Many teams have issues trying to read the DS too early. By switching to an optional, we cause teams to check 2 things. Either 1) they explicitly check, and their code is correct, or 2) they just read .value() and their code reboots in a loop. However, because the DS will eventually connect, this 2nd case is ok, and should theoretically be undetectable on the field.
Setting one will set the others, like it does in real hardware.
Add tests for boundary conditions and conversions.
Update PWM sendable implementation to include all forms.
Fixes#5264Fixes#3606
HAL_SetAddressableLEDBitTiming swapped high and low timings for whatever
was written to it. This fixes that bug.
Additionally, the API has been updated to take high time first, and then
low time. This is due to this being the physical data format, so having
the API match is clearer.
Additionally, update the docs with the defaults.
Previously, the comment would end at any quote, escaped or unescaped. This allows UnescapeCString to handle the unescaping of quotes and properly end the string.
HAL_GetRuntimeType used to be a free call before the roboRIO2 was added. However, nLoadOut::getTargetClass() is not a free call, and it may hit the IPC layer. Cache this value so it is not called every time.
During HAL_Initialize, wait up to 100ms for a DS packet to be received. Then in RobotBase, right after calling HAL_Initialize, call each language's RefreshData function to force a high level DS update. If the DS is connected, will get joystick data. If there is no data, nothing different will happen, but in that case there's no joysticks anyway.
Using an atomic here means we are never going against a lock that is touchable from user code. That should make reading the DS data from the DS callback even safer.
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>
Theres is now a built in HMB api, but you have to dlopen it to access it. Moved our existing infrastructure for this to its own class, added the new functions, then updated interrupts and LEDs to use it.
The current DS thread model has some pretty major issues. It makes it difficult to know if all data is from the same remote packet, and if the data changes while the robot loop is running. Additionally, the DS thread is used for a few other things (MotorSafety and State Tracking for EducationalRobot). This also makes sim difficult, as user code has to wait for the thread to know it has new data.
This change completely rethinks how threading works in the driver station model.
First, the DS HAL system receives a new data callback, either from Netcomm or DriverStationSim. Inside the context of this callback, all the low latency data is read and put into a cache. Doing some investigation on the robot side, this is perfectly safe to do, and also ensures a ds packet will not be parsed before we finish reading the current packet data.
After all data is read, the cache is swapped with a 2nd buffer. This buffer just stores the data, none of the HAL DS calls read from this buffer. An event is then fired, stating there is new data ready to go.
Robot code calls HAL_UpdateDSData(). This swaps the 2nd buffer with a 3rd buffer, which always contains the current data. This data will not be updated until HAL_UpdateDSData is called again. Which solves the state problem.
The high level driver station classes have. an updateData() call, which calls HAL_UpdateDSData, and then update button state variables, then data log and update the NT FMS data table (Java also caches across the JNI boundary here, but that could trivially be removed). An extra event provider is provided, allowing other threads to know when this call has been completed.
IterativeRobotBase calls DS.updateData() at the beginning of each loop, and only once per loop. This means all commands will always have the same state.
All of this means there is no longer a DS thread. Everything happens synchronously. This means Sim and testing is easier, as you can just call DriverStationSim.NotifyNewData(), and then DriverStation.UpdateData(), and you can guarantee that all the DriverStation.*** data is up to date.
As for Motor Safety and Educational Robot State Handling, those can all be handled by their own threads. The Educational Thread only needs to run under EducationalRobot, and MotorSafety will only be started if there is a motor safety object enabled.
* Use explicit this capture required by C++20
* Use C++20 span
* Replace wpi::numbers with std::numbers
* Fix C++20 clang-tidy warning false positive in fmt
* Remove ciso646 include since C++20 removed that header
* Fix global-buffer-overflow asan warnings in ntcore tests
* Add DIOSetProxy constructor to HAL
* Upgrade MSVC compiler to 2022
* Bump native-utils to 2023.2.7 (changes to std=c++20)
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
