- 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.
Substantially improves Mechanism2d by moving it to NetworkTables and adding
a robot API to create the mechanism elements, instead of requiring a JSON file.
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
* 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
If the strncpy() bound is equal to the destination size and the source
string is longer than 256 bytes, strncpy() won't write a null terminator
for the destination string.
This allows joystick testing without a physical joystick.
Comes with a default set of keyboard mappings, but these are fully customizable by the user.
Up to 4 virtual joysticks are supported.
Default keyboard mappings:
Joystick 0: axis 0: AD, axis 1: WS, axis 2: ER, buttons ZXCV, POV on numeric keypad
Joystick 1: axis 0: JL, axis 1: IK, buttons M,./
Joystick 2: axis 0: left/right arrow, axis 1: up/down arrow, buttons insert/home/pgup/del/end/pgdn
Also adds support for DS-style hotkeys of []\ enable, Enter disable, and spacebar disable.
All of these are disabled by default and must be explicitly enabled by the user.
Currently, Encoder.reset() must make a round trip to the sensor and back
in order for the count to be updated for the user program. As the sim layer
also resets the internal encoder count, this creates a race condition (a WS
message with a new count can be "in flight" during a reset and update the
count).
This changes the WS layer to not put reset on the wire, but instead keep an
offset count internal to the robot program. The value on the wire is not
reset, but rather all sends and receives are adjusted as necessary to the
internal robot count.
This approach is straightforward, but does result in the value on the wire
not matching the value in the user program. A future improvement will fix
this, but this change fixes the immediate race condition problem.
This reuses many pieces of the current simulation GUI. The common pieces have
been refactored into the libglass library.
The libglass library is designed to be usable for other standalone data
visualization applications (e.g. viewing data logs).
The name "glass" comes from "glass cockpit", as the application features
several multi-function displays that can be adjusted to display robot
information as needed.
Old behavior is available via StepTimingAsync.
This makes it significantly easier to use simulation timing with notifiers.
Also update tests to use simulation framework. This also speeds up the
timing-dependent tests by using simulation timing. ResourceLock is used
in the Java tests to prevent parallel execution.
While we're here, tweak HAL Notifier implementation:
- Use wait_for instead of wait_until in WaitForNotifierAlarm
- Check for triggerTime = UINT64_MAX in UpdateNotifierAlarm
