Adds capabilities to support certain HAL functionality from LabVIEW (#382)

They can only include HAL/LV/HAL.h, HAL/cpp/*.h, and HAL/handles/*.h.
Nothing else will work properly.

hal/include/HAL/DriverStation.h

@@ -104,6 +104,8 @@ int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
                                int32_t leftRumble, int32_t rightRumble);
 double HAL_GetMatchTime(int32_t* status);
 
+#ifndef HAL_USE_LABVIEW
+
 void HAL_WaitForDSData(void);
 void HAL_InitializeDriverStation(void);
 
@@ -112,6 +114,9 @@ void HAL_ObserveUserProgramDisabled(void);
 void HAL_ObserveUserProgramAutonomous(void);
 void HAL_ObserveUserProgramTeleop(void);
 void HAL_ObserveUserProgramTest(void);
+
+#endif  // HAL_USE_LABVIEW
+
 #ifdef __cplusplus
 }  // extern "C"
 #endif

hal/include/HAL/HAL.h

@@ -9,6 +9,8 @@
 
 #include <stdint.h>
 
+#ifndef HAL_USE_LABVIEW
+
 #include "FRC_NetworkCommunication/UsageReporting.h"
 #include "HAL/Accelerometer.h"
 #include "HAL/AnalogAccumulator.h"
@@ -33,6 +35,9 @@
 #include "HAL/SPI.h"
 #include "HAL/SerialPort.h"
 #include "HAL/Solenoid.h"
+
+#endif  // HAL_USE_LABVIEW
+
 #include "HAL/Types.h"
 
 namespace HALUsageReporting = nUsageReporting;
@@ -42,13 +47,11 @@ enum HAL_RuntimeType : int32_t { HAL_Athena, HAL_Mock };
 #ifdef __cplusplus
 extern "C" {
 #endif
-HAL_PortHandle HAL_GetPort(int32_t channel);
-HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
+
 const char* HAL_GetErrorMessage(int32_t code);
 
 int32_t HAL_GetFPGAVersion(int32_t* status);
 int64_t HAL_GetFPGARevision(int32_t* status);
-uint64_t HAL_GetFPGATime(int32_t* status);
 
 HAL_RuntimeType HAL_GetRuntimeType();
 HAL_Bool HAL_GetFPGAButton(int32_t* status);
@@ -56,6 +59,15 @@ HAL_Bool HAL_GetFPGAButton(int32_t* status);
 HAL_Bool HAL_GetSystemActive(int32_t* status);
 HAL_Bool HAL_GetBrownedOut(int32_t* status);
 
+void HAL_BaseInitialize(int32_t* status);
+
+#ifndef HAL_USE_LABVIEW
+
+HAL_PortHandle HAL_GetPort(int32_t channel);
+HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
+
+uint64_t HAL_GetFPGATime(int32_t* status);
+
 int32_t HAL_Initialize(int32_t mode);
 
 // ifdef's definition is to allow for default parameters in C++.
@@ -66,6 +78,8 @@ int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
 int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
                    const char* feature);
 #endif
+
+#endif  // HAL_USE_LABVIEW
 #ifdef __cplusplus
 }
 #endif

hal/include/HAL/LabVIEW/HAL.h

@@ -0,0 +1,14 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#define HAL_USE_LABVIEW
+
+#include "HAL/DriverStation.h"
+#include "HAL/HAL.h"
+#include "HAL/Types.h"

hal/lib/athena/FRCDriverStation.cpp

@@ -5,13 +5,14 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include <chrono>
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
 #include <limits>
 
 #include "FRC_NetworkCommunication/FRCComm.h"
-#include "HAL/HAL.h"
+#include "HAL/DriverStation.h"
 #include "HAL/cpp/priority_condition_variable.h"
 #include "HAL/cpp/priority_mutex.h"
 
@@ -41,16 +42,24 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
   static constexpr int KEEP_MSGS = 5;
   std::lock_guard<priority_mutex> lock(msgMutex);
   static std::string prevMsg[KEEP_MSGS];
-  static uint64_t prevMsgTime[KEEP_MSGS] = {0, 0, 0};
+  static std::chrono::time_point<std::chrono::steady_clock>
+      prevMsgTime[KEEP_MSGS];
+  static bool initialized = false;
+  if (!initialized) {
+    for (int i = 0; i < KEEP_MSGS; i++) {
+      prevMsgTime[i] =
+          std::chrono::steady_clock::now() - std::chrono::seconds(2);
+    }
+    initialized = true;
+  }
 
-  int32_t status = 0;
-  uint64_t curTime = HAL_GetFPGATime(&status);
+  auto curTime = std::chrono::steady_clock::now();
   int i;
   for (i = 0; i < KEEP_MSGS; ++i) {
     if (prevMsg[i] == details) break;
   }
   int retval = 0;
-  if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >= 1000000) {
+  if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >= std::chrono::seconds(1)) {
     retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
                                                 details, location, callStack);
     if (printMsg) {
@@ -66,7 +75,7 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
     if (i == KEEP_MSGS) {
       // replace the oldest one
       i = 0;
-      uint64_t first = prevMsgTime[0];
+      auto first = prevMsgTime[0];
       for (int j = 1; j < KEEP_MSGS; ++j) {
         if (prevMsgTime[j] < first) {
           first = prevMsgTime[j];

hal/lib/athena/HAL.cpp

@@ -255,20 +255,21 @@ HAL_Bool HAL_GetBrownedOut(int32_t* status) {
   return !(watchdog->readStatus_PowerAlive(status));
 }
 
-static void HALCleanupAtExit() {
-  global = nullptr;
-  watchdog = nullptr;
-
-  // Unregister our new data condition variable.
-  setNewDataSem(nullptr);
-}
-
 static void timerRollover(uint64_t currentTime, HAL_NotifierHandle handle) {
   // reschedule timer for next rollover
   int32_t status = 0;
   HAL_UpdateNotifierAlarm(handle, currentTime + 0x80000000ULL, &status);
 }
 
+void HAL_BaseInitialize(int32_t* status) {
+  // image 4; Fixes errors caused by multiple processes. Talk to NI about this
+  nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
+      nLoadOut::kTargetClass_RoboRIO;
+
+  global.reset(tGlobal::create(status));
+  watchdog.reset(tSysWatchdog::create(status));
+}
+
 /**
  * Call this to start up HAL. This is required for robot programs.
  */
@@ -279,15 +280,14 @@ int32_t HAL_Initialize(int32_t mode) {
   prctl(PR_SET_PDEATHSIG, SIGTERM);
 
   FRC_NetworkCommunication_Reserve(nullptr);
-  // image 4; Fixes errors caused by multiple processes. Talk to NI about this
-  nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
-      nLoadOut::kTargetClass_RoboRIO;
+
+  std::atexit([]() {
+    // Unregister our new data condition variable.
+    setNewDataSem(nullptr);
+  });
 
   int32_t status = 0;
-  global.reset(tGlobal::create(&status));
-  watchdog.reset(tSysWatchdog::create(&status));
-
-  std::atexit(HALCleanupAtExit);
+  HAL_BaseInitialize(&status);
 
   if (!rolloverNotifier)
     rolloverNotifier = HAL_InitializeNotifier(timerRollover, nullptr, &status);