Since sched_setscheduler() requires non-RT priorities to be 0, we can
use that as a sentinel value for disabling RT and condense the Java API
to just two functions with fewer parameters. The thread priority setter
is deprecated since only experts should use it.
The HAL Notifier thread priority setter was replaced with setting the
priority in the thread itself.
The C++ Notifier non-RT and RT constructors were deduplicated.
The real-time scheduler was changed from SCHED_FIFO to SCHED_RR, which
is SCHED_FIFO with threads allowed to run for a maximum time quantum
before yielding (100 ms by default).
Each Bazel Windows CI job is currently redundantly evaluating the build
actions for both the `opt` and `dbg` compilation modes.
If we group the debug artifact builds together (instead of grouping by
the shared/static library artifacts), the `dbg` compilation mode actions
no longer need to be executed across multiple CI jobs in the matrix.
(Yes, the CI jobs are sharing the Bazel cache, but there's still
overhead in checking the action cache for each action. It's also
possible that two jobs will race to execute the same action.)
| Total actions per job | [Before] | After |
|----------------------------|---------:|------:|
| Windows x86-64 | 12277 | 10179 |
| Windows x86-64 Static | 11947 | n/a |
| Windows x86-64 Debug | n/a | 9895 |
| Windows ARM64 | 5518 | 3420 |
| Windows ARM64 Static | 5304 | n/a |
| Windows ARM64 Debug | n/a | 3272 |
| Windows System Core | 4836 | 2916 |
| Windows System Core Static | 4576 | n/a |
| Windows System Core Debug | n/a | 2916 |
[Before]:
https://github.com/wpilibsuite/allwpilib/actions/runs/23781230818
This should hopefully translate to shorter wall-clock time Windows CI
jobs.
The wrapper includes reverse mode autodiff, the Problem DSL, and the
optimal control problem API. I wrote it by directly translating the
upstream
[API](https://github.com/SleipnirGroup/Sleipnir/tree/main/include/sleipnir)
and [tests](https://github.com/SleipnirGroup/Sleipnir/tree/main/test) to
Java (i.e., copy-paste-modify).
I replaced the ArmFeedforward and Ellipse2d JNIs with implementations
using the Sleipnir Java bindings. Switching dev binary JNIs to release
by default sped up wpimath test runs from several minutes to 7 seconds.
In https://github.com/wpilibsuite/allwpilib/issues/8681 we discovered
that multicast service types need to be valid (end with _tcp or _udp),
or else errors are silently swallowed. Let's make our C++ unit test use
a valid name and also check that it works. I think if we
should/shouldn't do this is up for debate still.
I also discovered two bugs in the JNI code that lead to incorrect
results being returned
- Return array index was always 0
- Use of JLocal for the return value seems to mean that the array will
always be NULL in java
#7695, #7696, #7697, #7701, #7724, #7753, #7861 removed various features
from the HAL, but forgot to clean up the handles, the WS API, or both.
Additionally, since AnalogInput is the only remaining analog I/O,
AnalogJNI was renamed to the more specific AnalogInputJNI.
Some discussion with the tech team showed that there were some real
advantages to being able to pass a 2nd type. It allows separating the DS
and Robot. Additionally, we can make the DriverStationBase class
actually usable instead of the existing DriverStation class which is
impossible to handle in intellisense because it has too much.
This won't fully be doable in C++, but we will need to implement
something similar in python.
