The CAN Stream API allows defining an buffer to receive an
arbitrary set of CAN messages, based on an ID and a mask. Messages
are added to this queue separate of other CAN APIs. This means the
messages can be receive without impacting other APIs such as
vendor APIs.
This enables things like detection of what devices are on the
bus, or custom decoding, without using vendor APIs.
Co-authored-by: Thad House <thadhouse1@gmail.com>
More functionality was implemented at the HAL level, so expose that to the wpilib level.
This also does units changes for all the PH related functionality.
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.
- 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
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 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.
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.
During shared library loading, a different libLLVM can be pulled in, causing
llvm symbols from dependent libraries to resolve to that library instead of
this one. This has been seen in the wild with the Mesa OpenGL implementation
in JavaFX applications (see wpilibsuite/shuffleboard#361).
This is clearly a very breaking change. For some level of backwards
compatibility, a namespace alias from llvm to wpi is performed in the "llvm"
headers. Unfortunately, forward declarations of llvm classes will still break,
but compilers seem to generate clear error messages in those cases
("namespace alias 'llvm' not allowed here, assuming 'wpi'").
This change also moves all the wpiutil headers to a single "wpi" subdirectory
from the previously split "llvm", "support", "tcpsockets", and "udpsockets".
Shim headers will be added for backwards compatibility in a later commit.
