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Move entirety of llvm namespace to wpi namespace.

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During shared library loading, a different libLLVM can be pulled in, causing
llvm symbols from dependent libraries to resolve to that library instead of
this one. This has been seen in the wild with the Mesa OpenGL implementation
in JavaFX applications (see wpilibsuite/shuffleboard#361).

This is clearly a very breaking change. For some level of backwards
compatibility, a namespace alias from llvm to wpi is performed in the "llvm"
headers.  Unfortunately, forward declarations of llvm classes will still break,
but compilers seem to generate clear error messages in those cases
("namespace alias 'llvm' not allowed here, assuming 'wpi'").

This change also moves all the wpiutil headers to a single "wpi" subdirectory
from the previously split "llvm", "support", "tcpsockets", and "udpsockets".
Shim headers will be added for backwards compatibility in a later commit.
This commit is contained in:
Peter Johnson
2018-04-29 23:33:19 -07:00
parent 93859eb84f
commit f84018af5f
377 changed files with 2747 additions and 2742 deletions
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114
cameraserver/src/main/native/cpp/CameraServer.cpp
View File

@@ -7,9 +7,9 @@
#include "CameraServer.h"
#include <llvm/SmallString.h>
#include <llvm/raw_ostream.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/SmallString.h>
#include <wpi/raw_ostream.h>
#include "CameraServerShared.h"
#include "ntcore_cpp.h"
@@ -21,14 +21,14 @@ CameraServer* CameraServer::GetInstance() {
return &instance;
}
static llvm::StringRef MakeSourceValue(CS_Source source,
llvm::SmallVectorImpl<char>& buf) {
static wpi::StringRef MakeSourceValue(CS_Source source,
wpi::SmallVectorImpl<char>& buf) {
CS_Status status = 0;
buf.clear();
switch (cs::GetSourceKind(source, &status)) {
#ifdef __linux__
case cs::VideoSource::kUsb: {
llvm::StringRef prefix{"usb:"};
wpi::StringRef prefix{"usb:"};
buf.append(prefix.begin(), prefix.end());
auto path = cs::GetUsbCameraPath(source, &status);
buf.append(path.begin(), path.end());
@@ -36,7 +36,7 @@ static llvm::StringRef MakeSourceValue(CS_Source source,
}
#endif
case cs::VideoSource::kHttp: {
llvm::StringRef prefix{"ip:"};
wpi::StringRef prefix{"ip:"};
buf.append(prefix.begin(), prefix.end());
auto urls = cs::GetHttpCameraUrls(source, &status);
if (!urls.empty()) buf.append(urls[0].begin(), urls[0].end());
@@ -50,12 +50,12 @@ static llvm::StringRef MakeSourceValue(CS_Source source,
return "unknown:";
}
return llvm::StringRef{buf.begin(), buf.size()};
return wpi::StringRef{buf.begin(), buf.size()};
}
static std::string MakeStreamValue(llvm::StringRef address, int port) {
static std::string MakeStreamValue(wpi::StringRef address, int port) {
std::string rv;
llvm::raw_string_ostream stream(rv);
wpi::raw_string_ostream stream(rv);
stream << "mjpg:http://" << address << ':' << port << "/?action=stream";
stream.flush();
return rv;
@@ -178,7 +178,7 @@ static std::string PixelFormatToString(int pixelFormat) {
static std::string VideoModeToString(const cs::VideoMode& mode) {
std::string rv;
llvm::raw_string_ostream oss{rv};
wpi::raw_string_ostream oss{rv};
oss << mode.width << "x" << mode.height;
oss << " " << PixelFormatToString(mode.pixelFormat) << " ";
oss << mode.fps << " fps";
@@ -193,20 +193,20 @@ static std::vector<std::string> GetSourceModeValues(int source) {
return rv;
}
static inline llvm::StringRef Concatenate(llvm::StringRef lhs,
llvm::StringRef rhs,
llvm::SmallVectorImpl<char>& buf) {
static inline wpi::StringRef Concatenate(wpi::StringRef lhs,
wpi::StringRef rhs,
wpi::SmallVectorImpl<char>& buf) {
buf.clear();
llvm::raw_svector_ostream oss{buf};
wpi::raw_svector_ostream oss{buf};
oss << lhs << rhs;
return oss.str();
}
static void PutSourcePropertyValue(nt::NetworkTable* table,
const cs::VideoEvent& event, bool isNew) {
llvm::SmallString<64> name;
llvm::SmallString<64> infoName;
if (llvm::StringRef{event.name}.startswith("raw_")) {
wpi::SmallString<64> name;
wpi::SmallString<64> infoName;
if (wpi::StringRef{event.name}.startswith("raw_")) {
name = "RawProperty/";
name += event.name;
infoName = "RawPropertyInfo/";
@@ -218,7 +218,7 @@ static void PutSourcePropertyValue(nt::NetworkTable* table,
infoName += event.name;
}
llvm::SmallString<64> buf;
wpi::SmallString<64> buf;
CS_Status status = 0;
nt::NetworkTableEntry entry = table->GetEntry(name);
switch (event.propertyKind) {
@@ -282,10 +282,10 @@ CameraServer::CameraServer()
std::lock_guard<wpi::mutex> lock(m_mutex);
m_tables.insert(std::make_pair(event.sourceHandle, table));
}
llvm::SmallString<64> buf;
wpi::SmallString<64> buf;
table->GetEntry("source").SetString(
MakeSourceValue(event.sourceHandle, buf));
llvm::SmallString<64> descBuf;
wpi::SmallString<64> descBuf;
table->GetEntry("description")
.SetString(cs::GetSourceDescription(event.sourceHandle, descBuf,
&status));
@@ -314,7 +314,7 @@ CameraServer::CameraServer()
auto table = GetSourceTable(event.sourceHandle);
if (table) {
// update the description too (as it may have changed)
llvm::SmallString<64> descBuf;
wpi::SmallString<64> descBuf;
table->GetEntry("description")
.SetString(cs::GetSourceDescription(event.sourceHandle,
descBuf, &status));
@@ -353,7 +353,7 @@ CameraServer::CameraServer()
case cs::VideoEvent::kSourcePropertyChoicesUpdated: {
auto table = GetSourceTable(event.sourceHandle);
if (table) {
llvm::SmallString<64> name{"PropertyInfo/"};
wpi::SmallString<64> name{"PropertyInfo/"};
name += event.name;
name += "/choices";
auto choices =
@@ -380,17 +380,17 @@ CameraServer::CameraServer()
// We don't currently support changing settings via NT due to
// synchronization issues, so just update to current setting if someone
// else tries to change it.
llvm::SmallString<64> buf;
wpi::SmallString<64> buf;
m_tableListener = nt::NetworkTableInstance::GetDefault().AddEntryListener(
Concatenate(kPublishName, "/", buf),
[=](const nt::EntryNotification& event) {
llvm::StringRef relativeKey =
event.name.substr(llvm::StringRef(kPublishName).size() + 1);
wpi::StringRef relativeKey =
event.name.substr(wpi::StringRef(kPublishName).size() + 1);
// get source (sourceName/...)
auto subKeyIndex = relativeKey.find('/');
if (subKeyIndex == llvm::StringRef::npos) return;
llvm::StringRef sourceName = relativeKey.slice(0, subKeyIndex);
if (subKeyIndex == wpi::StringRef::npos) return;
wpi::StringRef sourceName = relativeKey.slice(0, subKeyIndex);
auto sourceIt = m_sources.find(sourceName);
if (sourceIt == m_sources.end()) return;
@@ -398,7 +398,7 @@ CameraServer::CameraServer()
relativeKey = relativeKey.substr(subKeyIndex + 1);
// handle standard names
llvm::StringRef propName;
wpi::StringRef propName;
nt::NetworkTableEntry entry{event.entry};
if (relativeKey == "mode") {
// reset to current mode
@@ -442,8 +442,8 @@ cs::UsbCamera CameraServer::StartAutomaticCapture() {
}
cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
llvm::SmallString<64> buf;
llvm::raw_svector_ostream name{buf};
wpi::SmallString<64> buf;
wpi::raw_svector_ostream name{buf};
name << "USB Camera " << dev;
cs::UsbCamera camera{name.str(), dev};
@@ -453,7 +453,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
return camera;
}
cs::UsbCamera CameraServer::StartAutomaticCapture(llvm::StringRef name,
cs::UsbCamera CameraServer::StartAutomaticCapture(wpi::StringRef name,
int dev) {
cs::UsbCamera camera{name, dev};
StartAutomaticCapture(camera);
@@ -462,8 +462,8 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(llvm::StringRef name,
return camera;
}
cs::UsbCamera CameraServer::StartAutomaticCapture(llvm::StringRef name,
llvm::StringRef path) {
cs::UsbCamera CameraServer::StartAutomaticCapture(wpi::StringRef name,
wpi::StringRef path) {
cs::UsbCamera camera{name, path};
StartAutomaticCapture(camera);
auto csShared = GetCameraServerShared();
@@ -472,7 +472,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(llvm::StringRef name,
}
#endif
cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef host) {
cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef host) {
return AddAxisCamera("Axis Camera", host);
}
@@ -484,12 +484,12 @@ cs::AxisCamera CameraServer::AddAxisCamera(const std::string& host) {
return AddAxisCamera("Axis Camera", host);
}
cs::AxisCamera CameraServer::AddAxisCamera(llvm::ArrayRef<std::string> hosts) {
cs::AxisCamera CameraServer::AddAxisCamera(wpi::ArrayRef<std::string> hosts) {
return AddAxisCamera("Axis Camera", hosts);
}
cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
llvm::StringRef host) {
cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef name,
wpi::StringRef host) {
cs::AxisCamera camera{name, host};
StartAutomaticCapture(camera);
auto csShared = GetCameraServerShared();
@@ -497,7 +497,7 @@ cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
return camera;
}
cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef name,
const char* host) {
cs::AxisCamera camera{name, host};
StartAutomaticCapture(camera);
@@ -506,7 +506,7 @@ cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
return camera;
}
cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef name,
const std::string& host) {
cs::AxisCamera camera{name, host};
StartAutomaticCapture(camera);
@@ -515,8 +515,8 @@ cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
return camera;
}
cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
llvm::ArrayRef<std::string> hosts) {
cs::AxisCamera CameraServer::AddAxisCamera(wpi::StringRef name,
wpi::ArrayRef<std::string> hosts) {
cs::AxisCamera camera{name, hosts};
StartAutomaticCapture(camera);
auto csShared = GetCameraServerShared();
@@ -525,7 +525,7 @@ cs::AxisCamera CameraServer::AddAxisCamera(llvm::StringRef name,
}
void CameraServer::StartAutomaticCapture(const cs::VideoSource& camera) {
llvm::SmallString<64> name{"serve_"};
wpi::SmallString<64> name{"serve_"};
name += camera.GetName();
AddCamera(camera);
@@ -553,7 +553,7 @@ cs::CvSink CameraServer::GetVideo() {
}
cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
llvm::SmallString<64> name{"opencv_"};
wpi::SmallString<64> name{"opencv_"};
name += camera.GetName();
{
@@ -562,8 +562,8 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
if (it != m_sinks.end()) {
auto kind = it->second.GetKind();
if (kind != cs::VideoSink::kCv) {
llvm::SmallString<64> buf;
llvm::raw_svector_ostream err{buf};
wpi::SmallString<64> buf;
wpi::raw_svector_ostream err{buf};
err << "expected OpenCV sink, but got " << kind;
auto csShared = GetCameraServerShared();
csShared->SetCameraServerError(err.str());
@@ -579,14 +579,14 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
return newsink;
}
cs::CvSink CameraServer::GetVideo(llvm::StringRef name) {
cs::CvSink CameraServer::GetVideo(wpi::StringRef name) {
cs::VideoSource source;
{
std::lock_guard<wpi::mutex> lock(m_mutex);
auto it = m_sources.find(name);
if (it == m_sources.end()) {
llvm::SmallString<64> buf;
llvm::raw_svector_ostream err{buf};
wpi::SmallString<64> buf;
wpi::raw_svector_ostream err{buf};
err << "could not find camera " << name;
auto csShared = GetCameraServerShared();
csShared->SetCameraServerError(err.str());
@@ -597,14 +597,14 @@ cs::CvSink CameraServer::GetVideo(llvm::StringRef name) {
return GetVideo(source);
}
cs::CvSource CameraServer::PutVideo(llvm::StringRef name, int width,
cs::CvSource CameraServer::PutVideo(wpi::StringRef name, int width,
int height) {
cs::CvSource source{name, cs::VideoMode::kMJPEG, width, height, 30};
StartAutomaticCapture(source);
return source;
}
cs::MjpegServer CameraServer::AddServer(llvm::StringRef name) {
cs::MjpegServer CameraServer::AddServer(wpi::StringRef name) {
int port;
{
std::lock_guard<wpi::mutex> lock(m_mutex);
@@ -613,7 +613,7 @@ cs::MjpegServer CameraServer::AddServer(llvm::StringRef name) {
return AddServer(name, port);
}
cs::MjpegServer CameraServer::AddServer(llvm::StringRef name, int port) {
cs::MjpegServer CameraServer::AddServer(wpi::StringRef name, int port) {
cs::MjpegServer server{name, port};
AddServer(server);
return server;
@@ -624,13 +624,13 @@ void CameraServer::AddServer(const cs::VideoSink& server) {
m_sinks.emplace_second(server.GetName(), server);
}
void CameraServer::RemoveServer(llvm::StringRef name) {
void CameraServer::RemoveServer(wpi::StringRef name) {
std::lock_guard<wpi::mutex> lock(m_mutex);
m_sinks.erase(name);
}
cs::VideoSink CameraServer::GetServer() {
llvm::SmallString<64> name;
wpi::SmallString<64> name;
{
std::lock_guard<wpi::mutex> lock(m_mutex);
if (m_primarySourceName.empty()) {
@@ -644,12 +644,12 @@ cs::VideoSink CameraServer::GetServer() {
return GetServer(name);
}
cs::VideoSink CameraServer::GetServer(llvm::StringRef name) {
cs::VideoSink CameraServer::GetServer(wpi::StringRef name) {
std::lock_guard<wpi::mutex> lock(m_mutex);
auto it = m_sinks.find(name);
if (it == m_sinks.end()) {
llvm::SmallString<64> buf;
llvm::raw_svector_ostream err{buf};
wpi::SmallString<64> buf;
wpi::raw_svector_ostream err{buf};
err << "could not find server " << name;
auto csShared = GetCameraServerShared();
csShared->SetCameraServerError(err.str());
@@ -665,7 +665,7 @@ void CameraServer::AddCamera(const cs::VideoSource& camera) {
m_sources.emplace_second(name, camera);
}
void CameraServer::RemoveCamera(llvm::StringRef name) {
void CameraServer::RemoveCamera(wpi::StringRef name) {
std::lock_guard<wpi::mutex> lock(m_mutex);
m_sources.erase(name);
}

8
cameraserver/src/main/native/cpp/CameraServerShared.cpp
View File

@@ -7,7 +7,7 @@
#include "CameraServerShared.h"
#include <support/mutex.h>
#include <wpi/mutex.h>
namespace {
class DefaultCameraServerShared : public frc::CameraServerShared {
@@ -15,9 +15,9 @@ class DefaultCameraServerShared : public frc::CameraServerShared {
void ReportUsbCamera(int id) override {}
void ReportAxisCamera(int id) override {}
void ReportVideoServer(int id) override {}
void SetCameraServerError(llvm::StringRef error) override {}
void SetVisionRunnerError(llvm::StringRef error) override {}
void ReportDriverStationError(llvm::StringRef error) override {}
void SetCameraServerError(wpi::StringRef error) override {}
void SetVisionRunnerError(wpi::StringRef error) override {}
void ReportDriverStationError(wpi::StringRef error) override {}
std::pair<std::thread::id, bool> GetRobotMainThreadId() const override {
return std::make_pair(std::thread::id(), false);
}

50
cameraserver/src/main/native/include/CameraServer.h
View File

@@ -14,11 +14,11 @@
#include <string>
#include <vector>
#include <llvm/DenseMap.h>
#include <llvm/StringMap.h>
#include <llvm/StringRef.h>
#include <networktables/NetworkTable.h>
#include <support/mutex.h>
#include <wpi/DenseMap.h>
#include <wpi/StringMap.h>
#include <wpi/StringRef.h>
#include <wpi/mutex.h>
#include "cscore.h"
@@ -72,7 +72,7 @@ class CameraServer {
* @param name The name to give the camera
* @param dev The device number of the camera interface
*/
cs::UsbCamera StartAutomaticCapture(llvm::StringRef name, int dev);
cs::UsbCamera StartAutomaticCapture(wpi::StringRef name, int dev);
/**
* Start automatically capturing images to send to the dashboard.
@@ -80,8 +80,8 @@ class CameraServer {
* @param name The name to give the camera
* @param path The device path (e.g. "/dev/video0") of the camera
*/
cs::UsbCamera StartAutomaticCapture(llvm::StringRef name,
llvm::StringRef path);
cs::UsbCamera StartAutomaticCapture(wpi::StringRef name,
wpi::StringRef path);
#endif
/**
@@ -99,7 +99,7 @@ class CameraServer {
*
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
cs::AxisCamera AddAxisCamera(llvm::StringRef host);
cs::AxisCamera AddAxisCamera(wpi::StringRef host);
/**
* Adds an Axis IP camera.
@@ -126,7 +126,7 @@ class CameraServer {
*
* @param hosts Array of Camera host IPs/DNS names
*/
cs::AxisCamera AddAxisCamera(llvm::ArrayRef<std::string> hosts);
cs::AxisCamera AddAxisCamera(wpi::ArrayRef<std::string> hosts);
/**
* Adds an Axis IP camera.
@@ -144,7 +144,7 @@ class CameraServer {
* @param name The name to give the camera
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
cs::AxisCamera AddAxisCamera(llvm::StringRef name, llvm::StringRef host);
cs::AxisCamera AddAxisCamera(wpi::StringRef name, wpi::StringRef host);
/**
* Adds an Axis IP camera.
@@ -152,7 +152,7 @@ class CameraServer {
* @param name The name to give the camera
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
cs::AxisCamera AddAxisCamera(llvm::StringRef name, const char* host);
cs::AxisCamera AddAxisCamera(wpi::StringRef name, const char* host);
/**
* Adds an Axis IP camera.
@@ -160,7 +160,7 @@ class CameraServer {
* @param name The name to give the camera
* @param host Camera host IP or DNS name (e.g. "10.x.y.11")
*/
cs::AxisCamera AddAxisCamera(llvm::StringRef name, const std::string& host);
cs::AxisCamera AddAxisCamera(wpi::StringRef name, const std::string& host);
/**
* Adds an Axis IP camera.
@@ -168,8 +168,8 @@ class CameraServer {
* @param name The name to give the camera
* @param hosts Array of Camera host IPs/DNS names
*/
cs::AxisCamera AddAxisCamera(llvm::StringRef name,
llvm::ArrayRef<std::string> hosts);
cs::AxisCamera AddAxisCamera(wpi::StringRef name,
wpi::ArrayRef<std::string> hosts);
/**
* Adds an Axis IP camera.
@@ -178,7 +178,7 @@ class CameraServer {
* @param hosts Array of Camera host IPs/DNS names
*/
template <typename T>
cs::AxisCamera AddAxisCamera(llvm::StringRef name,
cs::AxisCamera AddAxisCamera(wpi::StringRef name,
std::initializer_list<T> hosts);
/**
@@ -204,7 +204,7 @@ class CameraServer {
*
* @param name Camera name
*/
cs::CvSink GetVideo(llvm::StringRef name);
cs::CvSink GetVideo(wpi::StringRef name);
/**
* Create a MJPEG stream with OpenCV input. This can be called to pass custom
@@ -214,21 +214,21 @@ class CameraServer {
* @param width Width of the image being sent
* @param height Height of the image being sent
*/
cs::CvSource PutVideo(llvm::StringRef name, int width, int height);
cs::CvSource PutVideo(wpi::StringRef name, int width, int height);
/**
* Adds a MJPEG server at the next available port.
*
* @param name Server name
*/
cs::MjpegServer AddServer(llvm::StringRef name);
cs::MjpegServer AddServer(wpi::StringRef name);
/**
* Adds a MJPEG server.
*
* @param name Server name
*/
cs::MjpegServer AddServer(llvm::StringRef name, int port);
cs::MjpegServer AddServer(wpi::StringRef name, int port);
/**
* Adds an already created server.
@@ -242,7 +242,7 @@ class CameraServer {
*
* @param name Server name
*/
void RemoveServer(llvm::StringRef name);
void RemoveServer(wpi::StringRef name);
/**
* Get server for the primary camera feed.
@@ -257,7 +257,7 @@ class CameraServer {
*
* @param name Server name
*/
cs::VideoSink GetServer(llvm::StringRef name);
cs::VideoSink GetServer(wpi::StringRef name);
/**
* Adds an already created camera.
@@ -271,7 +271,7 @@ class CameraServer {
*
* @param name Camera name
*/
void RemoveCamera(llvm::StringRef name);
void RemoveCamera(wpi::StringRef name);
/**
* Sets the size of the image to use. Use the public kSize constants to set
@@ -297,9 +297,9 @@ class CameraServer {
wpi::mutex m_mutex;
std::atomic<int> m_defaultUsbDevice;
std::string m_primarySourceName;
llvm::StringMap<cs::VideoSource> m_sources;
llvm::StringMap<cs::VideoSink> m_sinks;
llvm::DenseMap<CS_Source, std::shared_ptr<nt::NetworkTable>> m_tables;
wpi::StringMap<cs::VideoSource> m_sources;
wpi::StringMap<cs::VideoSink> m_sinks;
wpi::DenseMap<CS_Source, std::shared_ptr<nt::NetworkTable>> m_tables;
std::shared_ptr<nt::NetworkTable> m_publishTable;
cs::VideoListener m_videoListener;
int m_tableListener;

2
cameraserver/src/main/native/include/CameraServer.inc
View File

@@ -20,7 +20,7 @@ inline cs::AxisCamera CameraServer::AddAxisCamera(
template <typename T>
inline cs::AxisCamera CameraServer::AddAxisCamera(
llvm::StringRef name, std::initializer_list<T> hosts) {
wpi::StringRef name, std::initializer_list<T> hosts) {
std::vector<std::string> vec;
vec.reserve(hosts.size());
for (const auto& host : hosts) vec.emplace_back(host);

8
cameraserver/src/main/native/include/CameraServerShared.h
View File

@@ -11,7 +11,7 @@
#include <thread>
#include <utility>
#include <llvm/StringRef.h>
#include <wpi/StringRef.h>
namespace frc {
class CameraServerShared {
@@ -19,9 +19,9 @@ class CameraServerShared {
virtual void ReportUsbCamera(int id) = 0;
virtual void ReportAxisCamera(int id) = 0;
virtual void ReportVideoServer(int id) = 0;
virtual void SetCameraServerError(llvm::StringRef error) = 0;
virtual void SetVisionRunnerError(llvm::StringRef error) = 0;
virtual void ReportDriverStationError(llvm::StringRef error) = 0;
virtual void SetCameraServerError(wpi::StringRef error) = 0;
virtual void SetVisionRunnerError(wpi::StringRef error) = 0;
virtual void ReportDriverStationError(wpi::StringRef error) = 0;
virtual std::pair<std::thread::id, bool> GetRobotMainThreadId() const = 0;
};