This allows high-level library classes to implement enhanced simulation
support even if no low-level corresponding simulation library exists, and
avoids the need for bit-banging complex interfaces like SPI or CAN.
Default behavior is still to run the robot main loop in the main thread.
The ability to run the robot main loop in a separate thread and add a hook
for running a different function in the main thread is needed for simulation
GUI support on some platforms.
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.
* Update MSVC arguments
* Fix json allocator
* Fix simulation diamond
* Bump gtest
* Remove empty varargs in unit tests
* Replace test case with test suite
* Remove deprecation warning in optional
* Remove need for NOMIXMAX to be defined in wpilib headers
HAL_GetFPGATime returns 0 if it starts with a non zero status.
Always use monotonic clock for CAN times, rather then trying to sync FPGA.
Change timeout from 50 ms to 100 ms.
The 2019 FPGA image switched the output of auto SPI from plain bytes to a
sequence of 32-bit words (timestamp, then words with the byte values in the
least significant byte of each word).
In addition to changing the HAL and simulators to reflect this, add piecewise
integration support to wpilibc/wpilibj SPI to take advantage of the timestamps
and use it in the ADXRS450 gyro.
HAL_ReadInterruptRisingTimestamp and HAL_ReadInterruptFallingTimestamp
return time as a double. Instead, keep the raw integer count and move the
double conversion into the C++ and Java code. This enables comparison of the
time with other timers.
The static condition variable was getting destroyed before the DS thread exited,
resulting in a deadlock on program exit when the DS thread tried to notify it.
This change moves the condition variable into the DS thread to avoid the race.
This allows HAL_CloseI2C() and HAL_CloseSPI() to be noops, which makes
enabling move semantics in the I2C and SPI wpilibc classes easier and
cleaner.
Fixes#1328.
The old headers were moved into folders because doing so avoids polluting
the system include directories.
Folder names were also normalized to lowercase.
Also switch eventName and gameSpecificData to fixed 64-byte arrays to avoid mallocs and
extra NetComm calls. This behavior matches 2018 LabView.
The DS caching is kept in Java to avoid JNI and/or massive amounts of allocations.
This does not increase latency because Java still only hits NetComm once.
Moving the DS caching benefits all languages other than Java, because it avoids the need
for individual implementations. If caching is ever added to NetComm, it will then only be
necessary to remove it from the HAL and Java rather than all languages.
Also fix the return type of HAL_IsNewControlData() and HAL_MatchType's type.
Since UsageReporting is intended to be namespaced, it is hidden when this is being used in C.
Fixes: #476Closes: #535
Ref: #1122
