CANTalon',
+ 'CANJaguar',
+ 'PIDController',
+ 'Spark',
+ 'Servo',
+ 'VictorSP',
+ 'SD540',
+ 'RobotDrive',
+ 'Jaguar',
+ 'ADXL345_SPI',
+ 'DoubleSolenoid',
+ 'AnalogPotentiometer',
+ 'ADXL362',
+ 'AnalogGyro',
+ 'AnalogAccelerometer',
+ 'CameraServer',
+ 'ADXRS450_Gyro',
+ 'GyroBase',
+ 'IterativeRobot',
+]
+
+# Whole subdirectories of WPILib we don't want around.
+_excluded_shared_directories = [
+ 'SmartDashboard',
+ 'LiveWindow',
+ 'Commands',
+ 'Buttons',
+ 'Filters',
+]
+
+# Header files we don't want to have.
+_bad_hdrs = ([
+ 'wpilibc/athena/include/WPILib.h',
+] + ['wpilibc/shared/include/%s/**/*' % d
+ for d in _excluded_shared_directories] +
+ ['wpilibc/*/include/%s.h' % d for d in _excluded_devices])
+_h_hdrs = glob([d + '/**/*.h' for d in _header_dirs], exclude=_bad_hdrs)
+_hpp_hdrs = glob([d + '/**/*.hpp' for d in _header_dirs], exclude=_bad_hdrs)
+
+cc_library(
+ name = 'wpilib',
+ visibility = ['//third_party:__pkg__'],
+ srcs = glob([
+ 'wpilibc/athena/src/*.cpp',
+ 'wpilibc/athena/src/Internal/*.cpp',
+ 'wpilibc/shared/src/**/*.cpp',
+
+ 'hal/lib/athena/*.cpp',
+ 'hal/lib/athena/cpp/*.cpp',
+ 'hal/lib/athena/ctre/*.cpp',
+ 'hal/lib/shared/handles/*.cpp',
+ ], exclude = (
+ ['wpilibc/shared/src/%s/**/*' % d for d in _excluded_shared_directories] +
+ ['wpilibc/*/src/%s.cpp' % d for d in _excluded_devices]
+ )) + [
+ ':wpilib_version',
+ ],
+ copts = [
+ '-Wno-unused-parameter',
+ '-Wno-switch-enum',
+ '-Wno-attributes',
+ '-Wno-cast-align',
+ '-Wno-cast-qual',
+ '-Wno-deprecated-declarations',
+ '-Wno-error',
+ '-Wno-unused-const-variable',
+ ],
+ deps = [
+ '//third_party/ntcore_2017:ntcore',
+ '//external:ni-libraries-2017',
+ '//aos/common/logging',
+ ],
+ hdrs = _h_hdrs + _hpp_hdrs + [
+ 'wpilibc/shared/include/CircularBuffer.inc',
+ 'wpilibc/athena/include/Task.inc',
+ ],
+ includes = _header_dirs,
+ linkopts = [
+ '-lpthread',
+ ],
+ defines = [
+ 'WPILIB2017=1',
+ ],
+)
diff --git a/third_party/allwpilib_2017/hal/lib/athena/HAL.cpp b/third_party/allwpilib_2017/hal/lib/athena/HAL.cpp
index 708ca1b..45fa6ce 100644
--- a/third_party/allwpilib_2017/hal/lib/athena/HAL.cpp
+++ b/third_party/allwpilib_2017/hal/lib/athena/HAL.cpp
@@ -36,8 +36,6 @@
static std::unique_ptr<tSysWatchdog> watchdog;
static priority_mutex timeMutex;
-static uint32_t timeEpoch = 0;
-static uint32_t prevFPGATime = 0;
static HAL_NotifierHandle rolloverNotifier = 0;
using namespace hal;
@@ -224,14 +222,7 @@
*status = NiFpga_Status_ResourceNotInitialized;
return 0;
}
- std::lock_guard<priority_mutex> lock(timeMutex);
- uint32_t fpgaTime = global->readLocalTime(status);
- if (*status != 0) return 0;
- // check for rollover
- if (fpgaTime < prevFPGATime) ++timeEpoch;
- prevFPGATime = fpgaTime;
- return static_cast<uint64_t>(timeEpoch) << 32 |
- static_cast<uint64_t>(fpgaTime);
+ return global->readLocalTime(status);
}
/**
diff --git a/third_party/allwpilib_2017/wpilibc/athena/include/DriverStation.h b/third_party/allwpilib_2017/wpilibc/athena/include/DriverStation.h
index 6bd2ea6..f38b299 100644
--- a/third_party/allwpilib_2017/wpilibc/athena/include/DriverStation.h
+++ b/third_party/allwpilib_2017/wpilibc/athena/include/DriverStation.h
@@ -96,8 +96,6 @@
private:
DriverStation();
- void ReportJoystickUnpluggedError(llvm::StringRef message);
- void ReportJoystickUnpluggedWarning(llvm::StringRef message);
void Run();
void UpdateControlWord(bool force, HAL_ControlWord& controlWord) const;
@@ -136,8 +134,6 @@
mutable HAL_ControlWord m_controlWordCache;
mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
mutable priority_mutex m_controlWordMutex;
-
- double m_nextMessageTime = 0;
};
} // namespace frc
diff --git a/third_party/allwpilib_2017/wpilibc/athena/src/DriverStation.cpp b/third_party/allwpilib_2017/wpilibc/athena/src/DriverStation.cpp
index fd91d95..95d20b7 100644
--- a/third_party/allwpilib_2017/wpilibc/athena/src/DriverStation.cpp
+++ b/third_party/allwpilib_2017/wpilibc/athena/src/DriverStation.cpp
@@ -97,9 +97,6 @@
lock.release();
if (axis >= HAL_kMaxJoystickAxes)
wpi_setWPIError(BadJoystickAxis);
- else
- ReportJoystickUnpluggedWarning(
- "Joystick Axis missing, check if all controllers are plugged in");
return 0.0;
}
@@ -122,9 +119,6 @@
lock.unlock();
if (pov >= HAL_kMaxJoystickPOVs)
wpi_setWPIError(BadJoystickAxis);
- else
- ReportJoystickUnpluggedWarning(
- "Joystick POV missing, check if all controllers are plugged in");
return -1;
}
@@ -159,17 +153,12 @@
return false;
}
if (button == 0) {
- ReportJoystickUnpluggedError(
- "ERROR: Button indexes begin at 1 in WPILib for C++ and Java");
return false;
}
std::unique_lock<priority_mutex> lock(m_joystickDataMutex);
if (button > m_joystickButtons[stick].count) {
// Unlock early so error printing isn't locked.
lock.unlock();
- ReportJoystickUnpluggedWarning(
- "Joystick Button missing, check if all controllers are "
- "plugged in");
return false;
}
@@ -597,31 +586,6 @@
m_dsThread = std::thread(&DriverStation::Run, this);
}
-/**
- * Reports errors related to unplugged joysticks
- * Throttles the errors so that they don't overwhelm the DS
- */
-void DriverStation::ReportJoystickUnpluggedError(llvm::StringRef message) {
- double currentTime = Timer::GetFPGATimestamp();
- if (currentTime > m_nextMessageTime) {
- ReportError(message);
- m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL;
- }
-}
-
-/**
- * Reports errors related to unplugged joysticks.
- *
- * Throttles the errors so that they don't overwhelm the DS.
- */
-void DriverStation::ReportJoystickUnpluggedWarning(llvm::StringRef message) {
- double currentTime = Timer::GetFPGATimestamp();
- if (currentTime > m_nextMessageTime) {
- ReportWarning(message);
- m_nextMessageTime = currentTime + JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL;
- }
-}
-
void DriverStation::Run() {
m_isRunning = true;
int period = 0;
diff --git a/third_party/ntcore_2017/BUILD b/third_party/ntcore_2017/BUILD
new file mode 100644
index 0000000..82f3545
--- /dev/null
+++ b/third_party/ntcore_2017/BUILD
@@ -0,0 +1,28 @@
+licenses(['notice'])
+
+cc_library(
+ name = 'ntcore',
+ visibility = ['//visibility:public'],
+ srcs = glob([
+ 'src/**/*.cpp',
+ 'src/**/*.h',
+ 'wpiutil/src/**/*.cpp',
+ ], exclude = [
+ 'src/networktables/**',
+ ]),
+ copts = [
+ '-Wno-switch-enum',
+ '-Wno-cast-align',
+ ],
+ hdrs = glob([
+ 'include/**/*.h',
+ 'wpiutil/include/**/*.h',
+ ]),
+ includes = [
+ 'include',
+ 'wpiutil/include',
+ ],
+ linkopts = [
+ '-lpthread',
+ ],
+)