Fix main function initialization (#1176)

I don't have a good way to ensure this always works, so this is going to be a documentation issue.
But initializeHardwareConfiguration is now reentrant, so we can just have all tests call it.

wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -28,7 +28,7 @@ import edu.wpi.first.wpilibj.hal.PowerJNI;
 @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.ExcessiveClassLength",
                    "PMD.ExcessivePublicCount", "PMD.GodClass", "PMD.TooManyFields",
                    "PMD.TooManyMethods"})
-public class DriverStation implements RobotState.Interface {
+public class DriverStation {
   /**
    * Number of Joystick Ports.
    */
@@ -630,7 +630,6 @@ public class DriverStation implements RobotState.Interface {
    *
    * @return True if the robot is enabled, false otherwise.
    */
-  @Override
   public boolean isEnabled() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
@@ -643,7 +642,6 @@ public class DriverStation implements RobotState.Interface {
    *
    * @return True if the robot should be disabled, false otherwise.
    */
-  @Override
   public boolean isDisabled() {
     return !isEnabled();
   }
@@ -654,7 +652,6 @@ public class DriverStation implements RobotState.Interface {
    *
    * @return True if autonomous mode should be enabled, false otherwise.
    */
-  @Override
   public boolean isAutonomous() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
@@ -668,7 +665,6 @@ public class DriverStation implements RobotState.Interface {
    *
    * @return True if operator-controlled mode should be enabled, false otherwise.
    */
-  @Override
   public boolean isOperatorControl() {
     return !(isAutonomous() || isTest());
   }
@@ -679,7 +675,6 @@ public class DriverStation implements RobotState.Interface {
    *
    * @return True if test mode should be enabled, false otherwise.
    */
-  @Override
   public boolean isTest() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);

wpilibj/src/main/java/edu/wpi/first/wpilibj/HLUsageReporting.java

@@ -1,73 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. 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 edu.wpi.first.wpilibj.util.BaseSystemNotInitializedException;
-
-/**
- * Support for high level usage reporting.
- */
-@SuppressWarnings("JavadocMethod")
-public final class HLUsageReporting {
-  private static Interface impl;
-
-  @SuppressWarnings("MethodName")
-  public static void SetImplementation(Interface implementation) {
-    impl = implementation;
-  }
-
-  public static void reportScheduler() {
-    if (impl != null) {
-      impl.reportScheduler();
-    } else {
-      throw new BaseSystemNotInitializedException(Interface.class, HLUsageReporting.class);
-    }
-  }
-
-  public static void reportPIDController(int num) {
-    if (impl != null) {
-      impl.reportPIDController(num);
-    } else {
-      throw new BaseSystemNotInitializedException(Interface.class, HLUsageReporting.class);
-    }
-  }
-
-  public static void reportSmartDashboard() {
-    if (impl != null) {
-      impl.reportSmartDashboard();
-    } else {
-      throw new BaseSystemNotInitializedException(Interface.class, HLUsageReporting.class);
-    }
-  }
-
-  public interface Interface {
-    void reportScheduler();
-
-    void reportPIDController(int num);
-
-    void reportSmartDashboard();
-  }
-
-  public static class Null implements Interface {
-    @Override
-    public void reportScheduler() {
-    }
-
-    @Override
-    @SuppressWarnings("PMD.UnusedFormalParameter")
-    public void reportPIDController(int num) {
-    }
-
-    @Override
-    public void reportSmartDashboard() {
-    }
-  }
-
-  private HLUsageReporting() {
-  }
-}

wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java

@@ -10,6 +10,8 @@ package edu.wpi.first.wpilibj;
 import java.util.concurrent.locks.ReentrantLock;
 
 import edu.wpi.first.wpilibj.filters.LinearDigitalFilter;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.util.BoundaryException;
 
@@ -176,7 +178,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
     m_pidOutput = output;
 
     instances++;
-    HLUsageReporting.reportPIDController(instances);
+    HAL.report(tResourceType.kResourceType_PIDController, instances);
     m_tolerance = new NullTolerance();
     setName("PIDController", instances);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -21,8 +21,6 @@ import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances;
 import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.hal.HALUtil;
-import edu.wpi.first.wpilibj.internal.HardwareHLUsageReporting;
-import edu.wpi.first.wpilibj.internal.HardwareTimer;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.util.WPILibVersion;
 
@@ -84,7 +82,6 @@ public abstract class RobotBase implements AutoCloseable {
    * to put this code into it's own task that loads on boot so ensure that it runs.
    */
   protected RobotBase() {
-    initializeHardwareConfiguration();
     NetworkTableInstance inst = NetworkTableInstance.getDefault();
     setupCameraServerShared();
     inst.setNetworkIdentity("Robot");
@@ -198,24 +195,6 @@ public abstract class RobotBase implements AutoCloseable {
     }
   }
 
-  /**
-   * Common initialization for all robot programs.
-   */
-  public static void initializeHardwareConfiguration() {
-    if (!HAL.initialize(500, 0)) {
-      throw new IllegalStateException("Failed to initialize. Terminating");
-    }
-
-    // Set some implementations so that the static methods work properly
-    Timer.SetImplementation(new HardwareTimer());
-    HLUsageReporting.SetImplementation(new HardwareHLUsageReporting());
-    RobotState.SetImplementation(DriverStation.getInstance());
-
-    // Call a CameraServer JNI function to force OpenCV native library loading
-    // Needed because all the OpenCV JNI functions don't have built in loading
-    CameraServerJNI.enumerateSinks();
-  }
-
   /**
    * Starting point for the applications.
    */
@@ -226,6 +205,10 @@ public abstract class RobotBase implements AutoCloseable {
       throw new IllegalStateException("Failed to initialize. Terminating");
     }
 
+    // Call a CameraServer JNI function to force OpenCV native library loading
+    // Needed because all the OpenCV JNI functions don't have built in loading
+    CameraServerJNI.enumerateSinks();
+
     HAL.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);
 
     String robotName = "";

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java

@@ -7,67 +7,26 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.util.BaseSystemNotInitializedException;
-
 @SuppressWarnings("JavadocMethod")
 public final class RobotState {
-  private static Interface m_impl;
-
-  @SuppressWarnings("MethodName")
-  public static void SetImplementation(Interface implementation) {
-    m_impl = implementation;
-  }
-
   public static boolean isDisabled() {
-    if (m_impl != null) {
-      return m_impl.isDisabled();
-    } else {
-      throw new BaseSystemNotInitializedException(Interface.class, RobotState.class);
-    }
+    return DriverStation.getInstance().isDisabled();
   }
 
   public static boolean isEnabled() {
-    if (m_impl != null) {
-      return m_impl.isEnabled();
-    } else {
-      throw new BaseSystemNotInitializedException(Interface.class, RobotState.class);
-    }
+    return DriverStation.getInstance().isEnabled();
   }
 
   public static boolean isOperatorControl() {
-    if (m_impl != null) {
-      return m_impl.isOperatorControl();
-    } else {
-      throw new BaseSystemNotInitializedException(Interface.class, RobotState.class);
-    }
+    return DriverStation.getInstance().isOperatorControl();
   }
 
   public static boolean isAutonomous() {
-    if (m_impl != null) {
-      return m_impl.isAutonomous();
-    } else {
-      throw new BaseSystemNotInitializedException(Interface.class, RobotState.class);
-    }
+    return DriverStation.getInstance().isAutonomous();
   }
 
   public static boolean isTest() {
-    if (m_impl != null) {
-      return m_impl.isTest();
-    } else {
-      throw new BaseSystemNotInitializedException(Interface.class, RobotState.class);
-    }
-  }
-
-  interface Interface {
-    boolean isDisabled();
-
-    boolean isEnabled();
-
-    boolean isOperatorControl();
-
-    boolean isAutonomous();
-
-    boolean isTest();
+    return DriverStation.getInstance().isTest();
   }
 
   private RobotState() {

wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java

@@ -7,16 +7,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.util.BaseSystemNotInitializedException;
-
 public class Timer {
-  private static StaticInterface impl;
-
-  @SuppressWarnings("MethodName")
-  public static void SetImplementation(StaticInterface ti) {
-    impl = ti;
-  }
-
   /**
    * Return the system clock time in seconds. Return the time from the FPGA hardware clock in
    * seconds since the FPGA started.
@@ -25,11 +16,7 @@ public class Timer {
    */
   @SuppressWarnings("AbbreviationAsWordInName")
   public static double getFPGATimestamp() {
-    if (impl != null) {
-      return impl.getFPGATimestamp();
-    } else {
-      throw new BaseSystemNotInitializedException(StaticInterface.class, Timer.class);
-    }
+    return RobotController.getFPGATime() / 1000000.0;
   }
 
   /**
@@ -42,11 +29,7 @@ public class Timer {
    * @return Time remaining in current match period (auto or teleop) in seconds
    */
   public static double getMatchTime() {
-    if (impl != null) {
-      return impl.getMatchTime();
-    } else {
-      throw new BaseSystemNotInitializedException(StaticInterface.class, Timer.class);
-    }
+    return DriverStation.getInstance().getMatchTime();
   }
 
   /**
@@ -58,34 +41,24 @@ public class Timer {
    * @param seconds Length of time to pause
    */
   public static void delay(final double seconds) {
-    if (impl != null) {
-      impl.delay(seconds);
-    } else {
-      throw new BaseSystemNotInitializedException(StaticInterface.class, Timer.class);
+    try {
+      Thread.sleep((long) (seconds * 1e3));
+    } catch (final InterruptedException ex) {
+      Thread.currentThread().interrupt();
     }
   }
 
-  public interface StaticInterface {
-    @SuppressWarnings("AbbreviationAsWordInName")
-    double getFPGATimestamp();
-
-    double getMatchTime();
-
-    void delay(double seconds);
-
-    @SuppressWarnings("JavadocMethod")
-    Interface newTimer();
-  }
-
-  private final Interface m_timer;
+  private double m_startTime;
+  private double m_accumulatedTime;
+  private boolean m_running;
 
   @SuppressWarnings("JavadocMethod")
   public Timer() {
-    if (impl != null) {
-      m_timer = impl.newTimer();
-    } else {
-      throw new BaseSystemNotInitializedException(StaticInterface.class, Timer.class);
-    }
+    reset();
+  }
+
+  private double getMsClock() {
+    return RobotController.getFPGATime() / 1000.0;
   }
 
   /**
@@ -95,24 +68,30 @@ public class Timer {
    *
    * @return Current time value for this timer in seconds
    */
-  public double get() {
-    return m_timer.get();
+  public synchronized double get() {
+    if (m_running) {
+      return ((getMsClock() - m_startTime) + m_accumulatedTime) / 1000.0;
+    } else {
+      return m_accumulatedTime;
+    }
   }
 
   /**
    * Reset the timer by setting the time to 0. Make the timer startTime the current time so new
    * requests will be relative now
    */
-  public void reset() {
-    m_timer.reset();
+  public synchronized void reset() {
+    m_accumulatedTime = 0;
+    m_startTime = getMsClock();
   }
 
   /**
    * Start the timer running. Just set the running flag to true indicating that all time requests
    * should be relative to the system clock.
    */
-  public void start() {
-    m_timer.start();
+  public synchronized void start() {
+    m_startTime = getMsClock();
+    m_running = true;
   }
 
   /**
@@ -120,8 +99,10 @@ public class Timer {
    * subsequent time requests to be read from the accumulated time rather than looking at the system
    * clock.
    */
-  public void stop() {
-    m_timer.stop();
+  public synchronized void stop() {
+    final double temp = get();
+    m_accumulatedTime = temp;
+    m_running = false;
   }
 
   /**
@@ -132,48 +113,13 @@ public class Timer {
    * @param period The period to check for (in seconds).
    * @return If the period has passed.
    */
-  public boolean hasPeriodPassed(double period) {
-    return m_timer.hasPeriodPassed(period);
-  }
-
-  public interface Interface {
-    /**
-     * Get the current time from the timer. If the clock is running it is derived from the current
-     * system clock the start time stored in the timer class. If the clock is not running, then
-     * return the time when it was last stopped.
-     *
-     * @return Current time value for this timer in seconds
-     */
-    double get();
-
-    /**
-     * Reset the timer by setting the time to 0. Make the timer startTime the current time so new
-     * requests will be relative now
-     */
-    void reset();
-
-    /**
-     * Start the timer running. Just set the running flag to true indicating that all time requests
-     * should be relative to the system clock.
-     */
-    void start();
-
-    /**
-     * Stop the timer. This computes the time as of now and clears the running flag, causing all
-     * subsequent time requests to be read from the accumulated time rather than looking at the
-     * system clock.
-     */
-    void stop();
-
-
-    /**
-     * Check if the period specified has passed and if it has, advance the start time by that
-     * period. This is useful to decide if it's time to do periodic work without drifting later by
-     * the time it took to get around to checking.
-     *
-     * @param period The period to check for (in seconds).
-     * @return If the period has passed.
-     */
-    boolean hasPeriodPassed(double period);
+  public synchronized boolean hasPeriodPassed(double period) {
+    if (get() > period) {
+      // Advance the start time by the period.
+      // Don't set it to the current time... we want to avoid drift.
+      m_startTime += period * 1000;
+      return true;
+    }
+    return false;
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java

@@ -12,9 +12,11 @@ import java.util.Hashtable;
 import java.util.Vector;
 
 import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.wpilibj.HLUsageReporting;
 import edu.wpi.first.wpilibj.SendableBase;
 import edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 
 /**
@@ -92,7 +94,7 @@ public final class Scheduler extends SendableBase {
    * Instantiates a {@link Scheduler}.
    */
   private Scheduler() {
-    HLUsageReporting.reportScheduler();
+    HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand_Scheduler);
     setName("Scheduler");
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/internal/HardwareHLUsageReporting.java

@@ -1,30 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. 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.internal;
-
-import edu.wpi.first.wpilibj.HLUsageReporting;
-import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances;
-import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
-import edu.wpi.first.wpilibj.hal.HAL;
-
-public class HardwareHLUsageReporting implements HLUsageReporting.Interface {
-  @Override
-  public void reportScheduler() {
-    HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand_Scheduler);
-  }
-
-  @Override
-  public void reportPIDController(int num) {
-    HAL.report(tResourceType.kResourceType_PIDController, num);
-  }
-
-  @Override
-  public void reportSmartDashboard() {
-    HAL.report(tResourceType.kResourceType_SmartDashboard, 0);
-  }
-}

wpilibj/src/main/java/edu/wpi/first/wpilibj/internal/HardwareTimer.java

@@ -1,143 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. 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.internal;
-
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.RobotController;
-import edu.wpi.first.wpilibj.Timer;
-
-/**
- * Timer objects measure accumulated time in milliseconds. The timer object functions like a
- * stopwatch. It can be started, stopped, and cleared. When the timer is running its value counts
- * up in milliseconds. When stopped, the timer holds the current value. The implementation simply
- * records the time when started and subtracts the current time whenever the value is requested.
- */
-public class HardwareTimer implements Timer.StaticInterface {
-  /**
-   * Pause the thread for a specified time. Pause the execution of the thread for a specified period
-   * of time given in seconds. Motors will continue to run at their last assigned values, and
-   * sensors will continue to update. Only the task containing the wait will pause until the wait
-   * time is expired.
-   *
-   * @param seconds Length of time to pause
-   */
-  @Override
-  public void delay(final double seconds) {
-    try {
-      Thread.sleep((long) (seconds * 1e3));
-    } catch (final InterruptedException ex) {
-      Thread.currentThread().interrupt();
-    }
-  }
-
-  /**
-   * Return the system clock time in seconds. Return the time from the FPGA hardware clock in
-   * seconds since the FPGA started.
-   *
-   * @return Robot running time in seconds.
-   */
-  @Override
-  public double getFPGATimestamp() {
-    return RobotController.getFPGATime() / 1000000.0;
-  }
-
-  @Override
-  public double getMatchTime() {
-    return DriverStation.getInstance().getMatchTime();
-  }
-
-  @Override
-  public Timer.Interface newTimer() {
-    return new TimerImpl();
-  }
-
-  class TimerImpl implements Timer.Interface {
-    private double m_startTime;
-    private double m_accumulatedTime;
-    private boolean m_running;
-
-    /**
-     * Create a new timer object. Create a new timer object and reset the time to zero. The timer is
-     * initially not running and must be started.
-     */
-    TimerImpl() {
-      reset();
-    }
-
-    private double getMsClock() {
-      return RobotController.getFPGATime() / 1000.0;
-    }
-
-    /**
-     * Get the current time from the timer. If the clock is running it is derived from the current
-     * system clock the start time stored in the timer class. If the clock is not running, then
-     * return the time when it was last stopped.
-     *
-     * @return Current time value for this timer in seconds
-     */
-    @Override
-    public synchronized double get() {
-      if (m_running) {
-        return ((getMsClock() - m_startTime) + m_accumulatedTime) / 1000.0;
-      } else {
-        return m_accumulatedTime;
-      }
-    }
-
-    /**
-     * Reset the timer by setting the time to 0. Make the timer start time the current time so new
-     * requests will be relative now
-     */
-    @Override
-    public synchronized void reset() {
-      m_accumulatedTime = 0;
-      m_startTime = getMsClock();
-    }
-
-    /**
-     * Start the timer running. Just set the running flag to true indicating that all time
-     * requests should be relative to the system clock.
-     */
-    @Override
-    public synchronized void start() {
-      m_startTime = getMsClock();
-      m_running = true;
-    }
-
-    /**
-     * Stop the timer. This computes the time as of now and clears the running flag, causing all
-     * subsequent time requests to be read from the accumulated time rather than looking at the
-     * system clock.
-     */
-    @Override
-    public synchronized void stop() {
-      final double temp = get();
-      m_accumulatedTime = temp;
-      m_running = false;
-    }
-
-    /**
-     * Check if the period specified has passed and if it has, advance the start time by that
-     * period. This is useful to decide if it's time to do periodic work without drifting later by
-     * the time it took to get around to checking.
-     *
-     * @param period The period to check for (in seconds).
-     * @return If the period has passed.
-     */
-    @Override
-    public synchronized boolean hasPeriodPassed(double period) {
-      if (get() > period) {
-        // Advance the start time by the period.
-        // Don't set it to the current time... we want to avoid drift.
-        m_startTime += period * 1000;
-        return true;
-      }
-      return false;
-    }
-  }
-}

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java

@@ -15,8 +15,10 @@ import java.util.Set;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.wpilibj.HLUsageReporting;
+import edu.wpi.first.wpilibj.NamedSendable;
 import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 
 /**
  * The {@link SmartDashboard} class is the bridge between robot programs and the SmartDashboard on
@@ -50,7 +52,7 @@ public class SmartDashboard {
   private static final Map<String, Data> tablesToData = new HashMap<>();
 
   static {
-    HLUsageReporting.reportSmartDashboard();
+    HAL.report(tResourceType.kResourceType_SmartDashboard, 0);
   }
 
   private SmartDashboard() {