The warnings included recommendations of braces for if statement
readability, a recommendation for default initialization of an int
array, and include-what-you-use (indirectly through clang-tidy reporting
undefined symbols).
GCC's static analyzer is correctly reporting that resize() requires an
unsigned integer, but the argument provided in the JNI function could be
negative since it's a signed byte. Throwing an exception if the argument
is negative fixes the warning.
The previous documentation suggested that `triggerTime` is the interval until the next alarm, but the implementation is that it is the absolute alarm time.
The real robot has match time set to -1.0 until it's enabled, and then
counts down. Disabling the robot sets the time to -1.0.
The sim GUI has been updated to add preset buttons for auto and teleop
match times. The enable match timing checkbox has been removed as it's
no longer required.
The DS socket plugin has also been fixed to properly initialize
matchTime to -1.0 and reset it to -1.0 on disable.
Most of these were unused, the IMU ones were just debug messages.
The only one that wasn't removed is in portable-file-dialogs.cpp since
the replacement looks less trivial.
Adds HAL layer warning for #3842. This is needed in the case when a
vendor uses the HAL directly rather than using the WPILib I2C class.
This should not result in a duplicate warning for WPILib I2C users due
to the duplicate message checking performed in HAL_SendError().
We don't want to remove the WPILib I2C warning because it gives stack
trace information while the HAL layer one can't.
More functionality was implemented at the HAL level, so expose that to the wpilib level.
This also does units changes for all the PH related functionality.
Add the remaining HAL functions needed to fully support the Pneumatic Hub and its latest firmware.
- Clear sticky faults
- Get device voltage
- Get 5v supply voltage (used for analog to PSI calculation)
- Get solenoid voltage
- Get solenoid current
- Get device firmware and hardware version
Some minor refactoring was done for naming of some internal functions for consistency purposes.
Refactors retrieving the faults from the device to match the implementation that we have for the Pneumatic Hub. Instead of having a getter function for each fault, there is a single function to get all faults (sticky or normal) for use with the higher level API
Renames functions to be consistent
Removes some functions that don't need to be included in wpilib:
- Identify device - this just flashes the module LED on the device and has no use in wpilib
- Is PDH enabled - the PDH does not change state depending on robot enabled state
PDH frame and signal names were updated in our DBC, and this PR makes use of the newly generated CAN frame helper functions
This also makes the Gradle build work with JDK 17.
The extra JVM args in gradle.properties works around a bug with spotless
and JDK 17: https://github.com/diffplug/spotless/issues/834
PMD.CloseResource was ignored because it's almost always a false
positive, and there are many of them.
The root cause of #3747 is CommandScheduler's ds state checks are behind iterative robots checks. This means that the iterative robot state could return enabled, but the DS cache could still be reporting disabled. This results in a race in the Disabled -> Enabled transition, which manifests in commands not running.
Previously, iterative robot base pulled from the DS cache. This meant that the ds cache was always updated before an iterative robot base loop could run. This still had a race, but this could only occur on the Enabled -> Disable transition, which is much less noticeable and would usually just result in a command running for an extra loop.
We can move back to the old behavior by grabbing the new iterative robot base check variables to use the DS cache.
If something happens with the PD connection, these would have spammed messages continuously.
This wasn't the case previously, and we don't want this behavior now.
The template argument order for UnscentedTransform was reversed to match
all the other UKF classes. Since UnscentedTransform is intended as a
class for internal use only, this shouldn't cause much breakage.
Similar to the PCM, we're going to make the PH not do anything with the compressor until the PH HAL object has been initialized. The mechanism we're going to use to signal to the PH that that has happened is to begin sending the state of the solenoids (which will all be set to off at this point).
