Added in new headers and libraries for image version 18. This image contains a change to fix artf3773, which switched setDataSem to be a pthread_cond_t variable instead of a mutex. As a result, a few new HAL functions had to be exposed over JNI, specifically the functions for MultiWait.

Change-Id: I28be07c8102acb078440ee74ded46527328dd271

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/robotCommand

@@ -1,3 +1,2 @@
-/usr/local/frc/JRE/bin/java
--jar /home/lvuser/FRCUserProgram.jar
+/usr/local/frc/JRE/bin/java -jar /home/lvuser/FRCUserProgram.jar
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/robotDebugCommand

@@ -1,3 +1,2 @@
-/usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y
--jar /home/lvuser/FRCUserProgram.jar
+/usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y -jar /home/lvuser/FRCUserProgram.jar
 

hal/include/HAL/HAL.hpp

@@ -215,7 +215,7 @@ extern "C"
 	int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs);
 	int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count);
 
-	void HALSetNewDataSem(pthread_mutex_t *);
+	void HALSetNewDataSem(pthread_cond_t *);
 
 	int HALInitialize(int mode = 0);
 	void HALNetworkCommunicationObserveUserProgramStarting();

hal/lib/Athena/HAL.cpp

@@ -205,7 +205,7 @@ int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint
 	return FRC_NetworkCommunication_getJoystickButtons(joystickNum, buttons, count);
 }
 
-void HALSetNewDataSem(pthread_mutex_t * param)
+void HALSetNewDataSem(pthread_cond_t * param)
 {
 	setNewDataSem(param);
 }

hal/lib/Athena/NetworkCommunication/FRCComm.h

@@ -91,7 +91,7 @@ extern "C" {
 # if defined (__vxworks)
 	void EXPORT_FUNC setNewDataSem(SEM_ID);
 # else
-	void EXPORT_FUNC setNewDataSem(pthread_mutex_t *);
+	void EXPORT_FUNC setNewDataSem(pthread_cond_t *);
 # endif
 #endif
 

hal/lib/Athena/NetworkCommunication/UsageReporting.h

@@ -68,7 +68,11 @@ namespace nUsageReporting
         kResourceType_HiTechnicColorSensor,
         kResourceType_HiTechnicAccel,
         kResourceType_HiTechnicCompass,
-		kResourceType_SRF08,
+        kResourceType_SRF08,
+        kResourceType_AnalogOutput,
+        kResourceType_VictorSP,
+        kResourceType_TalonSRX,
+        kResourceType_CANTalonSRX,
     } tResourceType;
 
     typedef enum

wpilibc/wpilibC++Devices/include/DriverStation.h

@@ -105,7 +105,8 @@ private:
 	MUTEX_ID m_statusDataSemaphore;
 	Task m_task;
 	SEMAPHORE_ID m_newControlData;
-	MUTEX_ID m_packetDataAvailableSem;
+	MULTIWAIT_ID m_packetDataAvailableMultiWait;
+	MUTEX_ID m_packetDataAvailableMutex;
 	MULTIWAIT_ID m_waitForDataSem;
 	MUTEX_ID m_waitForDataMutex;
 	double m_approxMatchTimeOffset;

wpilibc/wpilibC++Devices/src/DriverStation.cpp

@@ -35,7 +35,7 @@ DriverStation::DriverStation()
 	: m_statusDataSemaphore (initializeMutexNormal())
 	, m_task ("DriverStation", (FUNCPTR)DriverStation::InitTask)
 	, m_newControlData(0)
-	, m_packetDataAvailableSem (0)
+	, m_packetDataAvailableMultiWait(0)
 	, m_waitForDataSem(0)
 	, m_approxMatchTimeOffset(-1.0)
 	, m_userInDisabled(false)
@@ -53,16 +53,19 @@ DriverStation::DriverStation()
 	}
 
 	// Create a new semaphore
-	m_packetDataAvailableSem = initializeMutexNormal();
+	m_packetDataAvailableMultiWait = initializeMultiWait();
 	m_newControlData = initializeSemaphore(SEMAPHORE_EMPTY);
 
-	// Register that semaphore with the network communications task.
-	// It will signal when new packet data is available.
-	HALSetNewDataSem(m_packetDataAvailableSem);
-
 	m_waitForDataSem = initializeMultiWait();
 	m_waitForDataMutex = initializeMutexNormal();
 
+	m_packetDataAvailableMultiWait = initializeMultiWait();
+	m_packetDataAvailableMutex = initializeMutexNormal();
+
+	// Register that semaphore with the network communications task.
+	// It will signal when new packet data is available.
+	HALSetNewDataSem(m_packetDataAvailableMultiWait);
+
 	AddToSingletonList();
 
 	if (!m_task.Start((int32_t)this))
@@ -79,7 +82,8 @@ DriverStation::~DriverStation()
 	deleteMultiWait(m_waitForDataSem);
 	// Unregister our semaphore.
 	HALSetNewDataSem(0);
-	deleteMutex(m_packetDataAvailableSem);
+	deleteMultiWait(m_packetDataAvailableMultiWait);
+	deleteMutex(m_packetDataAvailableMutex);
 	deleteMutex(m_waitForDataMutex);
 }
 
@@ -93,7 +97,7 @@ void DriverStation::Run()
 	int period = 0;
 	while (true)
 	{
-		takeMutex(m_packetDataAvailableSem);
+		takeMultiWait(m_packetDataAvailableMultiWait, m_packetDataAvailableMutex, 0);  
 		GetData();
 		giveMultiWait(m_waitForDataSem);
 		if (++period >= 4)

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

@@ -8,14 +8,12 @@ package edu.wpi.first.wpilibj;
 
 import java.nio.IntBuffer;
 import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
 
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
 import edu.wpi.first.wpilibj.communication.HALControlWord;
 import edu.wpi.first.wpilibj.communication.HALAllianceStationID;
 import edu.wpi.first.wpilibj.hal.HALUtil;
 import edu.wpi.first.wpilibj.hal.PowerJNI;
-import edu.wpi.first.wpilibj.Timer;
 
 /**
  * Provide access to the network communication data to / from the Driver Station.
@@ -73,6 +71,7 @@ public class DriverStation implements RobotState.Interface {
     private boolean m_userInTeleop = false;
     private boolean m_userInTest = false;
     private boolean m_newControlData;
+    private final ByteBuffer m_packetDataAvailableMutex;
     private final ByteBuffer m_packetDataAvailableSem;
 
     /**
@@ -94,7 +93,8 @@ public class DriverStation implements RobotState.Interface {
         m_semaphore = new Object();
         m_dataSem = new Object();
 
-        m_packetDataAvailableSem = HALUtil.initializeMutexNormal();
+        m_packetDataAvailableMutex = HALUtil.initializeMutexNormal();
+        m_packetDataAvailableSem = HALUtil.initializeMultiWait();
         FRCNetworkCommunicationsLibrary.setNewDataSem(m_packetDataAvailableSem);
 
         m_thread = new Thread(new DriverStationTask(this), "FRCDriverStation");
@@ -116,7 +116,7 @@ public class DriverStation implements RobotState.Interface {
     private void task() {
         int safetyCounter = 0;
         while (m_thread_keepalive) {
-        	HALUtil.takeMutex(m_packetDataAvailableSem);
+        	HALUtil.takeMultiWait(m_packetDataAvailableSem, m_packetDataAvailableMutex, 0);
         	synchronized (this) {
                 getData();
             }

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/HALUtil.java

@@ -23,6 +23,9 @@ public class HALUtil extends JNIWrapper {
 	//public static native ByteBuffer initializeSemaphore(int initialValue);
 	//public static native void deleteSemaphore(ByteBuffer sem);
 	//public static native byte takeSemaphore(ByteBuffer sem, int timeout);
+	public static native ByteBuffer initializeMultiWait();
+	public static native void deleteMultiWait(ByteBuffer sem);
+	public static native byte takeMultiWait(ByteBuffer sem, ByteBuffer m, int timeOut);
 	public static native short getFPGAVersion(IntBuffer status);
 	public static native int getFPGARevision(IntBuffer status);
 	public static native long getFPGATime(IntBuffer status);

wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp

@@ -342,7 +342,7 @@ JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommun
 JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataSem
   (JNIEnv * env, jclass, jobject id )
 {
-	MUTEX_ID* javaId = (MUTEX_ID*)env->GetDirectBufferAddress(id);
+	MULTIWAIT_ID* javaId = (MULTIWAIT_ID*)env->GetDirectBufferAddress(id);
 	NETCOMM_LOG(logDEBUG) << "Mutex Ptr = " << *javaId;
 	HALSetNewDataSem(*javaId);
 }

wpilibj/wpilibJavaJNI/lib/HALUtil.cpp

@@ -69,6 +69,49 @@ JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMutex
 	return returnValue;
 }
 
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    initializeMultiWait
+ * Signature: ()Ljava/nio/ByteBuffer;
+ */
+JNIEXPORT jobject JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_initializeMultiWait
+(JNIEnv * env, jclass)
+{
+	HALUTIL_LOG(logDEBUG) << "Calling HALUtil initializeMultiWait";
+	MULTIWAIT_ID* multiWaitPtr = (MULTIWAIT_ID*)new unsigned char[4];
+	*multiWaitPtr = initializeMultiWait();
+	HALUTIL_LOG(logDEBUG) << "MultiWait Ptr = " << *multiWaitPtr;
+	return env->NewDirectByteBuffer( multiWaitPtr, 4);
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    deleteMultiWait
+ * Signature: (Ljava/nio/ByteBuffer;)V
+ */
+JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_deleteMultiWait
+(JNIEnv * env, jclass, jobject id)
+{
+	HALUTIL_LOG(logDEBUG) << "Calling HALUtil deleteMultiWait";
+	MULTIWAIT_ID* javaId = (MULTIWAIT_ID*)env->GetDirectBufferAddress(id);
+	HALUTIL_LOG(logDEBUG) << "MultiWait Ptr = " << *javaId;
+	deleteMultiWait( *javaId );
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    takeMultiWait
+ * Signature: (Ljava/nio/ByteBuffer;Ljava/nio/ByteBuffer;I)B
+ */
+JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_takeMultiWait
+  (JNIEnv * env, jclass, jobject multiWaitId, jobject mutexId, jint timeout)
+{
+ 	MULTIWAIT_ID* javaMultiWaitId = (MULTIWAIT_ID*)env->GetDirectBufferAddress(multiWaitId);
+	MUTEX_ID* javaMutexId = (MUTEX_ID*)env->GetDirectBufferAddress(mutexId);
+	jbyte returnValue = takeMultiWait(*javaMultiWaitId, *javaMutexId, (int32_t) timeout);
+	return returnValue;
+}
+
 /*
  * Class:     edu_wpi_first_wpilibj_hal_HALUtil
  * Method:    getFPGAVersion