Moves NI headers to their own folder in the repo (#324)

cppSettings.gradle

@@ -1,5 +1,5 @@
 // These add the nilibraries shared library to the linker args
-def niLibraryPath = file('ni-libraries').path
+def niLibraryPath = file('ni-libraries/lib').path
 def niLibrary = niLibraryPath + "/libnilibraries.so"
 
 task downloadArmNetworkTables() {
@@ -268,6 +268,9 @@ subprojects {
             }
         }
 
+        ext.niLibraryHeadersRoot = "${rootDir}/ni-libraries/include"
+        ext.niLibraryHeadersChipObject = "${rootDir}/ni-libraries/include/FRC_FPGA_ChipObject"
+
         // This task adds the appropriate linker flags for the NI libraries
         ext.addNiLibraryLinks = { linker, targetPlatform ->
             String architecture = targetPlatform.architecture

hal/build.gradle

@@ -24,11 +24,11 @@ model {
             sources {
                 cpp {
                     source {
-                        srcDirs = ["lib/athena", "lib/athena/FRC_FPGA_ChipObject", "lib/shared"]
+                        srcDirs = ["lib/athena", niLibraryHeadersChipObject, niLibraryHeadersRoot, "lib/shared"]
                         includes = ["**/*.cpp"]
                     }
                     exportedHeaders {
-                        srcDirs = ["include", "lib/athena/FRC_FPGA_ChipObject", wpiUtilInclude]
+                        srcDirs = ["include", niLibraryHeadersChipObject, niLibraryHeadersRoot, wpiUtilInclude]
                     }
                 }
             }
@@ -70,7 +70,8 @@ task halZip(type: Zip) {
                 spec.headerDirs.each {
                     def normalizedIt = it.toString().replace('/', '\\')
                     def normalizedWPIUtil = wpiUtilInclude.toString().replace('/', '\\')
-                    if (normalizedIt != normalizedWPIUtil) {
+                    // exclude the wpiUtil library, and any NI libraries (NI libraries grabbed later)
+                    if (normalizedIt != normalizedWPIUtil && !it.toString().contains('ni-libraries') ) {
                         from(it) {
                             into 'include'
                             // We don't want to include any of the .cpp files that are in some of the header directories
@@ -88,8 +89,19 @@ task halZip(type: Zip) {
         }
     }
 
+    // Grab the NI headers excluding the ChipObject folder
+    from(project.file('../ni-libraries/include')) {
+        exclude 'FRC_FPGA_ChipObject/'
+        into 'include'
+    }
+
+    // Grab the ChipObject headers manually and put them in the right spot
+    from(project.file('../ni-libraries/include/FRC_FPGA_ChipObject')) {
+        into 'include'
+    }
+
     // Finally, include all of the shared library objects from the ni directory
-    from(project.file('../ni-libraries')) {
+    from(project.file('../ni-libraries/lib')) {
         into 'lib'
         exclude 'genlinks'
         exclude 'libwpi.so'

hal/include/FRC_NetworkCommunication/CANSessionMux.h

@@ -1,66 +0,0 @@
-// CANSessionMux.h
-//
-//  Defines the API for building a CAN Interface Plugin to support
-//    PWM-cable-free CAN motor control on FRC robots.  This allows you
-//    to connect any CAN interface to the secure Jaguar CAN driver.
-//
-
-#ifndef __CANSessionMux_h__
-#define __CANSessionMux_h__
-
-#if defined(__vxworks)
-#include <vxWorks.h>
-#else
-#include <stdint.h>
-#endif
-
-#define CAN_SEND_PERIOD_NO_REPEAT 0
-#define CAN_SEND_PERIOD_STOP_REPEATING -1
-
-/* Flags in the upper bits of the messageID */
-#define CAN_IS_FRAME_REMOTE 0x80000000
-#define CAN_IS_FRAME_11BIT  0x40000000
-
-#define ERR_CANSessionMux_InvalidBuffer   -44086
-#define ERR_CANSessionMux_MessageNotFound -44087
-#define WARN_CANSessionMux_NoToken         44087
-#define ERR_CANSessionMux_NotAllowed      -44088
-#define ERR_CANSessionMux_NotInitialized  -44089
-#define ERR_CANSessionMux_SessionOverrun   44050
-
-struct tCANStreamMessage{
-	uint32_t messageID;
-	uint32_t timeStamp;
-	uint8_t data[8];
-	uint8_t dataSize;
-};
-
-#ifdef __cplusplus
-namespace nCANSessionMux
-{
-	void sendMessage_wrapper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
-	void receiveMessage_wrapper(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
-	void openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
-	void closeStreamSession(uint32_t sessionHandle);
-	void readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
-	void getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
-}
-#endif
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-	void FRC_NetworkCommunication_CANSessionMux_sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
-	void FRC_NetworkCommunication_CANSessionMux_receiveMessage(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
-	void FRC_NetworkCommunication_CANSessionMux_openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
-	void FRC_NetworkCommunication_CANSessionMux_closeStreamSession(uint32_t sessionHandle);
-	void FRC_NetworkCommunication_CANSessionMux_readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
-	void FRC_NetworkCommunication_CANSessionMux_getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __CANSessionMux_h__

hal/include/FRC_NetworkCommunication/FRCComm.h

@@ -1,163 +0,0 @@
-/*************************************************************
- * 					NOTICE
- * 
- * 	These are the only externally exposed functions to the
- *   NetworkCommunication library
- * 
- * This is an implementation of FRC Spec for Comm Protocol
- * Revision 4.5, June 30, 2008
- *
- * Copyright (c) National Instruments 2008.  All Rights Reserved.
- * 
- *************************************************************/
-
-#ifndef __FRC_COMM_H__
-#define __FRC_COMM_H__
-
-#ifdef WIN32
-# include <vxWorks_compat.h>
-#ifdef USE_THRIFT
-#  define EXPORT_FUNC
-# else
-#  define EXPORT_FUNC __declspec(dllexport) __cdecl
-# endif
-#elif defined(__vxworks)
-# include <vxWorks.h>
-# define EXPORT_FUNC
-#elif defined(__linux)
-# include <stdint.h>
-# include <pthread.h>
-# define EXPORT_FUNC
-#endif
-
-#define ERR_FRCSystem_NetCommNotResponding -44049
-#define ERR_FRCSystem_NoDSConnection -44018
-
-#ifdef WIN32
-# define __DEPRECATED__ __declspec(deprecated)
-#else
-# define __DEPRECATED__ __attribute__((__deprecated__))
-#endif
-
-enum AllianceStationID_t {
-	kAllianceStationID_red1,
-	kAllianceStationID_red2,
-	kAllianceStationID_red3,
-	kAllianceStationID_blue1,
-	kAllianceStationID_blue2,
-	kAllianceStationID_blue3,
-};
-
-enum MatchType_t {
-	kMatchType_none,
-	kMatchType_practice,
-	kMatchType_qualification,
-	kMatchType_elimination,
-};
-
-struct ControlWord_t {
-#ifndef __vxworks
-	uint32_t enabled : 1;
-	uint32_t autonomous : 1;
-	uint32_t test :1;
-	uint32_t eStop : 1;
-	uint32_t fmsAttached:1;
-	uint32_t dsAttached:1;
-	uint32_t control_reserved : 26;
-#else
-	uint32_t control_reserved : 26;
-	uint32_t dsAttached:1;
-	uint32_t fmsAttached:1;
-	uint32_t eStop : 1;
-	uint32_t test :1;
-	uint32_t autonomous : 1;
-	uint32_t enabled : 1;
-#endif
-};
-
-struct JoystickAxes_t {
-	uint16_t count;
-	int16_t axes[1];
-};
-
-struct JoystickPOV_t {
-	uint16_t count;
-	int16_t povs[1];
-};
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-	int EXPORT_FUNC FRC_NetworkCommunication_Reserve(void *instance);
-#ifndef SIMULATION
-	void EXPORT_FUNC getFPGAHardwareVersion(uint16_t *fpgaVersion, uint32_t *fpgaRevision);
-#endif
-	/**
-	 * Safely copy data into the status packet to be sent back to the driver station.
-	 * @deprecated battery is the only parameter to this function that is still used, and only on cRIO / simulation.
-	 */
-	__DEPRECATED__ int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
-			const char *userDataHigh, int userDataHighLength,
-			const char *userDataLow, int userDataLowLength, int wait_ms);
-	/**
-	 * Send error data to the DS
-	 * @deprecated This old method is hard to parse on the DS side. It will be removed soon. Use FRC_NetworkCommunication_sendError instead.
-	 * @param errorData is a cstr of the error message
-	 * @param errorDataLength is the length of the errorData
-	 * @param wait_ms is ignored (included for binary compatibility)
-	 * @return 0 on success, 1 on no DS connection
-	 */
-	__DEPRECATED__ int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
-
-	/**
-	 * Send a console output line to the Driver Station
-	 * @param line a null-terminated string
-	 * @return 0 on success, other on failure
-	 */
-	int EXPORT_FUNC FRC_NetworkCommunication_sendConsoleLine(const char *line);
-
-	/**
-	 * Send an error to the Driver Station
-	 * @param isError true if error, false if warning
-	 * @param errorCode value of error condition
-	 * @param isLVCode true if error code is defined in errors.txt, false if not (i.e. made up for C++)
-	 * @param details error description that contains details such as which resource number caused the failure
-	 * @param location Source file, function, and line number that the error was generated - optional
-	 * @param callStack The details about what functions were called through before the error was reported - optional
-	 * @return 0 on success, other on failure
-	 */
-	int EXPORT_FUNC FRC_NetworkCommunication_sendError(int isError, int32_t errorCode, int isLVCode,
-		const char *details, const char *location, const char *callStack);
-
-#ifdef WIN32
-	void EXPORT_FUNC setNewDataSem(HANDLE);
-#elif defined (__vxworks)
-	void EXPORT_FUNC setNewDataSem(SEM_ID);
-#else
-	void EXPORT_FUNC setNewDataSem(pthread_cond_t *);
-#endif
-
-	// this uint32_t is really a LVRefNum
-	int EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
-
-	int EXPORT_FUNC FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
-	int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(enum AllianceStationID_t *allianceStation);
-	int EXPORT_FUNC FRC_NetworkCommunication_getMatchTime(float *matchTime);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum, struct JoystickAxes_t *axes, uint8_t maxAxes);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum, uint32_t *buttons, uint8_t *count);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum, struct JoystickPOV_t *povs, uint8_t maxPOVs);
-	int EXPORT_FUNC FRC_NetworkCommunication_setJoystickOutputs(uint8_t joystickNum, uint32_t hidOutputs, uint16_t leftRumble, uint16_t rightRumble);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickDesc(uint8_t joystickNum, uint8_t *isXBox, uint8_t *type, char *name,
-		uint8_t *axisCount, uint8_t *axisTypes, uint8_t *buttonCount, uint8_t *povCount);
-
-	void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
-	int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramDisabled(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramAutonomous(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTeleop(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTest(void);
-#ifdef __cplusplus
-}
-#endif
-
-#endif

hal/include/FRC_NetworkCommunication/LoadOut.h

@@ -1,58 +0,0 @@
-
-#ifndef __LoadOut_h__
-#define __LoadOut_h__
-
-#ifdef WIN32
-#include <vxWorks_compat.h>
-#define EXPORT_FUNC __declspec(dllexport) __cdecl
-#elif defined (__vxworks)
-#include <vxWorks.h>
-#define EXPORT_FUNC
-#else
-#include <stdint.h>
-#define EXPORT_FUNC
-#endif
-
-#define kMaxModuleNumber 2
-namespace nLoadOut
-{
-#if defined(__vxworks) || defined(SIMULATION)
-    typedef enum {
-        kModuleType_Unknown = 0x00,
-        kModuleType_Analog = 0x01,
-        kModuleType_Digital = 0x02,
-        kModuleType_Solenoid = 0x03,
-    } tModuleType;
-    bool EXPORT_FUNC getModulePresence(tModuleType moduleType, uint8_t moduleNumber);
-#endif
-    typedef enum {
-        kTargetClass_Unknown = 0x00,
-        kTargetClass_FRC1 = 0x10,
-        kTargetClass_FRC2 = 0x20,
-        kTargetClass_FRC3 = 0x30,
-        kTargetClass_RoboRIO = 0x40,
-#if defined(__vxworks) || defined(SIMULATION)
-        kTargetClass_FRC2_Analog = kTargetClass_FRC2 | kModuleType_Analog,
-        kTargetClass_FRC2_Digital = kTargetClass_FRC2 | kModuleType_Digital,
-        kTargetClass_FRC2_Solenoid = kTargetClass_FRC2 | kModuleType_Solenoid,
-#endif
-        kTargetClass_FamilyMask = 0xF0,
-        kTargetClass_ModuleMask = 0x0F,
-    } tTargetClass;
-    tTargetClass EXPORT_FUNC getTargetClass();
-}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#if defined(__vxworks) || defined(SIMULATION)
-    uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getModulePresence(uint32_t moduleType, uint8_t moduleNumber);
-#endif
-    uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getTargetClass();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __LoadOut_h__

hal/include/FRC_NetworkCommunication/UsageReporting.h

@@ -1,149 +0,0 @@
-
-#ifndef __UsageReporting_h__
-#define __UsageReporting_h__
-
-#ifdef WIN32
-#include <vxWorks_compat.h>
-#define EXPORT_FUNC __declspec(dllexport) __cdecl
-#elif defined (__vxworks)
-#include <vxWorks.h>
-#define EXPORT_FUNC
-#else
-#include <stdint.h>
-#include <stdlib.h>
-#define EXPORT_FUNC
-#endif
-
-#define kUsageReporting_version 1
-
-namespace nUsageReporting
-{
-    typedef enum
-    {
-        kResourceType_Controller,
-        kResourceType_Module,
-        kResourceType_Language,
-        kResourceType_CANPlugin,
-        kResourceType_Accelerometer,
-        kResourceType_ADXL345,
-        kResourceType_AnalogChannel,
-        kResourceType_AnalogTrigger,
-        kResourceType_AnalogTriggerOutput,
-        kResourceType_CANJaguar,
-        kResourceType_Compressor,
-        kResourceType_Counter,
-        kResourceType_Dashboard,
-        kResourceType_DigitalInput,
-        kResourceType_DigitalOutput,
-        kResourceType_DriverStationCIO,
-        kResourceType_DriverStationEIO,
-        kResourceType_DriverStationLCD,
-        kResourceType_Encoder,
-        kResourceType_GearTooth,
-        kResourceType_Gyro,
-        kResourceType_I2C,
-        kResourceType_Framework,
-        kResourceType_Jaguar,
-        kResourceType_Joystick,
-        kResourceType_Kinect,
-        kResourceType_KinectStick,
-        kResourceType_PIDController,
-        kResourceType_Preferences,
-        kResourceType_PWM,
-        kResourceType_Relay,
-        kResourceType_RobotDrive,
-        kResourceType_SerialPort,
-        kResourceType_Servo,
-        kResourceType_Solenoid,
-        kResourceType_SPI,
-        kResourceType_Task,
-        kResourceType_Ultrasonic,
-        kResourceType_Victor,
-        kResourceType_Button,
-        kResourceType_Command,
-        kResourceType_AxisCamera,
-        kResourceType_PCVideoServer,
-        kResourceType_SmartDashboard,
-        kResourceType_Talon,
-        kResourceType_HiTechnicColorSensor,
-        kResourceType_HiTechnicAccel,
-        kResourceType_HiTechnicCompass,
-        kResourceType_SRF08,
-        kResourceType_AnalogOutput,
-        kResourceType_VictorSP,
-        kResourceType_TalonSRX,
-        kResourceType_CANTalonSRX,
-        kResourceType_ADXL362,
-        kResourceType_ADXRS450,
-        kResourceType_RevSPARK,
-        kResourceType_MindsensorsSD540,
-        kResourceType_DigitalFilter,
-    } tResourceType;
-
-    typedef enum
-    {
-        kLanguage_LabVIEW = 1,
-        kLanguage_CPlusPlus = 2,
-        kLanguage_Java = 3,
-        kLanguage_Python = 4,
-
-        kCANPlugin_BlackJagBridge = 1,
-        kCANPlugin_2CAN = 2,
-
-        kFramework_Iterative = 1,
-        kFramework_Simple = 2,
-        kFramework_CommandControl = 3,
-
-        kRobotDrive_ArcadeStandard = 1,
-        kRobotDrive_ArcadeButtonSpin = 2,
-        kRobotDrive_ArcadeRatioCurve = 3,
-        kRobotDrive_Tank = 4,
-        kRobotDrive_MecanumPolar = 5,
-        kRobotDrive_MecanumCartesian = 6,
-
-        kDriverStationCIO_Analog = 1,
-        kDriverStationCIO_DigitalIn = 2,
-        kDriverStationCIO_DigitalOut = 3,
-
-        kDriverStationEIO_Acceleration = 1,
-        kDriverStationEIO_AnalogIn = 2,
-        kDriverStationEIO_AnalogOut = 3,
-        kDriverStationEIO_Button = 4,
-        kDriverStationEIO_LED = 5,
-        kDriverStationEIO_DigitalIn = 6,
-        kDriverStationEIO_DigitalOut = 7,
-        kDriverStationEIO_FixedDigitalOut = 8,
-        kDriverStationEIO_PWM = 9,
-        kDriverStationEIO_Encoder = 10,
-        kDriverStationEIO_TouchSlider = 11,
-
-        kADXL345_SPI = 1,
-        kADXL345_I2C = 2,
-
-        kCommand_Scheduler = 1,
-
-        kSmartDashboard_Instance = 1,
-    } tInstances;
-
-    /**
-     * Report the usage of a resource of interest.
-     * 
-     * @param resource one of the values in the tResourceType above (max value 51).
-     * @param instanceNumber an index that identifies the resource instance.
-     * @param context an optional additional context number for some cases (such as module number).  Set to 0 to omit.
-     * @param feature a string to be included describing features in use on a specific resource.  Setting the same resource more than once allows you to change the feature string.
-     */
-    uint32_t EXPORT_FUNC report(tResourceType resource, uint8_t instanceNumber, uint8_t context = 0, const char *feature = NULL);
-}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-    uint32_t EXPORT_FUNC FRC_NetworkCommunication_nUsageReporting_report(uint8_t resource, uint8_t instanceNumber, uint8_t context, const char *feature);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __UsageReporting_h__

hal/lib/athena/Accelerometer.cpp

@@ -13,7 +13,7 @@
 #include <cstdio>
 #include <memory>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
 #include "HAL/HAL.h"
 
 using namespace hal;

hal/lib/athena/AnalogInternal.cpp

@@ -9,8 +9,8 @@
 
 #include <atomic>
 
-#include "ChipObject.h"
 #include "HAL/AnalogInput.h"
+#include "HAL/ChipObject.h"
 #include "HAL/cpp/priority_mutex.h"
 #include "PortsInternal.h"
 

hal/lib/athena/AnalogInternal.h

@@ -11,7 +11,7 @@
 
 #include <memory>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Ports.h"
 #include "HAL/cpp/priority_mutex.h"
 #include "HAL/handles/IndexedHandleResource.h"

hal/lib/athena/DigitalInternal.cpp

@@ -11,10 +11,10 @@
 #include <mutex>
 #include <thread>
 
-#include "ChipObject.h"
 #include "ConstantsInternal.h"
 #include "FRC_NetworkCommunication/LoadOut.h"
 #include "HAL/AnalogTrigger.h"
+#include "HAL/ChipObject.h"
 #include "HAL/HAL.h"
 #include "HAL/Ports.h"
 #include "HAL/cpp/priority_mutex.h"

hal/lib/athena/DigitalInternal.h

@@ -11,8 +11,8 @@
 
 #include <memory>
 
-#include "ChipObject.h"
 #include "HAL/AnalogTrigger.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Ports.h"
 #include "HAL/Types.h"
 #include "HAL/handles/DigitalHandleResource.h"

hal/lib/athena/Encoder.cpp

@@ -7,9 +7,9 @@
 
 #include "HAL/Encoder.h"
 
-#include "ChipObject.h"
 #include "EncoderInternal.h"
 #include "FPGAEncoder.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Counter.h"
 #include "HAL/Errors.h"
 #include "HAL/handles/LimitedClassedHandleResource.h"

hal/lib/athena/HAL.cpp

@@ -17,10 +17,10 @@
 #include <mutex>
 #include <thread>
 
-#include "ChipObject.h"
 #include "FRC_NetworkCommunication/CANSessionMux.h"
 #include "FRC_NetworkCommunication/FRCComm.h"
 #include "FRC_NetworkCommunication/LoadOut.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Errors.h"
 #include "HAL/cpp/priority_mutex.h"
 #include "HAL/handles/HandlesInternal.h"

hal/lib/athena/Interrupts.cpp

@@ -9,8 +9,8 @@
 
 #include <memory>
 
-#include "ChipObject.h"
 #include "DigitalInternal.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Errors.h"
 #include "HAL/cpp/make_unique.h"
 #include "HAL/handles/HandlesInternal.h"

hal/lib/athena/Notifier.cpp

@@ -14,7 +14,7 @@
 #include <memory>
 #include <mutex>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
 #include "HAL/HAL.h"
 #include "HAL/cpp/make_unique.h"
 #include "HAL/cpp/priority_mutex.h"

hal/lib/athena/PortsInternal.h

@@ -9,7 +9,7 @@
 
 #include <stdint.h>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
 
 namespace hal {
 constexpr int32_t kNumAccumulators = tAccumulator::kNumSystems;

hal/lib/athena/Power.cpp

@@ -9,7 +9,7 @@
 
 #include <memory>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
 
 using namespace hal;
 

hal/lib/athena/Solenoid.cpp

@@ -7,8 +7,8 @@
 
 #include "HAL/Solenoid.h"
 
-#include "ChipObject.h"
 #include "FRC_NetworkCommunication/LoadOut.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Errors.h"
 #include "HAL/Ports.h"
 #include "HAL/handles/HandlesInternal.h"