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).
We originally moved to setuid admin so user programs could do other
things requiring admin if they wanted. However, these things, like
setting RT priorities of other processes, can usually be done instead as
admin during the GradleRIO 2022 deploy process, or adding commands to
the robotCommand script. By going back to setcap, we can simplify the
HAL code.
In some cases, knowing roborio 2 might be useful. This also creates a higher level enum that might be usable later for the discussion on more complex runtime types.
The HAL Notifier thread is started when the first Notifier is created
and stopped when the last Notifier is destroyed. Currently,
HAL_SetNotifierThreadPriority() will cause a segfault if the Notifier thread
hasn't been started yet (that is, if no Notifier have been created yet).
This change makes HAL_SetNotifierThreadPriority() store the RT and
priority setting. If the thread has already been started, it will set
the priority immediately. If it hasn't, HAL_InitializeNotifier() will
set the priority when it starts the thread.
This PR gives the Notifier HAL thread RT priority 40 in RobotBase after
HAL initialization and before the user code is run. This drastically
improves scheduling jitter for TimedRobot's AddPeriodic() functions (in
3512's experience).
It's too risky to set user code as RT because badly behaved code
will lock up the Rio (potentially requiring safe mode to recover).
This needs the user program to be setuid admin to succeed.
- Twine, StringRef, Format, and NativeFormatting have been removed
- Logging now uses fmtlib style formatting
- Nearly all uses of wpi::outs/errs have been replaced with fmt::print() or
std::puts()/std::fputs() (for unformatted strings).
- A wpi/fmt/raw_ostream.h header has been added to enable
fmt::print() with wpi::raw_ostream
Use ghc::filesystem as fill on older GCC (e.g. RoboRIO).
This can be removed once all GCC platforms have upgraded to 8.1 or later.
File open functionality has been retained from LLVM but moved to "fs" namespace
and tweaked for improved consistency with std::filesystem (e.g. error_code is
passed by reference instead of returned).
Also update WPILibC's Filesystem functions to return std::string.
The ranges and which value was specified as highest were incorrect on
some of them. On Linux, the range is 1 to 99 with 99 being highest.
From `man 7 sched`:
```
Processes scheduled under one of the real-time policies (SCHED_FIFO,
SCHED_RR) have a sched_priority value in the range 1 (low) to 99 (high).
```
Also clean up the relevant javadoc and doxygen comments.
* Add .clang-tidy configuration.
* A separate .clang-tidy is used for hal includes to suppress modernize-use-using
(as these are C headers).
* Add NOLINT where necessary for a clean run.
* Add clang-tidy job to lint-format workflow. This workflow is now only run on PRs.
To reduce runtime, clang-tidy is only run on files changed in the PR.
Two wpilibc changes; both are unlikely to break user code:
* BuiltInAccelerometer: Make SetRange() final
* Counter: Make SetMaxPeriod() final
After these cleanups, the only file that does not run cleanly is
cscore_raw_cv.h due to it not being standalone.
This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).
This is a breaking change to the WebSockets layer to align it with
recent specification documentation work.
To support this, HAL SimValue changed readonly to a direction enum.
This allows specifying bidirectional in addition to input and output.
The SimValue change is specifically designed to avoid API and ABI breakage.
This is completely transparent in C++; in Java a new callback class was added,
and the old readonly functions have been marked deprecated.
A new SimValue creation function for enums allows specifying double values
for each enum value, not just strings. This allows mapping enum values to
doubles in the WebSockets layer.
A ":" in the SimDevice name now maps it to different WebSocket types (e.g.
"Accel:Name" becomes type "Accel", device "Name"). The type is hidden
in the GUI.
Other WebSockets changes:
* Implemented match_time and game_data
* Added joystick rumble data
* Added builtin accelerometer support
* SimValue enums are mapped to string and double value on WS interface
* Added WebSockets protocol specification
* Added READMEs
