[hal] Reject duplicate apps connecting as main robot process to mrccomm (#9015)

hal/src/main/native/cpp/mrclib/MrcLibDs.cpp

@@ -315,8 +315,23 @@ MrcLibDsImpl::MrcLibDsImpl() {
     std::terminate();
   }
 
+  // Initialize control first, making sure its properly checked for errors
+  MRC_Status controlInitStatus = MRC_DsCommsControl_Initialize();
+  if (controlInitStatus == MRC_STATUS_MULTIPLE_USER_PROGRAMS) {
+    fmt::print(stderr,
+               "Warning: Multiple user programs detected. Restarting app and "
+               "retrying...\n");
+    std::terminate();
+  }
+  if (controlInitStatus != MRC_STATUS_SUCCESS) {
+    fmt::print(stderr,
+               "Error: MRC_DsCommsControl_Initialize failed with status {}. "
+               "Restarting app and retrying...\n",
+               controlInitStatus);
+    std::terminate();
+  }
   MRC_DsComms_Initialize();
-  MRC_DsCommsControl_Initialize();
+
   MRC_Console_Initialize();
 
   // Wait for 10 seconds for the system server to be ready.

shared/bazel/thirdparty/integrity_helper.py

@@ -157,7 +157,7 @@ def update_libssh():
 
 def update_mrclib():
     # Keep in sync with shared/libmrclib.gradle
-    version = "2027.1.0-alpha-1-65-g21f308e"
+    version = "2027.1.0-alpha-1-69-gc4dd18d"
 
     has_headers = True
     classifiers = [

shared/bazel/thirdparty/mrclib/mrclib.MODULE.bazel

@@ -2,17 +2,17 @@ http_archive = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "ht
 
 ################################################################################
 # Generated by shared/bazel/thirdparty/integrity_helper.py
-url_pattern = "https://frcmaven.wpi.edu/artifactory/development-2027/org/wpilib/mrclib/mrclib-cpp/2027.1.0-alpha-1-65-g21f308e/mrclib-cpp-2027.1.0-alpha-1-65-g21f308e-%s.zip"
+url_pattern = "https://frcmaven.wpi.edu/artifactory/development-2027/org/wpilib/mrclib/mrclib-cpp/2027.1.0-alpha-1-69-gc4dd18d/mrclib-cpp-2027.1.0-alpha-1-69-gc4dd18d-%s.zip"
 
-headers_integrity = "a8b38a00d584b50c3bb84800121df1022ac1500f59e4ecac85068adca7c0ac49"
+headers_integrity = "7e0d3efa8d0264c3dcd7088a94180986555a97860db512c516a4d8a228585169"
 
 _LIB_ARTIFACTS = {
-    "linuxarm64": ("linux", "**/*.so*", "38009110f0deeaeaec08b59fe37ce7e87d3ee4f3d86bd70a7003b22a75bcb43e"),
-    "linuxx86-64": ("linux", "**/*.so*", "503b3107febd35d32d28e5a3135c48fbd8c09d49d0b1f404182bc9b3c6877d12"),
-    "osxuniversal": ("osx", "**/*.dylib", "422a52e4b5f859ef3afb7a97e66ba72572894a73abd88126e09647929b1701c1"),
-    "linuxsystemcore": ("linux", "**/*.so*", "f84d4a6852d52da5535c054944b45f6f0c3d98271756ebfa28103a6f45e073e5"),
-    "windowsarm64": ("windows", "**/*.dll", "8fd028fa1144c1c18adf9facf4dd690f6d888565c73498bfae01849d0400dad0"),
-    "windowsx86-64": ("windows", "**/*.dll", "6e905f298fd261e68abb2bfcad7d47334d57f8b6dd14046bf2b98f55c7a657d7"),
+    "linuxarm64": ("linux", "**/*.so*", "b87f7187afc1780422526d010f2b195f2f160175dcfbba2834eda8f27c647304"),
+    "linuxx86-64": ("linux", "**/*.so*", "510088cbb2b7ca3fbd47691debbe89d5d2dd022cd5472a723c95a6e1db1b9cd8"),
+    "osxuniversal": ("osx", "**/*.dylib", "35d6df2d76165b099d9592bb29e84b8edd365382d926a818bfe97902919d0d63"),
+    "linuxsystemcore": ("linux", "**/*.so*", "40a2f1e641bec88ea21794dacf6212e99cdf19c0e7dbcb777159b6134d2ee390"),
+    "windowsarm64": ("windows", "**/*.dll", "6bcc645f5af742613401e4e3a162cf72193c6fd67d1dd32a5cefad899013d13b"),
+    "windowsx86-64": ("windows", "**/*.dll", "b69c8567586d7b5499fe602758259435c79a4ee9e311669baaff0f9878028b14"),
 }
 # End auto-gen
 ################################################################################

shared/libmrclib.gradle

@@ -5,7 +5,7 @@ nativeUtils {
             artifactId = "mrclib-cpp"
             headerClassifier = "headers"
             ext = "zip"
-            version = '2027.1.0-alpha-1-65-g21f308e'
+            version = '2027.1.0-alpha-1-69-gc4dd18d'
             skipAtRuntimePlatforms.add(nativeUtils.wpi.platforms.systemcore)
             targetPlatforms.addAll(nativeUtils.wpi.platforms.allPlatforms)
             noDebugSplit = true