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185 Commits

Author SHA1 Message Date
Oblarg
0ab81d768f Add feed-forward and slew rate limiting to advanced drive examples (#2301) 2020-01-23 18:07:38 -08:00
Peter Johnson
f47e318131 C++ units: Interoperate with Windows headers min/max (#2268) 2020-01-12 22:52:36 -08:00
Peter Johnson
795086b4cf Fix Demangle when used standalone (#2256) 2020-01-10 23:41:40 -08:00
Prateek Machiraju
e874ba9313 Add Color classes for use with AddressableLED (#2127) 
Both floating point and 8-bit integer classes are included, as well as a wide selection of color constants.

Co-authored-by: Austin Shalit <austinshalit@gmail.com>
 2019-12-30 00:01:20 -06:00
Peter Johnson
a12bb447e4 Fail cmake build if python3 generate_numbers.py fails (#2203) 2019-12-29 13:12:00 -06:00
Peter Johnson
0c6f24562f Fix bug in ULEB128 decoding (#2195) 2019-12-24 14:12:42 -06:00
Thad House
9cb69c5b46 Add a way to pass in a preconstructed value to ManagedStatic (#2175) 
A lot of our cases don't need the lazy construction, but do need manual destruction.
 2019-12-20 14:06:22 -08:00
Tyler Veness
8c2ff94d70 Rename MathUtils to MathUtil for consistency with other util classes (#2155) 2019-12-04 20:39:12 -08:00
Oblarg
5e97c81d80 Add MedianFilter class for moving-window median (#2136) 
This kind of filter is extremely useful for signals that are susceptible to sudden
outliers - ultrasonics, 1-D LIDAR, and results from vision processing are all
good use-cases.

This also modifies the existing ultrasonic examples accordingly.
 2019-11-29 15:13:40 -08:00
Tyler Veness
845aba33fe Make feedforward classes constexpr (#2103) 
ArmFeedforward::Calculate() can't be made constexpr because std::cos()
and thus units::math::cos() is not constexpr.

Fixes #2101.
 2019-11-19 06:47:59 -08:00
Thad House
708009cd20 Update to gradle 6.0 (#2074) 2019-11-12 17:14:04 -08:00
Oblarg
7dc7c71b58 Add feedforward components (#2045) 
Add helper classes for computing feedforwards with parameters supplied by the characterization tool.
 2019-11-09 20:16:42 -08:00
carbotaniuman
ed30d5d40e Add JSON support for Trajectories (#2025) 2019-11-02 11:35:03 -07:00
Thad House
936627bd94 wpilibc: Remove direct CameraServer dependency (#1989) 
This makes linking easier, particularly for third party vendors and other language wrappers.
 2019-10-27 08:37:30 -07:00
Oblarg
75438ab2ce Add RamseteCommand (#1951) 2019-10-26 21:33:41 -07:00
Banks T
2c311013d4 Add Aarch64Bionic platform detection (#1922) 2019-10-18 08:03:48 -07:00
Thad House
d6ac6e512b Fix PortForwarder package declaration (#1912) 2019-09-30 15:13:09 -07:00
Tyler Veness
cce26ec78e Replace CRLF line endings with LF (#1902) 2019-09-28 19:55:50 -07:00
Peter Johnson
971303da8c Add PortForwarder class (#1890) 
This class provides an easy way to forward local ports to another host/port.
This is primarily useful to provide a way to access Ethernet-connected devices
from a computer tethered to the RoboRIO USB port.

The most natural spot to put the shared implementation of this class was into
wpiutil, so a wpiutilJNI library has been added.
 2019-09-26 22:53:21 -07:00
hjelstromboli
50db77bf25 Fix wpiutil cmake eigen install source directory (#1891) 2019-09-16 12:54:13 -05:00
Prateek Machiraju
f405582f86 Add kinematics suite (#1787) 
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
 2019-09-07 23:11:49 -05:00
Tyler Veness
1fb3011235 Add MathUtils.clamp() for Java (#1861) 
Also use std::clamp() and MathUtils.clamp() in as many places as
possible in place of custom clamp functions or if statements.
 2019-08-28 23:24:30 -07:00
Peter Johnson
eb3e0c9c95 Fix cmake Eigen include directory (#1862) 
This currently only breaks when cmake is configured with WITH_TESTS but
ultimately this would have affected wpilibc builds too.
 2019-08-28 23:24:08 -07:00
Thad House
d10a1a7977 Fix eigen build in vcpkg (#1856) 2019-08-27 14:38:23 -07:00
Thad House
8993ce5bf1 Move Eigen headers out of main include folder (#1854) 
This allows using Eigen as a separate cmake package, e.g. for vcpkg.
 2019-08-26 21:22:41 -07:00
Thad House
9afea33403 Add support for aarch64 jetson bionic builds (#1844) 2019-08-26 09:49:58 -07:00
Tyler Veness
e3d86fee46 Move circular buffer class from wpilib to wpiutil (#1840) 2019-08-24 21:35:19 -07:00
Thad House
e716c36b89 Fix Nat.java generation to be incremental (#1831) 
Also generate the imports.
 2019-08-20 21:03:44 -07:00
Thad House
9fd2b5e3fa Fix MSVC builds on cmake windows in vcpkg (#1835) 2019-08-19 20:28:48 -07:00
Redrield
7e95010a29 Add compile-time EJML matrix wrapper to wpiutil (#1804) 
This adds a wrapper over EJML's SimpleMatrix that uses generated classes representing numbers to encode the dimensions of each matrix at compile time, and to check operations between matrices for validity at compile time, rather than failing with an exception at runtime. This is required for the Java implementation of state-space control.

Additions to the wpiutil gradle script, and a python script at the wpiutil root are used to generate numeric types from a template at build time for both gradle and cmake. Users will be able to access types through functions on the Nat class.
 2019-08-18 15:00:40 -07:00
Prateek Machiraju
8f386f6bb3 wpilibc: Add unit-safety to C++ geometry classes (#1811) 2019-08-16 22:00:32 -07:00
Peter Johnson
f1d71da8a9 Move GetStackTrace and Demangle to wpiutil, add Windows support (#1819) 
For Windows, import the StackWalker source (https://github.com/JochenKalmbach/StackWalker)
plus PR 35 in that repo, with a few simplifications to StackWalker.h.
 2019-08-12 23:45:45 -07:00
Redrield
c98ca7310f Add EJML dependency to wpiutil (#1769) 
Add EJML as the Java library for linear algebra for use in wpilib. This is equivalent to Eigen for C++.

The EJML dependency is downloaded in cmake and pulled in via maven in the gradle build.
 2019-08-03 14:24:14 -07:00
Austin Shalit
df12fc2a86 Java cleanups (#1776) 
* Remove extra ';'s
* Remove unnecessary conversions to String
* Use StandardCharsets object
* Replace infinite while with check for interrupted thread
* Remove redundant local vars
* Remove redundant throws clause
* Remove redundant primitive wrapping
* Fix malformed Nested class test
* Remove unnecessary unboxing
* Remove unnecessary explicit type argument
* Replace lambdas with method references
* Replace statement lambdas with expression lambdas
* Replace null check with method call
* Replace number comparison with method call
* Fix broken javadoc comments
* Replace Arrays.asList with singletonLists
* Remove excessive lambda usage
* Remove redundant string operation
* Remove redundant type casts
* Remove unnecessary returns
* Remove redundant suppressions
* Fix unresolved file reference
* static analysis fixes
 2019-07-31 22:19:48 -07:00
Tyler Veness
37d316aa09 Add C++20 std::math constants shim (#1788) 
Based on http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2019/p0631r7.pdf
 2019-07-31 22:15:22 -07:00
Tyler Veness
37c6952663 Squelch -Wdeprecated-copy for Eigen with GCC >= 9 2019-07-30 00:39:47 -07:00
Tyler Veness
04c9b000ff Revert "Fix build of Eigen 3.3.7 with GCC 9" 
-Wextra adds -Wdeprecated-copy, which Eigen emits. We're going to
squelch the warning instead to minimize changes to Eigen's upstream
sources.
 2019-07-30 00:39:47 -07:00
Peter Johnson
ca3e71e214 wpiutil: Fix Process::Spawn() (#1778) 
Was broken due to removal of ArrayRef initializer_list constructor.
 2019-07-26 11:22:23 -07:00
Prateek Machiraju
d946d5a2bb Fix Eigen compilation errors and add tests (#1777) 2019-07-24 20:51:33 -07:00
Tyler Veness
8b1b9ac75a Fix build of Eigen 3.3.7 with GCC 9 2019-07-24 00:03:18 -07:00
Tyler Veness
2f680ba990 Add Eigen linear algebra library 
This imports Eigen 3.3.7, which will be used by the wpilibc implementation of
state-space control and mecanum/swerve forward kinematics (the forward
kinematics requires least-squares solutions via a matrix pseudoinverse).

While Eigen has parts licensed under BSD, MINPACK, and MPL2, the files we need
are only MPL2.
 2019-07-24 00:03:18 -07:00
Peter Johnson
dff58c87f4 Fix unused warning in release build (#1771) 2019-07-21 22:17:42 -07:00
Peter Johnson
10731f3d6b Update uv Udp wrapper for latest features 2019-07-15 20:15:37 -05:00
Peter Johnson
89f7b72b6e Update libuv to 1.30.1 release 2019-07-15 20:15:37 -05:00
Peter Johnson
85f2f87400 wpiutil: Add unique_function (#1761) 
This is a move-only variant of std::function to support move-only captures.

Imported from LLVM with some small tweaks (changed to 4 pointer internal storage, warnings fixes).
 2019-07-15 20:13:57 -05:00
Tyler Veness
62be0392b6 Replace std::lock_guard and std::lock with std::scoped_lock (#1758) 
std::scoped_lock was introduced in C++17 and is strictly better than
std::lock_guard as it supports locking any number of mutexes safely.
It's also easier to use than std::lock for locking multiple mutexes at
once.
 2019-07-08 22:58:39 -07:00
Tyler Veness
841ef5d739 Remove template types from lock RAII wrapper usages (#1756) 
C++17 has template type autodeduction. These wrappers include
std::lock_guard and std::unique_lock.
 2019-07-07 19:17:14 -07:00
Peter Johnson
8757bc471b Remove pre-C++17 shims (#1752) 
Now that all compilers support C++17, remove some old C++14/C++17 shims.
 2019-07-07 15:44:43 -07:00
Tyler Veness
118e9d29d5 Add C++14 units library (#1749) 2019-06-30 19:44:51 -07:00
Peter Johnson
eedb3a1adc Fix GCC 9 warnings (#1730) 2019-06-30 00:28:32 -07:00