CameraServer: auto-increment startAutomaticCapture(). (#468)

Also add GetServer() functions so the automatically created VideoSink can
be retrieved by user code if desired.

.gitignore

@@ -186,3 +186,7 @@ NO
 
 # VSCode
 .vscode/
+
+#classpaths and projects
+.project
+.classpath

.gitreview

@@ -1,5 +0,0 @@
-[gerrit]
-host=usfirst.collab.net
-port=29418
-project=allwpilib
-defaultbranch=master

.styleguide

@@ -15,7 +15,6 @@ otherExtensions {
 }
 
 genFolderExclude {
-  \.vscode
   FRC_FPGA_ChipObject
   NetworkCommunication
   ctre
@@ -38,15 +37,11 @@ genFileExclude {
 
 modifiableFolderExclude {
   \.git
-  \.gradle
-  __pycache__
-  build
   wpilibj/src/athena/cpp/include
   wpilibj/src/athena/cpp/lib
 }
 
 modifiableFileExclude {
-  \.jar$
   \.patch$
   \.png$
   \.py$

.travis.yml

@@ -8,7 +8,8 @@ before_install:
   - sudo add-apt-repository ppa:wpilib/toolchain -y
   - sudo apt-get update -q || true
   - sudo apt-get install frc-toolchain libgazebo7-dev protobuf-compiler libprotobuf-dev python3 clang-format-3.8 -y
-
+install:
+  - pip3 install wpiformat
 
 before_cache:
   - rm -f $HOME/.gradle/caches/modules-2/modules-2.lock
@@ -17,10 +18,7 @@ cache:
     - $HOME/.gradle/caches/
     - $HOME/.gradle/wrapper/
 
-before_script:
-  - git clone git://github.com/wpilibsuite/styleguide $HOME/styleguide
-
 script:
-  - WPI_FORMAT=$HOME/styleguide python3 styleguide/format.py
+  - wpiformat
   - git --no-pager diff --exit-code HEAD  # Ensure formatter made no changes
   - ./gradlew build -PmakeSim

CONTRIBUTING.md

@@ -37,7 +37,7 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 
 ## Coding Guidelines
 
-WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running format.py, which is in the styleguide directory, is required for all contributions and is enforced by our continuous integration system.
+WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system.
 
 While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
 

README.md

@@ -25,13 +25,13 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 - [ARM Compiler Toolchain](http://first.wpi.edu/FRC/roborio/toolchains/)
 - Doxygen (Only required if you want to build the C++ documentation)
-- [format.py](https://github.com/wpilibsuite/styleguide)
+- [wpiformat](https://github.com/wpilibsuite/styleguide)
 
 ## Setup
 
 Clone the WPILib repository. If the toolchains are not installed, install them, and make sure they are available on the system PATH.
 
-See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/master/README.md) for format.py setup instructions.
+See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/master/README.md) for wpiformat setup instructions.
 
 ## Building
 
@@ -47,6 +47,12 @@ To build a specific subproject, such as WPILibC, you must access the subproject
 ./gradlew :wpilibc:build
 ```
 
+If you have installed the FRC Toolchain to a directory other than the default, or if the Toolchain location is not on your System PATH, you can pass the `toolChainPath` property to specify where it is located. Example:
+
+```bash
+./gradlew build -PtoolChainPath=some/path/to/frc/toolchain/bin
+```
+
 If you also want simulation to be built, add -PmakeSim. This requires gazebo_transport. We have tested on 14.04 and 15.05, but any correct install of Gazebo should work, even on Windows if you build Gazebo from source. Correct means CMake needs to be able to find gazebo-config.cmake. See [The Gazebo website](https://gazebosim.org/) for installation instructions.
 
 ```bash
@@ -67,7 +73,7 @@ The gradlew wrapper only exists in the root of the main project, so be sure to r
 
 There are a few tasks other than `build` available. To see them, run the meta-task `tasks`. This will print a list of all available tasks, with a description of each task.
 
-format.py can be executed in either the styleguide or root directories of the repository via `python3 format.py` or `./format.py`.
+wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on Windows or `python3 -m wpiformat` on other platforms.
 
 ## Publishing
 

build.gradle

@@ -1,23 +1,38 @@
 plugins {
     id 'net.ltgt.errorprone' version '0.0.8'
-    id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '1.2'
+    id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '1.6'
 }
 
-def enableSimulation = hasProperty('enableSimulation')
-
-if (!hasProperty('repo')) {
-    ext.repo = 'development'
+// Ensure that the WPILibVersioningPlugin is setup by setting the release type, if releaseType wasn't
+// already specified on the command line
+if (!hasProperty('releaseType')) {
+    WPILibVersion {
+        releaseType = 'dev'
+    }
 }
 
+def enableSimulation = hasProperty('makeSim')
+
 ext.simulationInstallDir = "$rootDir/build/install/simulation"
 
 allprojects {
     ext.enableSimulation = enableSimulation
-    ext.repo = repo
 
     repositories {
         mavenCentral()
     }
+
+    ext.ntcoreDep = { lang, classifier, extension = null ->
+        return "edu.wpi.first.wpilib.networktables.$lang:NetworkTables:+:$classifier${extension == null ? '' : '@' + extension}"
+    }
+
+    ext.cscoreDep = { lang, classifier, extension = null ->
+        return "edu.wpi.cscore.$lang:cscore:+:$classifier${extension == null ? '' : '@' + extension}"
+    }
+
+    ext.wpiUtilDep = { classifier ->
+        return "edu.wpi.first.wpilib:wpiutil:+:$classifier@zip"
+    }
 }
 
 subprojects {
@@ -47,6 +62,8 @@ subprojects {
 
 apply from: 'cppSettings.gradle'
 
+apply from: 'ni-libraries/ni-libraries.gradle'
+
 task wrapper(type: Wrapper) {
-    gradleVersion = '3.0'
+    gradleVersion = '3.3'
 }

cppSettings.gradle

@@ -1,137 +1,70 @@
 // These add the nilibraries shared library to the linker args
-def niLibraryPath = file('ni-libraries').path
+def niLibraryPath = file('ni-libraries/lib').path
 def niLibrary = niLibraryPath + "/libnilibraries.so"
 
-task downloadArmNetworkTables() {
-    description = 'Downloads the C++ ARM NetworkTables maven dependency.'
-    group = 'WPILib'
-    def depFolder = "$buildDir/dependencies"
-    def ntZip = file("$depFolder/ntcore-arm.zip")
-    outputs.file(ntZip)
-    def armNetTables
+configurations.create('armDeps')
 
-    doFirst {
-        def armNtDependency = project.dependencies.create('edu.wpi.first.wpilib.networktables.cpp:NetworkTables:+:arm@zip')
-        def armConfig = project.configurations.detachedConfiguration(armNtDependency)
-        armConfig.setTransitive(false)
-        armNetTables = armConfig.files[0].canonicalFile
-    }
+dependencies {
+    armDeps ntcoreDep('cpp', 'arm', 'zip')
+    armDeps wpiUtilDep('arm')
+    armDeps cscoreDep('cpp', 'athena-uberzip', 'zip')
+}
 
-    doLast {
-        copy {
-            from armNetTables
-            rename 'NetworkTables(.+)', 'ntcore-arm.zip'
-            into depFolder
-        }
+def depLocation = "$buildDir/dependencies"
+
+configurations.armDeps.files.each { file ->
+    def depName = file.name.substring(0, file.name.indexOf('-'))
+    def t = tasks.create("downloadArm${depName.capitalize()}", Copy) {
+        description = "Downloads and unzips the $depName dependency."
+        group = 'Dependencies'
+        from zipTree(file)
+        into "$depLocation/${depName.toLowerCase()}"
     }
 }
 
-if (project.hasProperty('makeSim')) {
-    task downloadDesktopNetworkTables() {
-        description = 'Downloads the C++ Desktop NetworkTables maven dependency.'
-        group = 'WPILib'
-        def depFolder = "$buildDir/dependencies"
-        def ntZip = file("$depFolder/ntcore-desk.zip")
-        outputs.file(ntZip)
-        def desktopNetTables
-        doFirst {
-            def desktopNtDependency = project.dependencies.create("edu.wpi.first.wpilib.networktables.cpp:NetworkTables:+:desktop@zip")
-            def desktopConfig = project.configurations.detachedConfiguration(desktopNtDependency)
-            desktopConfig.setTransitive(false)
-            desktopNetTables = desktopConfig.files[0].canonicalFile
-        }
-
-        doLast {
-            copy {
-                from desktopNetTables
-                rename 'NetworkTables(.+)', 'ntcore-desk.zip'
-                into depFolder
-            }
-        }
-    }
-}
-
-def netTablesUnzipLocation = "$buildDir/networktables"
-
-// Create a task that will unzip the networktables files into a temporary build directory
-task unzipNetworkTables(type: Copy) {
-    description = 'Unzips the networktables maven dependency so that the include files and libraries can be used'
-    group = 'WPILib'
+task downloadNetworkTables {
+    description = 'Downloads all needed versions of networktables.'
+    group = 'Dependencies'
     dependsOn downloadArmNetworkTables
-
-    if (project.hasProperty('makeSim')) {
-        dependsOn downloadDesktopNetworkTables
-        from zipTree(downloadDesktopNetworkTables.outputs.files.singleFile)
-    }
-    from zipTree(downloadArmNetworkTables.outputs.files.singleFile)
-    into netTablesUnzipLocation
 }
 
-task downloadArmWpiUtil() {
-    description = 'Downloads the C++ ARM wpiutil maven dependency.'
-    group = 'WPILib'
-    def depFolder = "$buildDir/dependencies"
-    def utilZip = file("$depFolder/wpiutil-arm.zip")
-    outputs.file(utilZip)
-    def armWpiUtil
+task downloadWpiutil {
+    description = 'Downloads all needed versions of WPIUtil.'
+    group = 'Dependencies'
+    dependsOn downloadArmWpiutil
+}
 
-    doFirst {
-        def armWpiUtilDependency = project.dependencies.create("edu.wpi.first.wpilib:wpiutil:+:arm@zip")
-        def armWpiUtilConfig = project.configurations.detachedConfiguration(armWpiUtilDependency)
-        armWpiUtilConfig.setTransitive(false)
-        armWpiUtil = armWpiUtilConfig.files[0].canonicalFile
+task downloadCscore {
+    description = 'Downloads all needed versions of cscore.'
+    group = 'Dependencies'
+    dependsOn downloadArmCscore
+}
+
+if (enableSimulation) {
+    configurations.create('nativeDeps')
+
+    dependencies {
+        nativeDeps ntcoreDep('cpp', 'desktop', 'zip')
+        nativeDeps wpiUtilDep('desktop')
     }
 
-    doLast {
-        copy {
-            from armWpiUtil
-            rename 'wpiutil(.+)', 'wpiutil-arm.zip'
-            into depFolder
+    configurations.nativeDeps.files.each { file ->
+        def depName = file.name.substring(0, file.name.indexOf('-'))
+        def t = tasks.create("downloadNative${depName.capitalize()}", Copy) {
+            description = "Downloads and unzips the $depName dependency."
+            group = 'Dependencies'
+            from zipTree(file)
+            into "$depLocation/${depName.toLowerCase()}"
         }
     }
+
+    downloadNetworkTables.dependsOn downloadNativeNetworkTables
+    downloadWpiutil.dependsOn downloadNativeWpiutil
 }
 
-if (project.hasProperty('makeSim')) {
-    task downloadDesktopWpiUtil() {
-        description = 'Downloads the C++ Desktop wpiutil maven dependency.'
-        group = 'WPILib'
-        def depFolder = "$buildDir/dependencies"
-        def wpiutilZip = file("$depFolder/wpiutil-desk.zip")
-        outputs.file(wpiutilZip)
-        def wpiUtil
-
-        doFirst {
-            def desktopWpiUtilDependency = project.dependencies.create("edu.wpi.first.wpilib:wpiutil:+:desktop@zip")
-            def desktopWpiUtilConfig = project.configurations.detachedConfiguration(desktopWpiUtilDependency)
-            desktopWpiUtilConfig.setTransitive(false)
-            wpiUtil = desktopWpiUtilConfig.files[0].canonicalFile
-        }
-
-        doLast {
-            copy {
-                from wpiUtil
-                rename 'wpiutil(.+)', 'wpiutil-desk.zip'
-                into depFolder
-            }
-        }
-    }
-}
-
-def wpiUtilUnzipLocation = "$buildDir/wpiutil"
-
-// Create a task that will unzip the wpiutil files into a temporary build directory
-task unzipWpiUtil(type: Copy) {
-    description = 'Unzips the wpiutil maven dependency so that the include files and libraries can be used'
-    group = 'WPILib'
-    dependsOn downloadArmWpiUtil
-
-    if (project.hasProperty('makeSim')) {
-        dependsOn downloadDesktopWpiUtil
-        from zipTree(downloadDesktopWpiUtil.outputs.files.singleFile)
-    }
-    from zipTree(downloadArmWpiUtil.outputs.files.singleFile)
-    into wpiUtilUnzipLocation
-}
+def netTablesUnzipLocation = "$depLocation/networktables"
+def wpiUtilUnzipLocation = "$depLocation/wpiutil"
+def csCoreUnzipLocation = "$depLocation/cscore"
 
 task clean(type: Delete) {
     description = "Deletes the build directory"
@@ -139,12 +72,16 @@ task clean(type: Delete) {
     delete buildDir
 }
 
+if (!hasProperty("toolChainPath")) {
+    ext.toolChainPath = null
+}
+
 subprojects {
     ext.defineWpiUtilProperties = {
         ext.wpiUtil = wpiUtilUnzipLocation
         ext.wpiUtilInclude = "$wpiUtilUnzipLocation/include"
         ext.wpiUtilLibArmLocation = "$wpiUtilUnzipLocation/Linux/arm"
-        if (project.hasProperty('makeSim')) {
+        if (enableSimulation) {
             ext.wpiUtilLibDesktopLocation = "$wpiUtilUnzipLocation/Linux/amd64"
         }
         ext.wpiUtilSharedLib = "$wpiUtilLibArmLocation/libwpiutil.so"
@@ -152,7 +89,7 @@ subprojects {
         ext.wpiUtilStaticLib = "$wpiUtilLibArmLocation/libwpiutil.a"
 
         ext.addWpiUtilLibraryLinks = { compileTask, linker, targetPlatform ->
-            compileTask.dependsOn project(':').unzipWpiUtil
+            compileTask.dependsOn project(':').downloadWpiutil
             String architecture = targetPlatform.architecture
             if (architecture.contains('arm')) {
                 linker.args wpiUtilSharedLib
@@ -160,7 +97,7 @@ subprojects {
         }
 
         ext.addStaticWpiUtilLibraryLinks = { compileTask, linker, targetPlatform ->
-            compileTask.dependsOn project(':').unzipWpiUtil
+            compileTask.dependsOn project(':').downloadWpiutil
             String architecture = targetPlatform.architecture
             if (architecture.contains('arm')) {
                 linker.args wpiUtilStaticLib
@@ -173,7 +110,7 @@ subprojects {
         ext.netTables = netTablesUnzipLocation
         ext.netTablesInclude = "$netTablesUnzipLocation/include"
         ext.netLibArmLocation = "$netTablesUnzipLocation/Linux/arm"
-        if (project.hasProperty('makeSim')) {
+        if (enableSimulation) {
             ext.netLibDesktopLocation = "$netTablesUnzipLocation/Linux/amd64"
         }
         ext.netSharedLib = "$netLibArmLocation/libntcore.so"
@@ -181,7 +118,7 @@ subprojects {
         ext.netStaticLib = "$netLibArmLocation/libntcore.a"
 
         ext.addNetworkTablesLibraryLinks = { compileTask, linker, targetPlatform ->
-            compileTask.dependsOn project(':').unzipNetworkTables
+            compileTask.dependsOn project(':').downloadNetworkTables
             String architecture = targetPlatform.architecture
             if (architecture.contains('arm')) {
                 linker.args netSharedLib
@@ -190,7 +127,7 @@ subprojects {
         }
 
         ext.addStaticNetworkTablesLibraryLinks = { compileTask, linker, targetPlatform ->
-            compileTask.dependsOn project(':').unzipNetworkTables
+            compileTask.dependsOn project(':').downloadNetworkTables
             String architecture = targetPlatform.architecture
             if (architecture.contains('arm')) {
                 linker.args netStaticLib
@@ -198,18 +135,45 @@ subprojects {
             addStaticWpiUtilLibraryLinks(compileTask, linker, targetPlatform)
         }
     }
-    plugins.withType(CppPlugin).whenPluginAdded {
+
+    // This defines a project property that projects depending on cscore can use to setup that dependency.
+    ext.defineCsCoreProperties = {
+        ext.csCore = csCoreUnzipLocation
+        ext.csCoreInclude = "$csCoreUnzipLocation/include"
+        ext.csLibArmLocation = "$csCoreUnzipLocation/lib"
+        ext.csSharedLib = "$csLibArmLocation/libcscore.so"
+        ext.cvSharedLib = "$csLibArmLocation/libopencv.so"
+
+        ext.addCsCoreLibraryLinks = { compileTask, linker, targetPlatform ->
+            compileTask.dependsOn project(':').downloadCscore
+            String architecture = targetPlatform.architecture
+            if (architecture.contains('arm')) {
+                linker.args << '-L' + csLibArmLocation
+                linker.args csSharedLib
+                linker.args cvSharedLib
+            }
+        }
+    }
+
+    ext.defineCrossCompilerProperties = {
         // We use a custom-built cross compiler with the prefix arm-frc-linux-gnueabi-<util name>
         // If this ever changes, the prefix will need to be changed here
-        def compilerPrefix = 'arm-frc-linux-gnueabi-'
+        ext.compilerPrefix = 'arm-frc-linux-gnueabi-'
+    }
+
+    plugins.withType(CppPlugin).whenPluginAdded {
+        defineCrossCompilerProperties()
         model {
             buildTypes {
                 debug
             }
             // Adds a custom toolchain for our compiler prefix and options
             toolChains {
-                gcc(Gcc) {
-                    target('arm') {
+                roborioGcc(Gcc) {
+                    if (toolChainPath != null)
+                        path toolChainPath
+                    target('roborio-arm') {
+                        cCompiler.executable = compilerPrefix + cCompiler.executable
                         cppCompiler.executable = compilerPrefix + cppCompiler.executable
                         linker.executable = compilerPrefix + linker.executable
                         assembler.executable = compilerPrefix + assembler.executable
@@ -231,43 +195,24 @@ subprojects {
                         staticLibArchiver.executable = compilerPrefix + staticLibArchiver.executable
                     }
                 }
-                // Workaround for OS X. Macs for some reason want to use Xcode's gcc
-                // (which just wraps Clang), so we have to explicitly make it so
-                // that trying to compile with Clang will call gcc instead
-                macGcc(Clang) {
-                    target('arm') {
-                        cppCompiler.executable = compilerPrefix + 'g++'
-                        linker.executable = compilerPrefix + 'g++'
-                        assembler.executable = compilerPrefix + 'gcc'
-                        // Gradle auto-adds the -m32 argument to the linker and compiler. Our compiler only supports
-                        // arm, and doesn't understand this flag, so it is removed from both
-                        cppCompiler.withArguments { args ->
-                            args << '-std=c++1y' << '-Wformat=2' << '-Wall' << '-Wextra' << '-Werror' << '-pedantic'
-                            args << '-Wno-psabi' << '-Wno-unused-parameter' << '-fPIC' << '-Og' << '-g3' << '-rdynamic'
-                            //TODO: When the compiler allows us to actually call deprecated functions from within
-                            // deprecated function, remove this line (this will cause calling deprecated functions
-                            // to be treated as a warning rather than an error).
-                            args << '-Wno-error=deprecated-declarations'
-                            args.remove('-m32')
-                        }
-                        linker.withArguments { args ->
-                            args << '-rdynamic'
-                            args.remove('-m32')
-                        }
-                        staticLibArchiver.executable = compilerPrefix + 'ar'
-                    }
-                }
             }
 
-            // The only platform is arm linux
             platforms {
-                arm {
+                'roborio-arm' {
                     architecture 'arm'
                     operatingSystem 'linux'
                 }
             }
         }
 
+        ext.niLibraryHeadersRoot = "${rootDir}/ni-libraries/include"
+        ext.niLibraryHeadersChipObject = "${rootDir}/ni-libraries/include/FRC_FPGA_ChipObject"
+
+        ext.binTool = { tool ->
+            if (toolChainPath != null) return "${toolChainPath}/${compilerPrefix}${tool}"
+            return "${compilerPrefix}${tool}"
+        }
+
         // This task adds the appropriate linker flags for the NI libraries
         ext.addNiLibraryLinks = { linker, targetPlatform ->
             String architecture = targetPlatform.architecture
@@ -286,9 +231,9 @@ subprojects {
                         def library = task.outputFile.absolutePath
                         def debugLibrary = task.outputFile.absolutePath + ".debug"
                         task.doLast {
-                            exec { commandLine "${compilerPrefix}objcopy", '--only-keep-debug', library, debugLibrary }
-                            exec { commandLine "${compilerPrefix}strip", '-g', library }
-                            exec { commandLine "${compilerPrefix}objcopy", "--add-gnu-debuglink=$debugLibrary", library }
+                            exec { commandLine binTool('objcopy'), '--only-keep-debug', library, debugLibrary }
+                            exec { commandLine binTool('strip'), '-g', library }
+                            exec { commandLine binTool('objcopy'), "--add-gnu-debuglink=$debugLibrary", library }
                         }
                     }
                 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
-#Mon Aug 22 20:26:07 PDT 2016
-distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
-zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-3.0-bin.zip
+#Wed Jan 04 21:49:36 PST 2017
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-3.3-bin.zip

gradlew

@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/usr/bin/env sh
 
 ##############################################################################
 ##
@@ -154,16 +154,19 @@ if $cygwin ; then
     esac
 fi
 
-# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules
-function splitJvmOpts() {
-    JVM_OPTS=("$@")
+# Escape application args
+save ( ) {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
 }
-eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS
-JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME"
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
 
 # by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
-if [[ "$(uname)" == "Darwin" ]] && [[ "$HOME" == "$PWD" ]]; then
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
   cd "$(dirname "$0")"
 fi
 
-exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@"
+exec "$JAVACMD" "$@"

hal/build.gradle

@@ -14,7 +14,7 @@ debugStripSetup(project)
 model {
     components {
         HALAthena(NativeLibrarySpec) {
-            targetPlatform 'arm'
+            targetPlatform 'roborio-arm'
             binaries.all {
                 tasks.withType(CppCompile) {
                     addNiLibraryLinks(linker, targetPlatform)
@@ -24,35 +24,19 @@ model {
             sources {
                 cpp {
                     source {
-                        srcDirs = ["lib/athena", "lib/athena/FRC_FPGA_ChipObject", "lib/shared"]
+                        srcDirs = ["lib/athena", niLibraryHeadersRoot, "lib/shared"]
                         includes = ["**/*.cpp"]
                     }
                     exportedHeaders {
-                        srcDirs = ["include", "lib/athena/FRC_FPGA_ChipObject", wpiUtilInclude]
+                        srcDirs = ["include", niLibraryHeadersRoot, wpiUtilInclude]
                     }
                 }
             }
         }
-
-//        HALSim(NativeLibrarySpec) {
-//            binaries.all {
-//                if (toolChain in Gcc){
-//                    cppCompiler.args "-std=c++1y"
-//                }
-//            }
-//
-//            sources {
-//                cpp {
-//                    source {
-//                        srcDirs = ["lib/sim", "lib/shared"]
-//                        includes = ["**/*.cpp"]
-//                    }
-//                    exportedHeaders {
-//                        srcDirs = ["include", "lib/sim", "lib/shared"]
-//                    }
-//                }
-//            }
-//        }
+    }
+    tasks { tasks ->
+        tasks.halZip.dependsOn tasks.HALAthenaSharedLibrary
+        tasks.athenaRuntimeZip.dependsOn tasks.HALAthenaSharedLibrary
     }
 }
 
@@ -70,6 +54,7 @@ task halZip(type: Zip) {
                 spec.headerDirs.each {
                     def normalizedIt = it.toString().replace('/', '\\')
                     def normalizedWPIUtil = wpiUtilInclude.toString().replace('/', '\\')
+                    // exclude the wpiUtil library, and any NI libraries (NI libraries grabbed later)
                     if (normalizedIt != normalizedWPIUtil) {
                         from(it) {
                             into 'include'
@@ -89,18 +74,12 @@ task halZip(type: Zip) {
     }
 
     // Finally, include all of the shared library objects from the ni directory
-    from(project.file('../ni-libraries')) {
+    from(project.file('../ni-libraries/lib')) {
         into 'lib'
         exclude 'genlinks'
+        exclude 'genlinks.bat'
         exclude 'libwpi.so'
     }
-
-    // Add the hal static and shared libraries as a dependency
-    project(':hal').tasks.whenTaskAdded { task ->
-        if (task.name.toLowerCase() == 'halathenastaticlibrary' || task.name.toLowerCase() == 'halathenasharedlibrary') {
-            halZip.dependsOn task
-        }
-    }
 }
 
 task athenaRuntimeZip(type: Zip) {
@@ -132,6 +111,7 @@ task athenaRuntimeZip(type: Zip) {
     }
 
     defineNetworkTablesProperties()
+    dependsOn project(':').downloadNetworkTables
 
     from(project.file(netTablesInclude)) {
         into 'include'
@@ -152,13 +132,6 @@ task athenaRuntimeZip(type: Zip) {
     from (file(wpiUtilSharedLibDebug)) {
         into 'lib'
     }
-
-    // Add the hal static and shared libraries as a dependency
-    project(':hal').tasks.whenTaskAdded { task ->
-        if (task.name.toLowerCase() == 'halathenastaticlibrary' || task.name.toLowerCase() == 'halathenasharedlibrary') {
-            athenaRuntimeZip.dependsOn task
-        }
-    }
 }
 
 

hal/include/FRC_NetworkCommunication/CANSessionMux.h

@@ -1,66 +0,0 @@
-// CANSessionMux.h
-//
-//  Defines the API for building a CAN Interface Plugin to support
-//    PWM-cable-free CAN motor control on FRC robots.  This allows you
-//    to connect any CAN interface to the secure Jaguar CAN driver.
-//
-
-#ifndef __CANSessionMux_h__
-#define __CANSessionMux_h__
-
-#if defined(__vxworks)
-#include <vxWorks.h>
-#else
-#include <stdint.h>
-#endif
-
-#define CAN_SEND_PERIOD_NO_REPEAT 0
-#define CAN_SEND_PERIOD_STOP_REPEATING -1
-
-/* Flags in the upper bits of the messageID */
-#define CAN_IS_FRAME_REMOTE 0x80000000
-#define CAN_IS_FRAME_11BIT  0x40000000
-
-#define ERR_CANSessionMux_InvalidBuffer   -44086
-#define ERR_CANSessionMux_MessageNotFound -44087
-#define WARN_CANSessionMux_NoToken         44087
-#define ERR_CANSessionMux_NotAllowed      -44088
-#define ERR_CANSessionMux_NotInitialized  -44089
-#define ERR_CANSessionMux_SessionOverrun   44050
-
-struct tCANStreamMessage{
-	uint32_t messageID;
-	uint32_t timeStamp;
-	uint8_t data[8];
-	uint8_t dataSize;
-};
-
-#ifdef __cplusplus
-namespace nCANSessionMux
-{
-	void sendMessage_wrapper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
-	void receiveMessage_wrapper(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
-	void openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
-	void closeStreamSession(uint32_t sessionHandle);
-	void readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
-	void getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
-}
-#endif
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-	void FRC_NetworkCommunication_CANSessionMux_sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t periodMs, int32_t *status);
-	void FRC_NetworkCommunication_CANSessionMux_receiveMessage(uint32_t *messageID, uint32_t messageIDMask, uint8_t *data, uint8_t *dataSize, uint32_t *timeStamp, int32_t *status);
-	void FRC_NetworkCommunication_CANSessionMux_openStreamSession(uint32_t *sessionHandle, uint32_t messageID, uint32_t messageIDMask, uint32_t maxMessages, int32_t *status);
-	void FRC_NetworkCommunication_CANSessionMux_closeStreamSession(uint32_t sessionHandle);
-	void FRC_NetworkCommunication_CANSessionMux_readStreamSession(uint32_t sessionHandle, struct tCANStreamMessage *messages, uint32_t messagesToRead, uint32_t *messagesRead, int32_t *status);
-	void FRC_NetworkCommunication_CANSessionMux_getCANStatus(float *percentBusUtilization, uint32_t *busOffCount, uint32_t *txFullCount, uint32_t *receiveErrorCount, uint32_t *transmitErrorCount, int32_t *status);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __CANSessionMux_h__

hal/include/FRC_NetworkCommunication/FRCComm.h

@@ -1,163 +0,0 @@
-/*************************************************************
- * 					NOTICE
- * 
- * 	These are the only externally exposed functions to the
- *   NetworkCommunication library
- * 
- * This is an implementation of FRC Spec for Comm Protocol
- * Revision 4.5, June 30, 2008
- *
- * Copyright (c) National Instruments 2008.  All Rights Reserved.
- * 
- *************************************************************/
-
-#ifndef __FRC_COMM_H__
-#define __FRC_COMM_H__
-
-#ifdef WIN32
-# include <vxWorks_compat.h>
-#ifdef USE_THRIFT
-#  define EXPORT_FUNC
-# else
-#  define EXPORT_FUNC __declspec(dllexport) __cdecl
-# endif
-#elif defined(__vxworks)
-# include <vxWorks.h>
-# define EXPORT_FUNC
-#elif defined(__linux)
-# include <stdint.h>
-# include <pthread.h>
-# define EXPORT_FUNC
-#endif
-
-#define ERR_FRCSystem_NetCommNotResponding -44049
-#define ERR_FRCSystem_NoDSConnection -44018
-
-#ifdef WIN32
-# define __DEPRECATED__ __declspec(deprecated)
-#else
-# define __DEPRECATED__ __attribute__((__deprecated__))
-#endif
-
-enum AllianceStationID_t {
-	kAllianceStationID_red1,
-	kAllianceStationID_red2,
-	kAllianceStationID_red3,
-	kAllianceStationID_blue1,
-	kAllianceStationID_blue2,
-	kAllianceStationID_blue3,
-};
-
-enum MatchType_t {
-	kMatchType_none,
-	kMatchType_practice,
-	kMatchType_qualification,
-	kMatchType_elimination,
-};
-
-struct ControlWord_t {
-#ifndef __vxworks
-	uint32_t enabled : 1;
-	uint32_t autonomous : 1;
-	uint32_t test :1;
-	uint32_t eStop : 1;
-	uint32_t fmsAttached:1;
-	uint32_t dsAttached:1;
-	uint32_t control_reserved : 26;
-#else
-	uint32_t control_reserved : 26;
-	uint32_t dsAttached:1;
-	uint32_t fmsAttached:1;
-	uint32_t eStop : 1;
-	uint32_t test :1;
-	uint32_t autonomous : 1;
-	uint32_t enabled : 1;
-#endif
-};
-
-struct JoystickAxes_t {
-	uint16_t count;
-	int16_t axes[1];
-};
-
-struct JoystickPOV_t {
-	uint16_t count;
-	int16_t povs[1];
-};
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-	int EXPORT_FUNC FRC_NetworkCommunication_Reserve(void *instance);
-#ifndef SIMULATION
-	void EXPORT_FUNC getFPGAHardwareVersion(uint16_t *fpgaVersion, uint32_t *fpgaRevision);
-#endif
-	/**
-	 * Safely copy data into the status packet to be sent back to the driver station.
-	 * @deprecated battery is the only parameter to this function that is still used, and only on cRIO / simulation.
-	 */
-	__DEPRECATED__ int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
-			const char *userDataHigh, int userDataHighLength,
-			const char *userDataLow, int userDataLowLength, int wait_ms);
-	/**
-	 * Send error data to the DS
-	 * @deprecated This old method is hard to parse on the DS side. It will be removed soon. Use FRC_NetworkCommunication_sendError instead.
-	 * @param errorData is a cstr of the error message
-	 * @param errorDataLength is the length of the errorData
-	 * @param wait_ms is ignored (included for binary compatibility)
-	 * @return 0 on success, 1 on no DS connection
-	 */
-	__DEPRECATED__ int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
-
-	/**
-	 * Send a console output line to the Driver Station
-	 * @param line a null-terminated string
-	 * @return 0 on success, other on failure
-	 */
-	int EXPORT_FUNC FRC_NetworkCommunication_sendConsoleLine(const char *line);
-
-	/**
-	 * Send an error to the Driver Station
-	 * @param isError true if error, false if warning
-	 * @param errorCode value of error condition
-	 * @param isLVCode true if error code is defined in errors.txt, false if not (i.e. made up for C++)
-	 * @param details error description that contains details such as which resource number caused the failure
-	 * @param location Source file, function, and line number that the error was generated - optional
-	 * @param callStack The details about what functions were called through before the error was reported - optional
-	 * @return 0 on success, other on failure
-	 */
-	int EXPORT_FUNC FRC_NetworkCommunication_sendError(int isError, int32_t errorCode, int isLVCode,
-		const char *details, const char *location, const char *callStack);
-
-#ifdef WIN32
-	void EXPORT_FUNC setNewDataSem(HANDLE);
-#elif defined (__vxworks)
-	void EXPORT_FUNC setNewDataSem(SEM_ID);
-#else
-	void EXPORT_FUNC setNewDataSem(pthread_cond_t *);
-#endif
-
-	// this uint32_t is really a LVRefNum
-	int EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
-
-	int EXPORT_FUNC FRC_NetworkCommunication_getControlWord(struct ControlWord_t *controlWord);
-	int EXPORT_FUNC FRC_NetworkCommunication_getAllianceStation(enum AllianceStationID_t *allianceStation);
-	int EXPORT_FUNC FRC_NetworkCommunication_getMatchTime(float *matchTime);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickAxes(uint8_t joystickNum, struct JoystickAxes_t *axes, uint8_t maxAxes);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickButtons(uint8_t joystickNum, uint32_t *buttons, uint8_t *count);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickPOVs(uint8_t joystickNum, struct JoystickPOV_t *povs, uint8_t maxPOVs);
-	int EXPORT_FUNC FRC_NetworkCommunication_setJoystickOutputs(uint8_t joystickNum, uint32_t hidOutputs, uint16_t leftRumble, uint16_t rightRumble);
-	int EXPORT_FUNC FRC_NetworkCommunication_getJoystickDesc(uint8_t joystickNum, uint8_t *isXBox, uint8_t *type, char *name,
-		uint8_t *axisCount, uint8_t *axisTypes, uint8_t *buttonCount, uint8_t *povCount);
-
-	void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
-	int EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramDisabled(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramAutonomous(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTeleop(void);
-	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTest(void);
-#ifdef __cplusplus
-}
-#endif
-
-#endif

hal/include/FRC_NetworkCommunication/LoadOut.h

@@ -1,58 +0,0 @@
-
-#ifndef __LoadOut_h__
-#define __LoadOut_h__
-
-#ifdef WIN32
-#include <vxWorks_compat.h>
-#define EXPORT_FUNC __declspec(dllexport) __cdecl
-#elif defined (__vxworks)
-#include <vxWorks.h>
-#define EXPORT_FUNC
-#else
-#include <stdint.h>
-#define EXPORT_FUNC
-#endif
-
-#define kMaxModuleNumber 2
-namespace nLoadOut
-{
-#if defined(__vxworks) || defined(SIMULATION)
-    typedef enum {
-        kModuleType_Unknown = 0x00,
-        kModuleType_Analog = 0x01,
-        kModuleType_Digital = 0x02,
-        kModuleType_Solenoid = 0x03,
-    } tModuleType;
-    bool EXPORT_FUNC getModulePresence(tModuleType moduleType, uint8_t moduleNumber);
-#endif
-    typedef enum {
-        kTargetClass_Unknown = 0x00,
-        kTargetClass_FRC1 = 0x10,
-        kTargetClass_FRC2 = 0x20,
-        kTargetClass_FRC3 = 0x30,
-        kTargetClass_RoboRIO = 0x40,
-#if defined(__vxworks) || defined(SIMULATION)
-        kTargetClass_FRC2_Analog = kTargetClass_FRC2 | kModuleType_Analog,
-        kTargetClass_FRC2_Digital = kTargetClass_FRC2 | kModuleType_Digital,
-        kTargetClass_FRC2_Solenoid = kTargetClass_FRC2 | kModuleType_Solenoid,
-#endif
-        kTargetClass_FamilyMask = 0xF0,
-        kTargetClass_ModuleMask = 0x0F,
-    } tTargetClass;
-    tTargetClass EXPORT_FUNC getTargetClass();
-}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#if defined(__vxworks) || defined(SIMULATION)
-    uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getModulePresence(uint32_t moduleType, uint8_t moduleNumber);
-#endif
-    uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getTargetClass();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __LoadOut_h__

hal/include/FRC_NetworkCommunication/UsageReporting.h

@@ -1,149 +0,0 @@
-
-#ifndef __UsageReporting_h__
-#define __UsageReporting_h__
-
-#ifdef WIN32
-#include <vxWorks_compat.h>
-#define EXPORT_FUNC __declspec(dllexport) __cdecl
-#elif defined (__vxworks)
-#include <vxWorks.h>
-#define EXPORT_FUNC
-#else
-#include <stdint.h>
-#include <stdlib.h>
-#define EXPORT_FUNC
-#endif
-
-#define kUsageReporting_version 1
-
-namespace nUsageReporting
-{
-    typedef enum
-    {
-        kResourceType_Controller,
-        kResourceType_Module,
-        kResourceType_Language,
-        kResourceType_CANPlugin,
-        kResourceType_Accelerometer,
-        kResourceType_ADXL345,
-        kResourceType_AnalogChannel,
-        kResourceType_AnalogTrigger,
-        kResourceType_AnalogTriggerOutput,
-        kResourceType_CANJaguar,
-        kResourceType_Compressor,
-        kResourceType_Counter,
-        kResourceType_Dashboard,
-        kResourceType_DigitalInput,
-        kResourceType_DigitalOutput,
-        kResourceType_DriverStationCIO,
-        kResourceType_DriverStationEIO,
-        kResourceType_DriverStationLCD,
-        kResourceType_Encoder,
-        kResourceType_GearTooth,
-        kResourceType_Gyro,
-        kResourceType_I2C,
-        kResourceType_Framework,
-        kResourceType_Jaguar,
-        kResourceType_Joystick,
-        kResourceType_Kinect,
-        kResourceType_KinectStick,
-        kResourceType_PIDController,
-        kResourceType_Preferences,
-        kResourceType_PWM,
-        kResourceType_Relay,
-        kResourceType_RobotDrive,
-        kResourceType_SerialPort,
-        kResourceType_Servo,
-        kResourceType_Solenoid,
-        kResourceType_SPI,
-        kResourceType_Task,
-        kResourceType_Ultrasonic,
-        kResourceType_Victor,
-        kResourceType_Button,
-        kResourceType_Command,
-        kResourceType_AxisCamera,
-        kResourceType_PCVideoServer,
-        kResourceType_SmartDashboard,
-        kResourceType_Talon,
-        kResourceType_HiTechnicColorSensor,
-        kResourceType_HiTechnicAccel,
-        kResourceType_HiTechnicCompass,
-        kResourceType_SRF08,
-        kResourceType_AnalogOutput,
-        kResourceType_VictorSP,
-        kResourceType_TalonSRX,
-        kResourceType_CANTalonSRX,
-        kResourceType_ADXL362,
-        kResourceType_ADXRS450,
-        kResourceType_RevSPARK,
-        kResourceType_MindsensorsSD540,
-        kResourceType_DigitalFilter,
-    } tResourceType;
-
-    typedef enum
-    {
-        kLanguage_LabVIEW = 1,
-        kLanguage_CPlusPlus = 2,
-        kLanguage_Java = 3,
-        kLanguage_Python = 4,
-
-        kCANPlugin_BlackJagBridge = 1,
-        kCANPlugin_2CAN = 2,
-
-        kFramework_Iterative = 1,
-        kFramework_Simple = 2,
-        kFramework_CommandControl = 3,
-
-        kRobotDrive_ArcadeStandard = 1,
-        kRobotDrive_ArcadeButtonSpin = 2,
-        kRobotDrive_ArcadeRatioCurve = 3,
-        kRobotDrive_Tank = 4,
-        kRobotDrive_MecanumPolar = 5,
-        kRobotDrive_MecanumCartesian = 6,
-
-        kDriverStationCIO_Analog = 1,
-        kDriverStationCIO_DigitalIn = 2,
-        kDriverStationCIO_DigitalOut = 3,
-
-        kDriverStationEIO_Acceleration = 1,
-        kDriverStationEIO_AnalogIn = 2,
-        kDriverStationEIO_AnalogOut = 3,
-        kDriverStationEIO_Button = 4,
-        kDriverStationEIO_LED = 5,
-        kDriverStationEIO_DigitalIn = 6,
-        kDriverStationEIO_DigitalOut = 7,
-        kDriverStationEIO_FixedDigitalOut = 8,
-        kDriverStationEIO_PWM = 9,
-        kDriverStationEIO_Encoder = 10,
-        kDriverStationEIO_TouchSlider = 11,
-
-        kADXL345_SPI = 1,
-        kADXL345_I2C = 2,
-
-        kCommand_Scheduler = 1,
-
-        kSmartDashboard_Instance = 1,
-    } tInstances;
-
-    /**
-     * Report the usage of a resource of interest.
-     * 
-     * @param resource one of the values in the tResourceType above (max value 51).
-     * @param instanceNumber an index that identifies the resource instance.
-     * @param context an optional additional context number for some cases (such as module number).  Set to 0 to omit.
-     * @param feature a string to be included describing features in use on a specific resource.  Setting the same resource more than once allows you to change the feature string.
-     */
-    uint32_t EXPORT_FUNC report(tResourceType resource, uint8_t instanceNumber, uint8_t context = 0, const char *feature = NULL);
-}
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-    uint32_t EXPORT_FUNC FRC_NetworkCommunication_nUsageReporting_report(uint8_t resource, uint8_t instanceNumber, uint8_t context, const char *feature);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // __UsageReporting_h__

hal/include/HAL/Accelerometer.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/AnalogAccumulator.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/AnalogGyro.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/AnalogInput.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/AnalogOutput.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/AnalogTrigger.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/CAN.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/ChipObject.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2016. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2008-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -10,12 +10,6 @@
 #pragma GCC diagnostic ignored "-Wpedantic"
 #pragma GCC diagnostic ignored "-Wignored-qualifiers"
 
-#include "FRC_FPGA_ChipObject/tDMAChannelDescriptor.h"  // NOLINT
-#include "FRC_FPGA_ChipObject/tDMAManager.h"            // NOLINT
-#include "FRC_FPGA_ChipObject/tInterruptManager.h"      // NOLINT
-#include "FRC_FPGA_ChipObject/tSystem.h"                // NOLINT
-#include "FRC_FPGA_ChipObject/tSystemInterface.h"       // NOLINT
-
 #include <stdint.h>
 
 #include "FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h"
@@ -38,8 +32,15 @@
 #include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h"
 #include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h"
 #include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h"
+#include "FRC_FPGA_ChipObject/tDMAChannelDescriptor.h"
+#include "FRC_FPGA_ChipObject/tDMAManager.h"
+#include "FRC_FPGA_ChipObject/tInterruptManager.h"
+#include "FRC_FPGA_ChipObject/tSystem.h"
+#include "FRC_FPGA_ChipObject/tSystemInterface.h"
 
-// FIXME: these should not be here!
+namespace hal {
 using namespace nFPGA;
 using namespace nRoboRIO_FPGANamespace;
+}  // namespace hal
+
 #pragma GCC diagnostic pop

hal/include/HAL/Compressor.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/Constants.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/Counter.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/DIO.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/DriverStation.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2013-2016. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2013-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -104,6 +104,8 @@ int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
                                int32_t leftRumble, int32_t rightRumble);
 double HAL_GetMatchTime(int32_t* status);
 
+#ifndef HAL_USE_LABVIEW
+
 void HAL_WaitForDSData(void);
 void HAL_InitializeDriverStation(void);
 
@@ -112,6 +114,9 @@ void HAL_ObserveUserProgramDisabled(void);
 void HAL_ObserveUserProgramAutonomous(void);
 void HAL_ObserveUserProgramTeleop(void);
 void HAL_ObserveUserProgramTest(void);
+
+#endif  // HAL_USE_LABVIEW
+
 #ifdef __cplusplus
 }  // extern "C"
 #endif

hal/include/HAL/Encoder.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/Errors.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -83,6 +83,26 @@
 #define HAL_HANDLE_ERROR_MESSAGE \
   "HAL: A handle parameter was passed incorrectly"
 
+#define HAL_SERIAL_PORT_NOT_FOUND -1123
+#define HAL_SERIAL_PORT_NOT_FOUND_MESSAGE \
+  "HAL: The specified serial port device was not found"
+
+#define HAL_SERIAL_PORT_OPEN_ERROR -1124
+#define HAL_SERIAL_PORT_OPEN_ERROR_MESSAGE \
+  "HAL: The serial port could not be opened"
+
+#define HAL_SERIAL_PORT_ERROR -1125
+#define HAL_SERIAL_PORT_ERROR_MESSAGE \
+  "HAL: There was an error on the serial port"
+
+#define HAL_THREAD_PRIORITY_ERROR -1152
+#define HAL_THREAD_PRIORITY_ERROR_MESSAGE \
+  "HAL: Getting or setting the priority of a thread has failed";
+
+#define HAL_THREAD_PRIORITY_RANGE_ERROR -1153
+#define HAL_THREAD_PRIORITY_RANGE_ERROR_MESSAGE \
+  "HAL: The priority requested to be set is invalid"
+
 #define VI_ERROR_SYSTEM_ERROR_MESSAGE "HAL - VISA: System Error";
 #define VI_ERROR_INV_OBJECT_MESSAGE "HAL - VISA: Invalid Object"
 #define VI_ERROR_RSRC_LOCKED_MESSAGE "HAL - VISA: Resource Locked"

hal/include/HAL/HAL.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2013-2016. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2013-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,7 +9,8 @@
 
 #include <stdint.h>
 
-#include "FRC_NetworkCommunication/UsageReporting.h"
+#ifndef HAL_USE_LABVIEW
+
 #include "HAL/Accelerometer.h"
 #include "HAL/AnalogAccumulator.h"
 #include "HAL/AnalogGyro.h"
@@ -33,7 +34,10 @@
 #include "HAL/SPI.h"
 #include "HAL/SerialPort.h"
 #include "HAL/Solenoid.h"
-#include "HAL/Task.h"
+
+#endif  // HAL_USE_LABVIEW
+
+#include "FRC_NetworkCommunication/UsageReporting.h"
 #include "HAL/Types.h"
 
 namespace HALUsageReporting = nUsageReporting;
@@ -43,13 +47,11 @@ enum HAL_RuntimeType : int32_t { HAL_Athena, HAL_Mock };
 #ifdef __cplusplus
 extern "C" {
 #endif
-HAL_PortHandle HAL_GetPort(int32_t channel);
-HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
+
 const char* HAL_GetErrorMessage(int32_t code);
 
 int32_t HAL_GetFPGAVersion(int32_t* status);
 int64_t HAL_GetFPGARevision(int32_t* status);
-uint64_t HAL_GetFPGATime(int32_t* status);
 
 HAL_RuntimeType HAL_GetRuntimeType();
 HAL_Bool HAL_GetFPGAButton(int32_t* status);
@@ -57,6 +59,15 @@ HAL_Bool HAL_GetFPGAButton(int32_t* status);
 HAL_Bool HAL_GetSystemActive(int32_t* status);
 HAL_Bool HAL_GetBrownedOut(int32_t* status);
 
+void HAL_BaseInitialize(int32_t* status);
+
+#ifndef HAL_USE_LABVIEW
+
+HAL_PortHandle HAL_GetPort(int32_t channel);
+HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
+
+uint64_t HAL_GetFPGATime(int32_t* status);
+
 int32_t HAL_Initialize(int32_t mode);
 
 // ifdef's definition is to allow for default parameters in C++.
@@ -67,6 +78,8 @@ int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
 int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
                    const char* feature);
 #endif
+
+#endif  // HAL_USE_LABVIEW
 #ifdef __cplusplus
 }
 #endif

hal/include/HAL/I2C.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/Interrupts.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/LabVIEW/HAL.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2014-2016. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,14 +7,8 @@
 
 #pragma once
 
-#include "ColorImage.h"
+#define HAL_USE_LABVIEW
 
-/**
- * A color image represented in RGB color space at 3 bytes per pixel.
- */
-class RGBImage : public ColorImage {
- public:
-  RGBImage();
-  explicit RGBImage(const char* fileName);
-  virtual ~RGBImage() = default;
-};
+#include "HAL/DriverStation.h"
+#include "HAL/HAL.h"
+#include "HAL/Types.h"

hal/include/HAL/Notifier.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/OSSerialPort.h

@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include "SerialPort.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void HAL_InitializeOSSerialPort(HAL_SerialPort port, int32_t* status);
+void HAL_SetOSSerialBaudRate(HAL_SerialPort port, int32_t baud,
+                             int32_t* status);
+void HAL_SetOSSerialDataBits(HAL_SerialPort port, int32_t bits,
+                             int32_t* status);
+void HAL_SetOSSerialParity(HAL_SerialPort port, int32_t parity,
+                           int32_t* status);
+void HAL_SetOSSerialStopBits(HAL_SerialPort port, int32_t stopBits,
+                             int32_t* status);
+void HAL_SetOSSerialWriteMode(HAL_SerialPort port, int32_t mode,
+                              int32_t* status);
+void HAL_SetOSSerialFlowControl(HAL_SerialPort port, int32_t flow,
+                                int32_t* status);
+void HAL_SetOSSerialTimeout(HAL_SerialPort port, double timeout,
+                            int32_t* status);
+void HAL_EnableOSSerialTermination(HAL_SerialPort port, char terminator,
+                                   int32_t* status);
+void HAL_DisableOSSerialTermination(HAL_SerialPort port, int32_t* status);
+void HAL_SetOSSerialReadBufferSize(HAL_SerialPort port, int32_t size,
+                                   int32_t* status);
+void HAL_SetOSSerialWriteBufferSize(HAL_SerialPort port, int32_t size,
+                                    int32_t* status);
+int32_t HAL_GetOSSerialBytesReceived(HAL_SerialPort port, int32_t* status);
+int32_t HAL_ReadOSSerial(HAL_SerialPort port, char* buffer, int32_t count,
+                         int32_t* status);
+int32_t HAL_WriteOSSerial(HAL_SerialPort port, const char* buffer,
+                          int32_t count, int32_t* status);
+void HAL_FlushOSSerial(HAL_SerialPort port, int32_t* status);
+void HAL_ClearOSSerial(HAL_SerialPort port, int32_t* status);
+void HAL_CloseOSSerial(HAL_SerialPort port, int32_t* status);
+#ifdef __cplusplus
+}
+#endif

hal/include/HAL/PDP.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/PWM.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/Ports.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -31,7 +31,6 @@ int32_t HAL_GetNumPCMModules(void);
 int32_t HAL_GetNumSolenoidChannels(void);
 int32_t HAL_GetNumPDPModules(void);
 int32_t HAL_GetNumPDPChannels(void);
-int32_t HAL_GetNumCanTalons(void);
 #ifdef __cplusplus
 }
 #endif

hal/include/HAL/Power.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/Relay.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/SPI.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/SerialPort.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,31 +9,42 @@
 
 #include <stdint.h>
 
+enum HAL_SerialPort : int32_t {
+  HAL_SerialPort_Onboard = 0,
+  HAL_SerialPort_MXP = 1,
+  HAL_SerialPort_USB1 = 2,
+  HAL_SerialPort_USB2 = 3
+};
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-void HAL_InitializeSerialPort(int32_t port, int32_t* status);
-void HAL_SetSerialBaudRate(int32_t port, int32_t baud, int32_t* status);
-void HAL_SetSerialDataBits(int32_t port, int32_t bits, int32_t* status);
-void HAL_SetSerialParity(int32_t port, int32_t parity, int32_t* status);
-void HAL_SetSerialStopBits(int32_t port, int32_t stopBits, int32_t* status);
-void HAL_SetSerialWriteMode(int32_t port, int32_t mode, int32_t* status);
-void HAL_SetSerialFlowControl(int32_t port, int32_t flow, int32_t* status);
-void HAL_SetSerialTimeout(int32_t port, double timeout, int32_t* status);
-void HAL_EnableSerialTermination(int32_t port, char terminator,
+void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status);
+void HAL_SetSerialBaudRate(HAL_SerialPort port, int32_t baud, int32_t* status);
+void HAL_SetSerialDataBits(HAL_SerialPort port, int32_t bits, int32_t* status);
+void HAL_SetSerialParity(HAL_SerialPort port, int32_t parity, int32_t* status);
+void HAL_SetSerialStopBits(HAL_SerialPort port, int32_t stopBits,
+                           int32_t* status);
+void HAL_SetSerialWriteMode(HAL_SerialPort port, int32_t mode, int32_t* status);
+void HAL_SetSerialFlowControl(HAL_SerialPort port, int32_t flow,
+                              int32_t* status);
+void HAL_SetSerialTimeout(HAL_SerialPort port, double timeout, int32_t* status);
+void HAL_EnableSerialTermination(HAL_SerialPort port, char terminator,
                                  int32_t* status);
-void HAL_DisableSerialTermination(int32_t port, int32_t* status);
-void HAL_SetSerialReadBufferSize(int32_t port, int32_t size, int32_t* status);
-void HAL_SetSerialWriteBufferSize(int32_t port, int32_t size, int32_t* status);
-int32_t HAL_GetSerialBytesReceived(int32_t port, int32_t* status);
-int32_t HAL_ReadSerial(int32_t port, char* buffer, int32_t count,
+void HAL_DisableSerialTermination(HAL_SerialPort port, int32_t* status);
+void HAL_SetSerialReadBufferSize(HAL_SerialPort port, int32_t size,
+                                 int32_t* status);
+void HAL_SetSerialWriteBufferSize(HAL_SerialPort port, int32_t size,
+                                  int32_t* status);
+int32_t HAL_GetSerialBytesReceived(HAL_SerialPort port, int32_t* status);
+int32_t HAL_ReadSerial(HAL_SerialPort port, char* buffer, int32_t count,
                        int32_t* status);
-int32_t HAL_WriteSerial(int32_t port, const char* buffer, int32_t count,
+int32_t HAL_WriteSerial(HAL_SerialPort port, const char* buffer, int32_t count,
                         int32_t* status);
-void HAL_FlushSerial(int32_t port, int32_t* status);
-void HAL_ClearSerial(int32_t port, int32_t* status);
-void HAL_CloseSerial(int32_t port, int32_t* status);
+void HAL_FlushSerial(HAL_SerialPort port, int32_t* status);
+void HAL_ClearSerial(HAL_SerialPort port, int32_t* status);
+void HAL_CloseSerial(HAL_SerialPort port, int32_t* status);
 #ifdef __cplusplus
 }
 #endif

hal/include/HAL/Solenoid.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -25,6 +25,7 @@ HAL_Bool HAL_GetSolenoid(HAL_SolenoidHandle solenoidPortHandle,
 int32_t HAL_GetAllSolenoids(int32_t module, int32_t* status);
 void HAL_SetSolenoid(HAL_SolenoidHandle solenoidPortHandle, HAL_Bool value,
                      int32_t* status);
+void HAL_SetAllSolenoids(int32_t module, int32_t state, int32_t* status);
 int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status);
 HAL_Bool HAL_GetPCMSolenoidVoltageStickyFault(int32_t module, int32_t* status);
 HAL_Bool HAL_GetPCMSolenoidVoltageFault(int32_t module, int32_t* status);

hal/include/HAL/Task.h

@@ -1,43 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <pthread.h>
-#include <stdint.h>
-
-#ifndef _STATUS_DEFINED
-#define _STATUS_DEFINED
-typedef int32_t STATUS;
-#endif /* _STATUS_DEFINED */
-
-#ifndef OK
-#define OK 0
-#endif /* OK */
-#ifndef ERROR
-#define ERROR (-1)
-#endif /* ERROR */
-
-typedef pthread_t* TASK;
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-// Note: These constants used to be declared extern and were defined in
-// Task.cpp. This caused issues with the JNI bindings for java, and so the
-// instantiations were moved here.
-const int32_t HAL_TaskLib_ILLEGAL_PRIORITY = 22;  // 22 is EINVAL
-
-STATUS HAL_VerifyTaskID(TASK task);
-
-// valid priority [1..99]
-STATUS HAL_SetTaskPriority(TASK task, int32_t priority);
-
-STATUS HAL_GetTaskPriority(TASK task, int32_t* priority);
-#ifdef __cplusplus
-}
-#endif

hal/include/HAL/Threads.h

@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "HAL/Types.h"
+
+#ifdef _WIN32
+#include <windows.h>
+#define NativeThreadHandle const HANDLE*
+#else
+#include <pthread.h>
+#define NativeThreadHandle const pthread_t*
+#endif
+
+extern "C" {
+int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
+                              int32_t* status);
+int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status);
+HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
+                               int32_t priority, int32_t* status);
+HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority,
+                                      int32_t* status);
+}

hal/include/HAL/Types.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -15,32 +15,32 @@ typedef int32_t HAL_Handle;
 
 typedef HAL_Handle HAL_PortHandle;
 
-typedef HAL_Handle HAL_InterruptHandle;
-
-typedef HAL_Handle HAL_NotifierHandle;
+typedef HAL_Handle HAL_AnalogInputHandle;
 
 typedef HAL_Handle HAL_AnalogOutputHandle;
 
-typedef HAL_Handle HAL_AnalogInputHandle;
-
 typedef HAL_Handle HAL_AnalogTriggerHandle;
 
-typedef HAL_Handle HAL_RelayHandle;
+typedef HAL_Handle HAL_CompressorHandle;
+
+typedef HAL_Handle HAL_CounterHandle;
 
 typedef HAL_Handle HAL_DigitalHandle;
 
 typedef HAL_Handle HAL_DigitalPWMHandle;
 
-typedef HAL_Handle HAL_CounterHandle;
-
-typedef HAL_Handle HAL_CompressorHandle;
-
-typedef HAL_Handle HAL_SolenoidHandle;
+typedef HAL_Handle HAL_EncoderHandle;
 
 typedef HAL_Handle HAL_FPGAEncoderHandle;
 
-typedef HAL_Handle HAL_EncoderHandle;
-
 typedef HAL_Handle HAL_GyroHandle;
 
+typedef HAL_Handle HAL_InterruptHandle;
+
+typedef HAL_Handle HAL_NotifierHandle;
+
+typedef HAL_Handle HAL_RelayHandle;
+
+typedef HAL_Handle HAL_SolenoidHandle;
+
 typedef int32_t HAL_Bool;

hal/include/HAL/cpp/Log.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/cpp/Semaphore.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -12,8 +12,11 @@
 #include <condition_variable>
 
 #include "HAL/cpp/priority_mutex.h"
+#include "support/deprecated.h"
 
-class Semaphore {
+class WPI_DEPRECATED(
+    "Semaphore scheduled for removal in 2018. Recommended to replace with a "
+    "std::mutex and std::condition_variable") Semaphore {
  public:
   explicit Semaphore(int32_t count = 0);
   Semaphore(Semaphore&&);

hal/include/HAL/cpp/SerialHelper.h

@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include <string>
+#include <vector>
+
+#include "HAL/SerialPort.h"
+#include "HAL/cpp/priority_mutex.h"
+#include "llvm/SmallString.h"
+#include "llvm/SmallVector.h"
+
+namespace hal {
+class SerialHelper {
+ public:
+  SerialHelper();
+
+  std::string GetVISASerialPortName(HAL_SerialPort port, int32_t* status);
+  std::string GetOSSerialPortName(HAL_SerialPort port, int32_t* status);
+
+  std::vector<std::string> GetVISASerialPortList(int32_t* status);
+  std::vector<std::string> GetOSSerialPortList(int32_t* status);
+
+ private:
+  void SortHubPathVector();
+  void CoiteratedSort(llvm::SmallVectorImpl<llvm::SmallString<16>>& vec);
+  void QueryHubPaths(int32_t* status);
+
+  int32_t GetIndexForPort(HAL_SerialPort port, int32_t* status);
+
+  // Vectors to hold data before sorting.
+  // Note we will most likely have at max 2 instances, and the longest string
+  // is around 12, so these should never touch the heap;
+  llvm::SmallVector<llvm::SmallString<16>, 4> m_visaResource;
+  llvm::SmallVector<llvm::SmallString<16>, 4> m_osResource;
+  llvm::SmallVector<llvm::SmallString<16>, 4> m_unsortedHubPath;
+  llvm::SmallVector<llvm::SmallString<16>, 4> m_sortedHubPath;
+
+  int32_t m_resourceHandle;
+
+  static priority_mutex m_nameMutex;
+  static std::string m_usbNames[2];
+};
+}  // namespace hal

hal/include/HAL/cpp/make_unique.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/cpp/priority_condition_variable.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/include/HAL/cpp/priority_mutex.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -10,7 +10,7 @@
 // Allows usage with std::lock_guard without including <mutex> separately
 #include <mutex>
 
-#ifdef FRC_SIMULATOR
+#if defined(FRC_SIMULATOR) || defined(_WIN32)
 // We do not want to use pthreads if in the simulator; however, in the
 // simulator, we do not care about priority inversion.
 typedef std::mutex priority_mutex;

hal/include/HAL/handles/DigitalHandleResource.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,8 +9,8 @@
 
 #include <stdint.h>
 
+#include <array>
 #include <memory>
-#include <vector>
 
 #include "HAL/Errors.h"
 #include "HAL/Types.h"
@@ -37,25 +37,19 @@ class DigitalHandleResource {
   friend class DigitalHandleResourceTest;
 
  public:
+  DigitalHandleResource() = default;
   DigitalHandleResource(const DigitalHandleResource&) = delete;
-  DigitalHandleResource operator=(const DigitalHandleResource&) = delete;
-  DigitalHandleResource();
+  DigitalHandleResource& operator=(const DigitalHandleResource&) = delete;
+
   THandle Allocate(int16_t index, HAL_HandleEnum enumValue, int32_t* status);
   std::shared_ptr<TStruct> Get(THandle handle, HAL_HandleEnum enumValue);
   void Free(THandle handle, HAL_HandleEnum enumValue);
 
  private:
-  // Dynamic array to shrink HAL file size.
-  std::unique_ptr<std::shared_ptr<TStruct>[]> m_structures;
-  std::unique_ptr<priority_mutex[]> m_handleMutexes;
+  std::array<std::shared_ptr<TStruct>, size> m_structures;
+  std::array<priority_mutex, size> m_handleMutexes;
 };
 
-template <typename THandle, typename TStruct, int16_t size>
-DigitalHandleResource<THandle, TStruct, size>::DigitalHandleResource() {
-  m_structures = std::make_unique<std::shared_ptr<TStruct>[]>(size);
-  m_handleMutexes = std::make_unique<priority_mutex[]>(size);
-}
-
 template <typename THandle, typename TStruct, int16_t size>
 THandle DigitalHandleResource<THandle, TStruct, size>::Allocate(
     int16_t index, HAL_HandleEnum enumValue, int32_t* status) {

hal/include/HAL/handles/HandlesInternal.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -84,7 +84,15 @@ static inline int16_t getPortHandleModule(HAL_PortHandle handle) {
   return static_cast<uint8_t>((handle >> 8) & 0xff);
 }
 
+// using a 16 bit value so we can store 0-255 and still report error
+static inline int16_t getPortHandleSPIEnable(HAL_PortHandle handle) {
+  if (!isHandleType(handle, HAL_HandleEnum::Port)) return InvalidHandleIndex;
+  return static_cast<uint8_t>((handle >> 16) & 0xff);
+}
+
 HAL_PortHandle createPortHandle(uint8_t channel, uint8_t module);
 
+HAL_PortHandle createPortHandleForSPI(uint8_t channel);
+
 HAL_Handle createHandle(int16_t index, HAL_HandleEnum handleType);
 }  // namespace hal

hal/include/HAL/handles/IndexedClassedHandleResource.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -39,10 +39,11 @@ class IndexedClassedHandleResource {
   friend class IndexedClassedHandleResourceTest;
 
  public:
-  IndexedClassedHandleResource(const IndexedClassedHandleResource&) = delete;
-  IndexedClassedHandleResource operator=(const IndexedClassedHandleResource&) =
-      delete;
   IndexedClassedHandleResource();
+  IndexedClassedHandleResource(const IndexedClassedHandleResource&) = delete;
+  IndexedClassedHandleResource& operator=(const IndexedClassedHandleResource&) =
+      delete;
+
   THandle Allocate(int16_t index, std::shared_ptr<TStruct> toSet,
                    int32_t* status);
   std::shared_ptr<TStruct> Get(THandle handle);

hal/include/HAL/handles/IndexedHandleResource.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,8 +9,8 @@
 
 #include <stdint.h>
 
+#include <array>
 #include <memory>
-#include <vector>
 
 #include "HAL/Errors.h"
 #include "HAL/Types.h"
@@ -38,27 +38,19 @@ class IndexedHandleResource {
   friend class IndexedHandleResourceTest;
 
  public:
+  IndexedHandleResource() = default;
   IndexedHandleResource(const IndexedHandleResource&) = delete;
-  IndexedHandleResource operator=(const IndexedHandleResource&) = delete;
-  IndexedHandleResource();
+  IndexedHandleResource& operator=(const IndexedHandleResource&) = delete;
+
   THandle Allocate(int16_t index, int32_t* status);
   std::shared_ptr<TStruct> Get(THandle handle);
   void Free(THandle handle);
 
  private:
-  // Dynamic array to shrink HAL file size.
-  std::unique_ptr<std::shared_ptr<TStruct>[]> m_structures;
-  std::unique_ptr<priority_mutex[]> m_handleMutexes;
+  std::array<std::shared_ptr<TStruct>, size> m_structures;
+  std::array<priority_mutex, size> m_handleMutexes;
 };
 
-template <typename THandle, typename TStruct, int16_t size,
-          HAL_HandleEnum enumValue>
-IndexedHandleResource<THandle, TStruct, size,
-                      enumValue>::IndexedHandleResource() {
-  m_structures = std::make_unique<std::shared_ptr<TStruct>[]>(size);
-  m_handleMutexes = std::make_unique<priority_mutex[]>(size);
-}
-
 template <typename THandle, typename TStruct, int16_t size,
           HAL_HandleEnum enumValue>
 THandle IndexedHandleResource<THandle, TStruct, size, enumValue>::Allocate(

hal/include/HAL/handles/LimitedClassedHandleResource.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,8 +9,8 @@
 
 #include <stdint.h>
 
+#include <array>
 #include <memory>
-#include <vector>
 
 #include "HAL/Types.h"
 #include "HAL/cpp/make_unique.h"
@@ -36,29 +36,21 @@ class LimitedClassedHandleResource {
   friend class LimitedClassedHandleResourceTest;
 
  public:
+  LimitedClassedHandleResource() = default;
   LimitedClassedHandleResource(const LimitedClassedHandleResource&) = delete;
-  LimitedClassedHandleResource operator=(const LimitedClassedHandleResource&) =
+  LimitedClassedHandleResource& operator=(const LimitedClassedHandleResource&) =
       delete;
-  LimitedClassedHandleResource();
+
   THandle Allocate(std::shared_ptr<TStruct> toSet);
   std::shared_ptr<TStruct> Get(THandle handle);
   void Free(THandle handle);
 
  private:
-  // Dynamic array to shrink HAL file size.
-  std::unique_ptr<std::shared_ptr<TStruct>[]> m_structures;
-  std::unique_ptr<priority_mutex[]> m_handleMutexes;
+  std::array<std::shared_ptr<TStruct>, size> m_structures;
+  std::array<priority_mutex, size> m_handleMutexes;
   priority_mutex m_allocateMutex;
 };
 
-template <typename THandle, typename TStruct, int16_t size,
-          HAL_HandleEnum enumValue>
-LimitedClassedHandleResource<THandle, TStruct, size,
-                             enumValue>::LimitedClassedHandleResource() {
-  m_structures = std::make_unique<std::shared_ptr<TStruct>[]>(size);
-  m_handleMutexes = std::make_unique<priority_mutex[]>(size);
-}
-
 template <typename THandle, typename TStruct, int16_t size,
           HAL_HandleEnum enumValue>
 THandle

hal/include/HAL/handles/LimitedHandleResource.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,8 +9,8 @@
 
 #include <stdint.h>
 
+#include <array>
 #include <memory>
-#include <vector>
 
 #include "HAL/Types.h"
 #include "HAL/cpp/make_unique.h"
@@ -35,28 +35,20 @@ class LimitedHandleResource {
   friend class LimitedHandleResourceTest;
 
  public:
+  LimitedHandleResource() = default;
   LimitedHandleResource(const LimitedHandleResource&) = delete;
-  LimitedHandleResource operator=(const LimitedHandleResource&) = delete;
-  LimitedHandleResource();
+  LimitedHandleResource& operator=(const LimitedHandleResource&) = delete;
+
   THandle Allocate();
   std::shared_ptr<TStruct> Get(THandle handle);
   void Free(THandle handle);
 
  private:
-  // Dynamic array to shrink HAL file size.
-  std::unique_ptr<std::shared_ptr<TStruct>[]> m_structures;
-  std::unique_ptr<priority_mutex[]> m_handleMutexes;
+  std::array<std::shared_ptr<TStruct>, size> m_structures;
+  std::array<priority_mutex, size> m_handleMutexes;
   priority_mutex m_allocateMutex;
 };
 
-template <typename THandle, typename TStruct, int16_t size,
-          HAL_HandleEnum enumValue>
-LimitedHandleResource<THandle, TStruct, size,
-                      enumValue>::LimitedHandleResource() {
-  m_structures = std::make_unique<std::shared_ptr<TStruct>[]>(size);
-  m_handleMutexes = std::make_unique<priority_mutex[]>(size);
-}
-
 template <typename THandle, typename TStruct, int16_t size,
           HAL_HandleEnum enumValue>
 THandle LimitedHandleResource<THandle, TStruct, size, enumValue>::Allocate() {

hal/include/HAL/handles/UnlimitedHandleResource.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2016. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2008-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -37,9 +37,10 @@ class UnlimitedHandleResource {
   friend class UnlimitedHandleResourceTest;
 
  public:
-  UnlimitedHandleResource(const UnlimitedHandleResource&) = delete;
-  UnlimitedHandleResource operator=(const UnlimitedHandleResource&) = delete;
   UnlimitedHandleResource() = default;
+  UnlimitedHandleResource(const UnlimitedHandleResource&) = delete;
+  UnlimitedHandleResource& operator=(const UnlimitedHandleResource&) = delete;
+
   THandle Allocate(std::shared_ptr<TStruct> structure);
   std::shared_ptr<TStruct> Get(THandle handle);
   void Free(THandle handle);

hal/include/ctre/PCM.h

@@ -16,6 +16,13 @@ public:
      */
     CTR_Code 	SetSolenoid(unsigned char idx, bool en);
 
+    /* Set all PCM solenoid states
+     *
+     * @Return	-	CTR_Code	-	Error code (if any) for setting solenoids
+     * @Param 	-	state			Bitfield to set all solenoids to
+     */
+    CTR_Code 	SetAllSolenoids(UINT8 state);
+
     /* Enables PCM Closed Loop Control of Compressor via pressure switch
      * @Return	-	CTR_Code	-	Error code (if any) for setting solenoid
      * @Param 	-	en		- 	Enable / Disable Closed Loop Control
@@ -192,6 +199,7 @@ public:
 extern "C" {
 	void * c_PCM_Init(void);
 	CTR_Code c_SetSolenoid(void * handle,unsigned char idx,INT8 param);
+	CTR_Code c_SetAllSolenoids(void * handle,UINT8 state);
 	CTR_Code c_SetClosedLoopControl(void * handle,INT8 param);
 	CTR_Code c_ClearStickyFaults(void * handle,INT8 param);
 	CTR_Code c_GetSolenoid(void * handle,UINT8 idx,INT8 * status);

hal/lib/athena/Accelerometer.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -13,9 +13,11 @@
 #include <cstdio>
 #include <memory>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
 #include "HAL/HAL.h"
 
+using namespace hal;
+
 // The 7-bit I2C address with a 0 "send" bit
 static const uint8_t kSendAddress = (0x1c << 1) | 0;
 

hal/lib/athena/AnalogAccumulator.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/AnalogGyro.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -87,13 +87,13 @@ void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
   if (*status != 0) return;
   HAL_SetAnalogOversampleBits(gyro->handle, kOversampleBits, status);
   if (*status != 0) return;
-  float sampleRate =
+  double sampleRate =
       kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
   HAL_SetAnalogSampleRate(sampleRate, status);
   if (*status != 0) return;
   Wait(0.1);
 
-  HAL_SetAnalogGyroDeadband(handle, 0.0f, status);
+  HAL_SetAnalogGyroDeadband(handle, 0.0, status);
   if (*status != 0) return;
 }
 

hal/lib/athena/AnalogInput.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -99,7 +99,7 @@ HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel) {
  */
 void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
   // TODO: This will change when variable size scan lists are implemented.
-  // TODO: Need float comparison with epsilon.
+  // TODO: Need double comparison with epsilon.
   // wpi_assert(!sampleRateSet || GetSampleRate() == samplesPerSecond);
   initializeAnalog(status);
   if (*status != 0) return;

hal/lib/athena/AnalogInternal.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,8 +9,8 @@
 
 #include <atomic>
 
-#include "ChipObject.h"
 #include "HAL/AnalogInput.h"
+#include "HAL/ChipObject.h"
 #include "HAL/cpp/priority_mutex.h"
 #include "PortsInternal.h"
 
@@ -80,7 +80,7 @@ int32_t getAnalogNumChannelsToActivate(int32_t* status) {
  */
 void setAnalogSampleRate(double samplesPerSecond, int32_t* status) {
   // TODO: This will change when variable size scan lists are implemented.
-  // TODO: Need float comparison with epsilon.
+  // TODO: Need double comparison with epsilon.
   // wpi_assert(!sampleRateSet || GetSampleRate() == samplesPerSecond);
   analogSampleRateSet = true;
 

hal/lib/athena/AnalogInternal.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,7 +11,7 @@
 
 #include <memory>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Ports.h"
 #include "HAL/cpp/priority_mutex.h"
 #include "HAL/handles/IndexedHandleResource.h"

hal/lib/athena/AnalogOutput.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/AnalogTrigger.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/Compressor.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/Constants.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/ConstantsInternal.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/Counter.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/DIO.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -58,7 +58,24 @@ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle,
 
   tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
 
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    if (!getPortHandleSPIEnable(portHandle)) {
+      // if this flag is not set, we actually want DIO.
+      uint32_t bitToSet = 1u << remapSPIChannel(port->channel);
+
+      uint16_t specialFunctions = spiSystem->readEnableDIO(status);
+      // Set the field to enable SPI DIO
+      spiSystem->writeEnableDIO(specialFunctions | bitToSet, status);
+
+      if (input) {
+        outputEnable.SPIPort =
+            outputEnable.SPIPort & (~bitToSet);  // clear the field for read
+      } else {
+        outputEnable.SPIPort =
+            outputEnable.SPIPort | bitToSet;  // set the bits for write
+      }
+    }
+  } else if (port->channel < kNumDigitalHeaders) {
     uint32_t bitToSet = 1u << port->channel;
     if (input) {
       outputEnable.Headers =
@@ -93,8 +110,26 @@ HAL_Bool HAL_CheckDIOChannel(int32_t channel) {
 }
 
 void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) {
+  auto port = digitalChannelHandles.Get(dioPortHandle, HAL_HandleEnum::DIO);
   // no status, so no need to check for a proper free.
   digitalChannelHandles.Free(dioPortHandle, HAL_HandleEnum::DIO);
+  if (port == nullptr) return;
+  int32_t status = 0;
+  std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    // Unset the SPI flag
+    int32_t bitToUnset = 1 << remapSPIChannel(port->channel);
+    uint16_t specialFunctions = spiSystem->readEnableDIO(&status);
+    spiSystem->writeEnableDIO(specialFunctions & ~bitToUnset, &status);
+  } else if (port->channel >= kNumDigitalHeaders) {
+    // Unset the MXP flag
+    uint32_t bitToUnset = 1u << remapMXPChannel(port->channel);
+
+    uint16_t specialFunctions =
+        digitalSystem->readEnableMXPSpecialFunction(&status);
+    digitalSystem->writeEnableMXPSpecialFunction(specialFunctions | bitToUnset,
+                                                 &status);
+  }
 }
 
 /**
@@ -200,7 +235,9 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
     return;
   }
   int32_t id = *port;
-  if (channel >= kNumDigitalHeaders) {  // If it is on the MXP
+  if (channel >= kNumDigitalHeaders &&
+      channel <
+          kNumDigitalHeaders + kNumDigitalMXPChannels) {  // If it is on the MXP
     /* Then to write as a digital PWM channel an offset is needed to write on
      * the correct channel
      */
@@ -231,7 +268,15 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
     std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
     tDIO::tDO currentDIO = digitalSystem->readDO(status);
 
-    if (port->channel < kNumDigitalHeaders) {
+    if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+      if (value == 0) {
+        currentDIO.SPIPort =
+            currentDIO.SPIPort & ~(1u << remapSPIChannel(port->channel));
+      } else if (value == 1) {
+        currentDIO.SPIPort =
+            currentDIO.SPIPort | (1u << remapSPIChannel(port->channel));
+      }
+    } else if (port->channel < kNumDigitalHeaders) {
       if (value == 0) {
         currentDIO.Headers = currentDIO.Headers & ~(1u << port->channel);
       } else if (value == 1) {
@@ -245,12 +290,6 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value,
         currentDIO.MXP =
             currentDIO.MXP | (1u << remapMXPChannel(port->channel));
       }
-
-      int32_t bitToSet = 1 << remapMXPChannel(port->channel);
-      uint16_t specialFunctions =
-          digitalSystem->readEnableMXPSpecialFunction(status);
-      digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet,
-                                                   status);
     }
     digitalSystem->writeDO(currentDIO, status);
   }
@@ -275,16 +314,11 @@ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) {
   // if it == 0, then return false
   // else return true
 
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    return ((currentDIO.SPIPort >> remapSPIChannel(port->channel)) & 1) != 0;
+  } else if (port->channel < kNumDigitalHeaders) {
     return ((currentDIO.Headers >> port->channel) & 1) != 0;
   } else {
-    // Disable special functions
-    int32_t bitToSet = 1 << remapMXPChannel(port->channel);
-    uint16_t specialFunctions =
-        digitalSystem->readEnableMXPSpecialFunction(status);
-    digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToSet,
-                                                 status);
-
     return ((currentDIO.MXP >> remapMXPChannel(port->channel)) & 1) != 0;
   }
 }
@@ -309,7 +343,10 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
   // if it == 0, then return false
   // else return true
 
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    return ((currentOutputEnable.SPIPort >> remapSPIChannel(port->channel)) &
+            1) != 0;
+  } else if (port->channel < kNumDigitalHeaders) {
     return ((currentOutputEnable.Headers >> port->channel) & 1) != 0;
   } else {
     return ((currentOutputEnable.MXP >> remapMXPChannel(port->channel)) & 1) !=
@@ -334,7 +371,9 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
   }
   tDIO::tPulse pulse;
 
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    pulse.SPIPort = 1u << remapSPIChannel(port->channel);
+  } else if (port->channel < kNumDigitalHeaders) {
     pulse.Headers = 1u << port->channel;
   } else {
     pulse.MXP = 1u << remapMXPChannel(port->channel);
@@ -360,7 +399,9 @@ HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) {
   }
   tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
 
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    return (pulseRegister.SPIPort & (1 << remapSPIChannel(port->channel))) != 0;
+  } else if (port->channel < kNumDigitalHeaders) {
     return (pulseRegister.Headers & (1 << port->channel)) != 0;
   } else {
     return (pulseRegister.MXP & (1 << remapMXPChannel(port->channel))) != 0;
@@ -376,7 +417,8 @@ HAL_Bool HAL_IsAnyPulsing(int32_t* status) {
   initializeDigital(status);
   if (*status != 0) return false;
   tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
-  return pulseRegister.Headers != 0 && pulseRegister.MXP != 0;
+  return pulseRegister.Headers != 0 && pulseRegister.MXP != 0 &&
+         pulseRegister.SPIPort != 0;
 }
 
 /**
@@ -396,7 +438,11 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex,
   }
 
   std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    // Channels 10-15 are SPI channels, so subtract our MXP channels
+    digitalSystem->writeFilterSelectHdr(port->channel - kNumDigitalMXPChannels,
+                                        filterIndex, status);
+  } else if (port->channel < kNumDigitalHeaders) {
     digitalSystem->writeFilterSelectHdr(port->channel, filterIndex, status);
   } else {
     digitalSystem->writeFilterSelectMXP(remapMXPChannel(port->channel),
@@ -420,7 +466,11 @@ int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) {
   }
 
   std::lock_guard<priority_recursive_mutex> sync(digitalDIOMutex);
-  if (port->channel < kNumDigitalHeaders) {
+  if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
+    // Channels 10-15 are SPI channels, so subtract our MXP channels
+    return digitalSystem->readFilterSelectHdr(
+        port->channel - kNumDigitalMXPChannels, status);
+  } else if (port->channel < kNumDigitalHeaders) {
     return digitalSystem->readFilterSelectHdr(port->channel, status);
   } else {
     return digitalSystem->readFilterSelectMXP(remapMXPChannel(port->channel),

hal/lib/athena/DigitalInternal.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,10 +11,10 @@
 #include <mutex>
 #include <thread>
 
-#include "ChipObject.h"
 #include "ConstantsInternal.h"
 #include "FRC_NetworkCommunication/LoadOut.h"
 #include "HAL/AnalogTrigger.h"
+#include "HAL/ChipObject.h"
 #include "HAL/HAL.h"
 #include "HAL/Ports.h"
 #include "HAL/cpp/priority_mutex.h"
@@ -27,6 +27,7 @@ priority_recursive_mutex digitalPwmMutex;
 std::unique_ptr<tDIO> digitalSystem;
 std::unique_ptr<tRelay> relaySystem;
 std::unique_ptr<tPWM> pwmSystem;
+std::unique_ptr<tSPI> spiSystem;
 
 static std::atomic<bool> digitalSystemsInitialized{false};
 static priority_mutex initializeMutex;
@@ -94,9 +95,18 @@ void initializeDigital(int32_t* status) {
     }
   }
 
+  // SPI setup
+  spiSystem.reset(tSPI::create(status));
+
   digitalSystemsInitialized = true;
 }
 
+/**
+ * Map SPI channel numbers from their physical number (27 to 31) to their
+ * position in the bit field.
+ */
+int32_t remapSPIChannel(int32_t channel) { return channel - 26; }
+
 /**
  * Map DIO channel numbers from their physical number (10 to 26) to their
  * position in the bit field.
@@ -130,7 +140,11 @@ bool remapDigitalSource(HAL_Handle digitalSourceHandle,
     return true;
   } else if (isHandleType(digitalSourceHandle, HAL_HandleEnum::DIO)) {
     int32_t index = getHandleIndex(digitalSourceHandle);
-    if (index >= kNumDigitalHeaders) {
+    if (index > kNumDigitalHeaders + kNumDigitalMXPChannels) {
+      // channels 10-15, so need to add headers to remap index
+      channel = remapSPIChannel(index) + kNumDigitalHeaders;
+      module = 0;
+    } else if (index >= kNumDigitalHeaders) {
       channel = remapMXPChannel(index);
       module = 1;
     } else {

hal/lib/athena/DigitalInternal.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,8 +11,8 @@
 
 #include <memory>
 
-#include "ChipObject.h"
 #include "HAL/AnalogTrigger.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Ports.h"
 #include "HAL/Types.h"
 #include "HAL/handles/DigitalHandleResource.h"
@@ -45,11 +45,11 @@ constexpr int32_t kExpectedLoopTiming = 40;
  * scaling is implemented as an output squelch to get longer periods for old
  * devices.
  */
-constexpr float kDefaultPwmPeriod = 5.05;
+constexpr double kDefaultPwmPeriod = 5.05;
 /**
  * kDefaultPwmCenter is the PWM range center in ms
  */
-constexpr float kDefaultPwmCenter = 1.5;
+constexpr double kDefaultPwmCenter = 1.5;
 /**
  * kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
  */
@@ -62,6 +62,7 @@ extern priority_recursive_mutex digitalPwmMutex;
 extern std::unique_ptr<tDIO> digitalSystem;
 extern std::unique_ptr<tRelay> relaySystem;
 extern std::unique_ptr<tPWM> pwmSystem;
+extern std::unique_ptr<tSPI> spiSystem;
 
 struct DigitalPort {
   uint8_t channel;
@@ -82,6 +83,7 @@ void initializeDigital(int32_t* status);
 bool remapDigitalSource(HAL_Handle digitalSourceHandle,
                         HAL_AnalogTriggerType analogTriggerType,
                         uint8_t& channel, uint8_t& module, bool& analogTrigger);
+int32_t remapSPIChannel(int32_t channel);
 int32_t remapMXPPWMChannel(int32_t channel);
 int32_t remapMXPChannel(int32_t channel);
 }  // namespace hal

hal/lib/athena/Encoder.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,9 +7,9 @@
 
 #include "HAL/Encoder.h"
 
-#include "ChipObject.h"
 #include "EncoderInternal.h"
 #include "FPGAEncoder.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Counter.h"
 #include "HAL/Errors.h"
 #include "HAL/handles/LimitedClassedHandleResource.h"

hal/lib/athena/EncoderInternal.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/FPGAEncoder.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/FPGAEncoder.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/FRCDriverStation.cpp

@@ -1,17 +1,18 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include <chrono>
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
 #include <limits>
 
 #include "FRC_NetworkCommunication/FRCComm.h"
-#include "HAL/HAL.h"
+#include "HAL/DriverStation.h"
 #include "HAL/cpp/priority_condition_variable.h"
 #include "HAL/cpp/priority_mutex.h"
 
@@ -41,16 +42,24 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
   static constexpr int KEEP_MSGS = 5;
   std::lock_guard<priority_mutex> lock(msgMutex);
   static std::string prevMsg[KEEP_MSGS];
-  static uint64_t prevMsgTime[KEEP_MSGS] = {0, 0, 0};
+  static std::chrono::time_point<std::chrono::steady_clock>
+      prevMsgTime[KEEP_MSGS];
+  static bool initialized = false;
+  if (!initialized) {
+    for (int i = 0; i < KEEP_MSGS; i++) {
+      prevMsgTime[i] =
+          std::chrono::steady_clock::now() - std::chrono::seconds(2);
+    }
+    initialized = true;
+  }
 
-  int32_t status = 0;
-  uint64_t curTime = HAL_GetFPGATime(&status);
+  auto curTime = std::chrono::steady_clock::now();
   int i;
   for (i = 0; i < KEEP_MSGS; ++i) {
     if (prevMsg[i] == details) break;
   }
   int retval = 0;
-  if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >= 1000000) {
+  if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >= std::chrono::seconds(1)) {
     retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
                                                 details, location, callStack);
     if (printMsg) {
@@ -66,7 +75,7 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
     if (i == KEEP_MSGS) {
       // replace the oldest one
       i = 0;
-      uint64_t first = prevMsgTime[0];
+      auto first = prevMsgTime[0];
       for (int j = 1; j < KEEP_MSGS; ++j) {
         if (prevMsgTime[j] < first) {
           first = prevMsgTime[j];
@@ -100,16 +109,16 @@ int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes) {
       joystickNum, reinterpret_cast<JoystickAxes_t*>(&axesInt),
       HAL_kMaxJoystickAxes);
 
-  // copy integer values to float values
+  // copy integer values to double values
   axes->count = axesInt.count;
   // current scaling is -128 to 127, can easily be patched in the future by
   // changing this function.
   for (int32_t i = 0; i < axesInt.count; i++) {
     int8_t value = axesInt.axes[i];
     if (value < 0) {
-      axes->axes[i] = value / 128.0f;
+      axes->axes[i] = value / 128.0;
     } else {
-      axes->axes[i] = value / 127.0f;
+      axes->axes[i] = value / 127.0;
     }
   }
 

hal/lib/athena/HAL.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,22 +11,27 @@
 #include <sys/prctl.h>
 #include <unistd.h>
 
+#include <atomic>
 #include <cstdlib>
 #include <fstream>
 #include <iostream>
 #include <mutex>
 #include <thread>
 
-#include "ChipObject.h"
 #include "FRC_NetworkCommunication/CANSessionMux.h"
 #include "FRC_NetworkCommunication/FRCComm.h"
 #include "FRC_NetworkCommunication/LoadOut.h"
+#include "HAL/ChipObject.h"
+#include "HAL/DriverStation.h"
 #include "HAL/Errors.h"
+#include "HAL/Notifier.h"
 #include "HAL/cpp/priority_mutex.h"
 #include "HAL/handles/HandlesInternal.h"
 #include "ctre/ctre.h"
 #include "visa/visa.h"
 
+using namespace hal;
+
 static std::unique_ptr<tGlobal> global;
 static std::unique_ptr<tSysWatchdog> watchdog;
 
@@ -159,6 +164,16 @@ const char* HAL_GetErrorMessage(int32_t code) {
       return VI_ERROR_INV_PARAMETER_MESSAGE;
     case HAL_PWM_SCALE_ERROR:
       return HAL_PWM_SCALE_ERROR_MESSAGE;
+    case HAL_SERIAL_PORT_NOT_FOUND:
+      return HAL_SERIAL_PORT_NOT_FOUND_MESSAGE;
+    case HAL_THREAD_PRIORITY_ERROR:
+      return HAL_THREAD_PRIORITY_ERROR_MESSAGE;
+    case HAL_THREAD_PRIORITY_RANGE_ERROR:
+      return HAL_THREAD_PRIORITY_RANGE_ERROR_MESSAGE;
+    case HAL_SERIAL_PORT_OPEN_ERROR:
+      return HAL_SERIAL_PORT_OPEN_ERROR_MESSAGE;
+    case HAL_SERIAL_PORT_ERROR:
+      return HAL_SERIAL_PORT_ERROR_MESSAGE;
     default:
       return "Unknown error status";
   }
@@ -247,20 +262,30 @@ HAL_Bool HAL_GetBrownedOut(int32_t* status) {
   return !(watchdog->readStatus_PowerAlive(status));
 }
 
-static void HALCleanupAtExit() {
-  global = nullptr;
-  watchdog = nullptr;
-
-  // Unregister our new data condition variable.
-  setNewDataSem(nullptr);
-}
-
 static void timerRollover(uint64_t currentTime, HAL_NotifierHandle handle) {
   // reschedule timer for next rollover
   int32_t status = 0;
   HAL_UpdateNotifierAlarm(handle, currentTime + 0x80000000ULL, &status);
 }
 
+void HAL_BaseInitialize(int32_t* status) {
+  static std::atomic_bool initialized{false};
+  static priority_mutex initializeMutex;
+  // Initial check, as if it's true initialization has finished
+  if (initialized) return;
+
+  std::lock_guard<priority_mutex> lock(initializeMutex);
+  // Second check in case another thread was waiting
+  if (initialized) return;
+  // image 4; Fixes errors caused by multiple processes. Talk to NI about this
+  nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
+      nLoadOut::kTargetClass_RoboRIO;
+
+  global.reset(tGlobal::create(status));
+  watchdog.reset(tSysWatchdog::create(status));
+  initialized = true;
+}
+
 /**
  * Call this to start up HAL. This is required for robot programs.
  */
@@ -271,15 +296,14 @@ int32_t HAL_Initialize(int32_t mode) {
   prctl(PR_SET_PDEATHSIG, SIGTERM);
 
   FRC_NetworkCommunication_Reserve(nullptr);
-  // image 4; Fixes errors caused by multiple processes. Talk to NI about this
-  nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
-      nLoadOut::kTargetClass_RoboRIO;
+
+  std::atexit([]() {
+    // Unregister our new data condition variable.
+    setNewDataSem(nullptr);
+  });
 
   int32_t status = 0;
-  global.reset(tGlobal::create(&status));
-  watchdog.reset(tSysWatchdog::create(&status));
-
-  std::atexit(HALCleanupAtExit);
+  HAL_BaseInitialize(&status);
 
   if (!rolloverNotifier)
     rolloverNotifier = HAL_InitializeNotifier(timerRollover, nullptr, &status);

hal/lib/athena/I2C.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/Interrupts.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,8 +9,8 @@
 
 #include <memory>
 
-#include "ChipObject.h"
 #include "DigitalInternal.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Errors.h"
 #include "HAL/cpp/make_unique.h"
 #include "HAL/handles/HandlesInternal.h"

hal/lib/athena/Notifier.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -14,13 +14,16 @@
 #include <memory>
 #include <mutex>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
+#include "HAL/Errors.h"
 #include "HAL/HAL.h"
 #include "HAL/cpp/make_unique.h"
 #include "HAL/cpp/priority_mutex.h"
 #include "HAL/handles/UnlimitedHandleResource.h"
 #include "support/SafeThread.h"
 
+using namespace hal;
+
 static const int32_t kTimerInterruptNumber = 28;
 
 static priority_mutex notifierInterruptMutex;

hal/lib/athena/OSSerialPort.cpp

@@ -0,0 +1,232 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2017. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/OSSerialPort.h"
+
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <termios.h>
+#include <unistd.h>
+
+#include <chrono>
+#include <cstring>
+#include <string>
+
+#include "HAL/Errors.h"
+#include "HAL/cpp/SerialHelper.h"
+
+static int portHandles[4]{-1, -1, -1, -1};
+static std::chrono::milliseconds portTimeouts[4]{
+    std::chrono::milliseconds(0), std::chrono::milliseconds(0),
+    std::chrono::milliseconds(0), std::chrono::milliseconds(0)};
+
+extern "C" {
+
+void HAL_InitializeOSSerialPort(HAL_SerialPort port, int32_t* status) {
+  std::string portName;
+
+  hal::SerialHelper serialHelper;
+
+  portName = serialHelper.GetOSSerialPortName(port, status);
+
+  if (*status < 0) {
+    return;
+  }
+
+  int fs = open(portName.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
+  if (fs == -1) {
+    *status = HAL_SERIAL_PORT_OPEN_ERROR;
+    return;
+  }
+  portHandles[port] = fs;
+
+  struct termios options;
+  tcgetattr(fs, &options);
+  options.c_cflag = B9600 | CS8 | CLOCAL | CREAD;
+  options.c_iflag = 0;
+  options.c_oflag = 0;
+  options.c_lflag = 0;
+  tcflush(fs, TCIFLUSH);
+  tcsetattr(fs, TCSANOW, &options);
+}
+
+void HAL_SetOSSerialBaudRate(HAL_SerialPort port, int32_t baud,
+                             int32_t* status) {
+  int baudRate = -1;
+  switch (baud) {
+    case 9600:
+      baudRate = B9600;
+      break;
+    case 19200:
+      baudRate = B19200;
+      break;
+    case 38400:
+      baudRate = B38400;
+      break;
+    case 57600:
+      baudRate = B57600;
+      break;
+    case 115200:
+      baudRate = B115200;
+      break;
+    default:
+      *status = PARAMETER_OUT_OF_RANGE;
+      return;
+  }
+
+  struct termios options;
+  tcgetattr(portHandles[port], &options);
+  auto set = cfsetospeed(&options, baudRate);
+  if (set != 0) {
+    *status = HAL_SERIAL_PORT_ERROR;
+    return;
+  }
+  set = tcsetattr(portHandles[port], TCSANOW, &options);
+  if (set != 0) {
+    *status = HAL_SERIAL_PORT_ERROR;
+    return;
+  }
+}
+
+void HAL_SetOSSerialDataBits(HAL_SerialPort port, int32_t bits,
+                             int32_t* status) {
+  int numBits = -1;
+  switch (bits) {
+    case 5:
+      numBits = CS5;
+      break;
+    case 6:
+      numBits = CS6;
+      break;
+    case 7:
+      numBits = CS7;
+      break;
+    case 8:
+      numBits = CS8;
+      break;
+    default:
+      *status = PARAMETER_OUT_OF_RANGE;
+      return;
+  }
+
+  struct termios options;
+  tcgetattr(portHandles[port], &options);
+  options.c_cflag &= ~CSIZE;
+  options.c_cflag |= numBits;
+  auto set = tcsetattr(portHandles[port], TCSANOW, &options);
+  if (set != 0) {
+    *status = HAL_SERIAL_PORT_ERROR;
+    return;
+  }
+}
+
+void HAL_SetOSSerialParity(HAL_SerialPort port, int32_t parity,
+                           int32_t* status) {
+  // Just set none parity
+  struct termios options;
+  tcgetattr(portHandles[port], &options);
+  options.c_cflag &= ~PARENB;
+  auto set = tcsetattr(portHandles[port], TCSANOW, &options);
+  if (set != 0) {
+    *status = HAL_SERIAL_PORT_ERROR;
+    return;
+  }
+}
+
+void HAL_SetOSSerialStopBits(HAL_SerialPort port, int32_t stopBits,
+                             int32_t* status) {
+  // Force 1 stop bit
+  struct termios options;
+  tcgetattr(portHandles[port], &options);
+  options.c_cflag &= ~CSTOPB;
+  auto set = tcsetattr(portHandles[port], TCSANOW, &options);
+  if (set != 0) {
+    *status = HAL_SERIAL_PORT_ERROR;
+    return;
+  }
+}
+
+void HAL_SetOSSerialWriteMode(HAL_SerialPort port, int32_t mode,
+                              int32_t* status) {
+  // No op
+}
+
+void HAL_SetOSSerialFlowControl(HAL_SerialPort port, int32_t flow,
+                                int32_t* status) {
+  // No op
+}
+
+void HAL_SetOSSerialTimeout(HAL_SerialPort port, double timeout,
+                            int32_t* status) {
+  // Convert to millis
+  int t = timeout / 1000;
+  portTimeouts[port] = std::chrono::milliseconds(t);
+}
+
+void HAL_EnableOSSerialTermination(HAL_SerialPort port, char terminator,
+                                   int32_t* status) {
+  // \n is hardcoded for now. Will fix later
+  // Seems like a VISA only setting, need to check
+}
+
+void HAL_DisableOSSerialTermination(HAL_SerialPort port, int32_t* status) {
+  // Seems like a VISA only setting, need to check
+}
+
+void HAL_SetOSSerialReadBufferSize(HAL_SerialPort port, int32_t size,
+                                   int32_t* status) {
+  // No op
+}
+
+void HAL_SetOSSerialWriteBufferSize(HAL_SerialPort port, int32_t size,
+                                    int32_t* status) {
+  // No op
+}
+
+int32_t HAL_GetOSSerialBytesReceived(HAL_SerialPort port, int32_t* status) {
+  int bytes = 0;
+  ioctl(portHandles[port], FIONREAD, &bytes);
+  return bytes;
+}
+
+int32_t HAL_ReadOSSerial(HAL_SerialPort port, char* buffer, int32_t count,
+                         int32_t* status) {
+  auto endTime = std::chrono::steady_clock::now() + portTimeouts[port];
+
+  int bytesRead = 0;
+
+  unsigned char buf[256];
+
+  do {
+    int rx = read(portHandles[port], buf, count - bytesRead);
+    std::memcpy(&buffer[bytesRead], buf, rx);
+    bytesRead += rx;
+    if (bytesRead >= count) break;
+    llvm::StringRef tmp(buffer, bytesRead);
+    auto loc = tmp.find('\n');
+    if (loc != llvm::StringRef::npos) {
+      bytesRead = loc;
+      break;
+    }
+  } while (std::chrono::steady_clock::now() < endTime);
+  return bytesRead;
+}
+
+int32_t HAL_WriteOSSerial(HAL_SerialPort port, const char* buffer,
+                          int32_t count, int32_t* status) {
+  return write(portHandles[port], buffer, count);
+}
+void HAL_FlushOSSerial(HAL_SerialPort port, int32_t* status) {
+  tcdrain(portHandles[port]);
+}
+void HAL_ClearOSSerial(HAL_SerialPort port, int32_t* status) {
+  tcflush(portHandles[port], TCIOFLUSH);
+}
+void HAL_CloseOSSerial(HAL_SerialPort port, int32_t* status) {
+  close(portHandles[port]);
+}
+}

hal/lib/athena/PCMInternal.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/PCMInternal.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/PDP.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/PWM.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,6 +7,8 @@
 
 #include "HAL/PWM.h"
 
+#include <cmath>
+
 #include "ConstantsInternal.h"
 #include "DigitalInternal.h"
 #include "HAL/handles/HandlesInternal.h"
@@ -48,7 +50,7 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
   if (*status != 0) return HAL_kInvalidHandle;
 
   int16_t channel = getPortHandleChannel(portHandle);
-  if (channel == InvalidHandleIndex) {
+  if (channel == InvalidHandleIndex || channel >= kNumPWMChannels) {
     *status = PARAMETER_OUT_OF_RANGE;
     return HAL_kInvalidHandle;
   }
@@ -241,6 +243,8 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
     speed = -1.0;
   } else if (speed > 1.0) {
     speed = 1.0;
+  } else if (!std::isfinite(speed)) {
+    speed = 0.0;
   }
 
   // calculate the desired output pwm value by scaling the speed appropriately

hal/lib/athena/Ports.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -30,5 +30,4 @@ int32_t HAL_GetNumPCMModules(void) { return kNumPCMModules; }
 int32_t HAL_GetNumSolenoidChannels(void) { return kNumSolenoidChannels; }
 int32_t HAL_GetNumPDPModules(void) { return kNumPDPModules; }
 int32_t HAL_GetNumPDPChannels(void) { return kNumPDPChannels; }
-int32_t HAL_GetNumCanTalons(void) { return kNumCanTalons; }
 }

hal/lib/athena/PortsInternal.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,7 +9,7 @@
 
 #include <stdint.h>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
 
 namespace hal {
 constexpr int32_t kNumAccumulators = tAccumulator::kNumSystems;
@@ -18,8 +18,11 @@ constexpr int32_t kNumAnalogInputs = 8;
 constexpr int32_t kNumAnalogOutputs = tAO::kNumMXPRegisters;
 constexpr int32_t kNumCounters = tCounter::kNumSystems;
 constexpr int32_t kNumDigitalHeaders = 10;
+constexpr int32_t kNumDigitalMXPChannels = 16;
+constexpr int32_t kNumDigitalSPIPortChannels = 5;
 constexpr int32_t kNumPWMHeaders = tPWM::kNumHdrRegisters;
-constexpr int32_t kNumDigitalChannels = 26;
+constexpr int32_t kNumDigitalChannels =
+    kNumDigitalHeaders + kNumDigitalMXPChannels + kNumDigitalSPIPortChannels;
 constexpr int32_t kNumPWMChannels = tPWM::kNumMXPRegisters + kNumPWMHeaders;
 constexpr int32_t kNumDigitalPWMOutputs =
     tDIO::kNumPWMDutyCycleAElements + tDIO::kNumPWMDutyCycleBElements;
@@ -31,5 +34,4 @@ constexpr int32_t kNumPCMModules = 63;
 constexpr int32_t kNumSolenoidChannels = 8;
 constexpr int32_t kNumPDPModules = 63;
 constexpr int32_t kNumPDPChannels = 16;
-constexpr int32_t kNumCanTalons = 63;
 }  // namespace hal

hal/lib/athena/Power.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,7 +9,9 @@
 
 #include <memory>
 
-#include "ChipObject.h"
+#include "HAL/ChipObject.h"
+
+using namespace hal;
 
 static std::unique_ptr<tPower> power;
 

hal/lib/athena/Relay.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */

hal/lib/athena/SPI.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -13,8 +13,10 @@
 #include "DigitalInternal.h"
 #include "HAL/DIO.h"
 #include "HAL/HAL.h"
+#include "HAL/Notifier.h"
 #include "HAL/cpp/make_unique.h"
 #include "HAL/cpp/priority_mutex.h"
+#include "HAL/handles/HandlesInternal.h"
 #include "spilib/spi-lib.h"
 
 using namespace hal;
@@ -26,12 +28,11 @@ static int32_t m_spiCS3Handle = 0;
 static int32_t m_spiMXPHandle = 0;
 static priority_recursive_mutex spiOnboardMutex;
 static priority_recursive_mutex spiMXPMutex;
-static tSPI* spiSystem;
 
-static HAL_DigitalHandle spiMXPDigitalHandle1 = HAL_kInvalidHandle;
-static HAL_DigitalHandle spiMXPDigitalHandle2 = HAL_kInvalidHandle;
-static HAL_DigitalHandle spiMXPDigitalHandle3 = HAL_kInvalidHandle;
-static HAL_DigitalHandle spiMXPDigitalHandle4 = HAL_kInvalidHandle;
+// MXP SPI does not count towards this
+std::atomic<int32_t> spiPortCount{0};
+
+static HAL_DigitalHandle digitalHandles[9]{HAL_kInvalidHandle};
 
 /**
  * Get the semaphore for a SPI port
@@ -73,56 +74,115 @@ struct SPIAccumulator {
 };
 std::unique_ptr<SPIAccumulator> spiAccumulators[5];
 
+static void CommonSPIPortInit(int32_t* status) {
+  // All false cases will set
+  if (spiPortCount.fetch_add(1) == 0) {
+    // Have not been initialized yet
+    initializeDigital(status);
+    if (*status != 0) return;
+    // MISO
+    if ((digitalHandles[3] = HAL_InitializeDIOPort(createPortHandleForSPI(29),
+                                                   false, status)) ==
+        HAL_kInvalidHandle) {
+      std::printf("Failed to allocate DIO 29 (MISO)\n");
+      return;
+    }
+    // MOSI
+    if ((digitalHandles[4] = HAL_InitializeDIOPort(createPortHandleForSPI(30),
+                                                   false, status)) ==
+        HAL_kInvalidHandle) {
+      std::printf("Failed to allocate DIO 30 (MOSI)\n");
+      HAL_FreeDIOPort(digitalHandles[3]);  // free the first port allocated
+      return;
+    }
+  }
+}
+
+static void CommonSPIPortFree() {
+  if (spiPortCount.fetch_sub(1) == 1) {
+    // Clean up SPI Handles
+    HAL_FreeDIOPort(digitalHandles[3]);
+    HAL_FreeDIOPort(digitalHandles[4]);
+  }
+}
+
 /*
  * Initialize the spi port. Opens the port if necessary and saves the handle.
  * If opening the MXP port, also sets up the channel functions appropriately
- * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+ * @param port The number of the port to use. 0-3 for Onboard CS0-CS3, 4 for MXP
  */
 void HAL_InitializeSPI(int32_t port, int32_t* status) {
-  if (spiSystem == nullptr) spiSystem = tSPI::create(status);
   if (HAL_GetSPIHandle(port) != 0) return;
   switch (port) {
     case 0:
+      CommonSPIPortInit(status);
+      if (*status != 0) return;
+      // CS0 is not a DIO port, so nothing to allocate
       HAL_SetSPIHandle(0, spilib_open("/dev/spidev0.0"));
       break;
     case 1:
+      CommonSPIPortInit(status);
+      if (*status != 0) return;
+      // CS1, Allocate
+      if ((digitalHandles[0] = HAL_InitializeDIOPort(
+               HAL_GetPort(26), false, status)) == HAL_kInvalidHandle) {
+        std::printf("Failed to allocate DIO 26 (CS1)\n");
+        CommonSPIPortFree();
+        return;
+      }
       HAL_SetSPIHandle(1, spilib_open("/dev/spidev0.1"));
       break;
     case 2:
+      CommonSPIPortInit(status);
+      if (*status != 0) return;
+      // CS2, Allocate
+      if ((digitalHandles[1] = HAL_InitializeDIOPort(
+               HAL_GetPort(27), false, status)) == HAL_kInvalidHandle) {
+        std::printf("Failed to allocate DIO 27 (CS2)\n");
+        CommonSPIPortFree();
+        return;
+      }
       HAL_SetSPIHandle(2, spilib_open("/dev/spidev0.2"));
       break;
     case 3:
+      CommonSPIPortInit(status);
+      if (*status != 0) return;
+      // CS3, Allocate
+      if ((digitalHandles[2] = HAL_InitializeDIOPort(
+               HAL_GetPort(28), false, status)) == HAL_kInvalidHandle) {
+        std::printf("Failed to allocate DIO 28 (CS3)\n");
+        CommonSPIPortFree();
+        return;
+      }
       HAL_SetSPIHandle(3, spilib_open("/dev/spidev0.3"));
       break;
     case 4:
       initializeDigital(status);
       if (*status != 0) return;
-      if ((spiMXPDigitalHandle1 = HAL_InitializeDIOPort(
+      if ((digitalHandles[5] = HAL_InitializeDIOPort(
                HAL_GetPort(14), false, status)) == HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 14\n");
         return;
       }
-      if ((spiMXPDigitalHandle2 = HAL_InitializeDIOPort(
+      if ((digitalHandles[6] = HAL_InitializeDIOPort(
                HAL_GetPort(15), false, status)) == HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 15\n");
-        HAL_FreeDIOPort(spiMXPDigitalHandle1);  // free the first port allocated
+        HAL_FreeDIOPort(digitalHandles[5]);  // free the first port allocated
         return;
       }
-      if ((spiMXPDigitalHandle3 = HAL_InitializeDIOPort(
+      if ((digitalHandles[7] = HAL_InitializeDIOPort(
                HAL_GetPort(16), false, status)) == HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 16\n");
-        HAL_FreeDIOPort(spiMXPDigitalHandle1);  // free the first port allocated
-        HAL_FreeDIOPort(
-            spiMXPDigitalHandle2);  // free the second port allocated
+        HAL_FreeDIOPort(digitalHandles[5]);  // free the first port allocated
+        HAL_FreeDIOPort(digitalHandles[6]);  // free the second port allocated
         return;
       }
-      if ((spiMXPDigitalHandle4 = HAL_InitializeDIOPort(
+      if ((digitalHandles[8] = HAL_InitializeDIOPort(
                HAL_GetPort(17), false, status)) == HAL_kInvalidHandle) {
         std::printf("Failed to allocate DIO 17\n");
-        HAL_FreeDIOPort(spiMXPDigitalHandle1);  // free the first port allocated
-        HAL_FreeDIOPort(
-            spiMXPDigitalHandle2);  // free the second port allocated
-        HAL_FreeDIOPort(spiMXPDigitalHandle3);  // free the third port allocated
+        HAL_FreeDIOPort(digitalHandles[5]);  // free the first port allocated
+        HAL_FreeDIOPort(digitalHandles[6]);  // free the second port allocated
+        HAL_FreeDIOPort(digitalHandles[7]);  // free the third port allocated
         return;
       }
       digitalSystem->writeEnableMXPSpecialFunction(
@@ -205,11 +265,28 @@ void HAL_CloseSPI(int32_t port) {
   }
   spilib_close(HAL_GetSPIHandle(port));
   HAL_SetSPIHandle(port, 0);
-  if (port == 4) {
-    HAL_FreeDIOPort(spiMXPDigitalHandle1);
-    HAL_FreeDIOPort(spiMXPDigitalHandle2);
-    HAL_FreeDIOPort(spiMXPDigitalHandle3);
-    HAL_FreeDIOPort(spiMXPDigitalHandle4);
+  if (port < 4) {
+    CommonSPIPortFree();
+  }
+  switch (port) {
+    // Case 0 does not need to do anything
+    case 1:
+      HAL_FreeDIOPort(digitalHandles[0]);
+      break;
+    case 2:
+      HAL_FreeDIOPort(digitalHandles[1]);
+      break;
+    case 3:
+      HAL_FreeDIOPort(digitalHandles[2]);
+      break;
+    case 4:
+      HAL_FreeDIOPort(digitalHandles[5]);
+      HAL_FreeDIOPort(digitalHandles[6]);
+      HAL_FreeDIOPort(digitalHandles[7]);
+      HAL_FreeDIOPort(digitalHandles[8]);
+      break;
+    default:
+      break;
   }
   return;
 }
@@ -558,7 +635,7 @@ int64_t HAL_GetSPIAccumulatorCount(int32_t port, int32_t* status) {
 double HAL_GetSPIAccumulatorAverage(int32_t port, int32_t* status) {
   int64_t value;
   int64_t count;
-  HAL_GetAccumulatorOutput(port, &value, &count, status);
+  HAL_GetSPIAccumulatorOutput(port, &value, &count, status);
   if (count == 0) return 0.0;
   return static_cast<double>(value) / count;
 }

hal/lib/athena/SerialPort.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,109 +7,118 @@
 
 #include "HAL/SerialPort.h"
 
+#include <string>
+
+#include "HAL/cpp/SerialHelper.h"
 #include "visa/visa.h"
 
-static int32_t m_resourceManagerHandle;
-static int32_t m_portHandle[2];
+static int32_t resourceManagerHandle;
+static HAL_SerialPort portHandles[4];
 
 extern "C" {
 
-void HAL_InitializeSerialPort(int32_t port, int32_t* status) {
-  char const* portName;
+void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status) {
+  std::string portName;
 
-  if (m_resourceManagerHandle == 0)
-    viOpenDefaultRM(reinterpret_cast<ViSession*>(&m_resourceManagerHandle));
+  if (resourceManagerHandle == 0)
+    viOpenDefaultRM(reinterpret_cast<ViSession*>(&resourceManagerHandle));
 
-  if (port == 0)
-    portName = "ASRL1::INSTR";
-  else if (port == 1)
-    portName = "ASRL2::INSTR";
-  else
-    portName = "ASRL3::INSTR";
+  hal::SerialHelper serialHelper;
 
-  *status =
-      viOpen(m_resourceManagerHandle, const_cast<char*>(portName), VI_NULL,
-             VI_NULL, reinterpret_cast<ViSession*>(&m_portHandle[port]));
+  portName = serialHelper.GetVISASerialPortName(port, status);
+
+  if (*status < 0) {
+    return;
+  }
+
+  *status = viOpen(resourceManagerHandle, const_cast<char*>(portName.c_str()),
+                   VI_NULL, VI_NULL,
+                   reinterpret_cast<ViSession*>(&portHandles[port]));
   if (*status > 0) *status = 0;
 }
 
-void HAL_SetSerialBaudRate(int32_t port, int32_t baud, int32_t* status) {
-  *status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_BAUD, baud);
+void HAL_SetSerialBaudRate(HAL_SerialPort port, int32_t baud, int32_t* status) {
+  *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_BAUD, baud);
   if (*status > 0) *status = 0;
 }
 
-void HAL_SetSerialDataBits(int32_t port, int32_t bits, int32_t* status) {
-  *status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_DATA_BITS, bits);
+void HAL_SetSerialDataBits(HAL_SerialPort port, int32_t bits, int32_t* status) {
+  *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_DATA_BITS, bits);
   if (*status > 0) *status = 0;
 }
 
-void HAL_SetSerialParity(int32_t port, int32_t parity, int32_t* status) {
-  *status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_PARITY, parity);
+void HAL_SetSerialParity(HAL_SerialPort port, int32_t parity, int32_t* status) {
+  *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_PARITY, parity);
   if (*status > 0) *status = 0;
 }
 
-void HAL_SetSerialStopBits(int32_t port, int32_t stopBits, int32_t* status) {
-  *status =
-      viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_STOP_BITS, stopBits);
+void HAL_SetSerialStopBits(HAL_SerialPort port, int32_t stopBits,
+                           int32_t* status) {
+  *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_STOP_BITS, stopBits);
   if (*status > 0) *status = 0;
 }
 
-void HAL_SetSerialWriteMode(int32_t port, int32_t mode, int32_t* status) {
-  *status = viSetAttribute(m_portHandle[port], VI_ATTR_WR_BUF_OPER_MODE, mode);
+void HAL_SetSerialWriteMode(HAL_SerialPort port, int32_t mode,
+                            int32_t* status) {
+  *status = viSetAttribute(portHandles[port], VI_ATTR_WR_BUF_OPER_MODE, mode);
   if (*status > 0) *status = 0;
 }
 
-void HAL_SetSerialFlowControl(int32_t port, int32_t flow, int32_t* status) {
-  *status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_FLOW_CNTRL, flow);
+void HAL_SetSerialFlowControl(HAL_SerialPort port, int32_t flow,
+                              int32_t* status) {
+  *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_FLOW_CNTRL, flow);
   if (*status > 0) *status = 0;
 }
 
-void HAL_SetSerialTimeout(int32_t port, double timeout, int32_t* status) {
-  *status = viSetAttribute(m_portHandle[port], VI_ATTR_TMO_VALUE,
+void HAL_SetSerialTimeout(HAL_SerialPort port, double timeout,
+                          int32_t* status) {
+  *status = viSetAttribute(portHandles[port], VI_ATTR_TMO_VALUE,
                            static_cast<uint32_t>(timeout * 1e3));
   if (*status > 0) *status = 0;
 }
 
-void HAL_EnableSerialTermination(int32_t port, char terminator,
+void HAL_EnableSerialTermination(HAL_SerialPort port, char terminator,
                                  int32_t* status) {
-  viSetAttribute(m_portHandle[port], VI_ATTR_TERMCHAR_EN, VI_TRUE);
-  viSetAttribute(m_portHandle[port], VI_ATTR_TERMCHAR, terminator);
-  *status = viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_END_IN,
+  viSetAttribute(portHandles[port], VI_ATTR_TERMCHAR_EN, VI_TRUE);
+  viSetAttribute(portHandles[port], VI_ATTR_TERMCHAR, terminator);
+  *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_END_IN,
                            VI_ASRL_END_TERMCHAR);
   if (*status > 0) *status = 0;
 }
 
-void HAL_DisableSerialTermination(int32_t port, int32_t* status) {
-  viSetAttribute(m_portHandle[port], VI_ATTR_TERMCHAR_EN, VI_FALSE);
+void HAL_DisableSerialTermination(HAL_SerialPort port, int32_t* status) {
+  viSetAttribute(portHandles[port], VI_ATTR_TERMCHAR_EN, VI_FALSE);
   *status =
-      viSetAttribute(m_portHandle[port], VI_ATTR_ASRL_END_IN, VI_ASRL_END_NONE);
+      viSetAttribute(portHandles[port], VI_ATTR_ASRL_END_IN, VI_ASRL_END_NONE);
   if (*status > 0) *status = 0;
 }
 
-void HAL_SetSerialReadBufferSize(int32_t port, int32_t size, int32_t* status) {
-  *status = viSetBuf(m_portHandle[port], VI_READ_BUF, size);
+void HAL_SetSerialReadBufferSize(HAL_SerialPort port, int32_t size,
+                                 int32_t* status) {
+  *status = viSetBuf(portHandles[port], VI_READ_BUF, size);
   if (*status > 0) *status = 0;
 }
 
-void HAL_SetSerialWriteBufferSize(int32_t port, int32_t size, int32_t* status) {
-  *status = viSetBuf(m_portHandle[port], VI_WRITE_BUF, size);
+void HAL_SetSerialWriteBufferSize(HAL_SerialPort port, int32_t size,
+                                  int32_t* status) {
+  *status = viSetBuf(portHandles[port], VI_WRITE_BUF, size);
   if (*status > 0) *status = 0;
 }
 
-int32_t HAL_GetSerialBytesReceived(int32_t port, int32_t* status) {
+int32_t HAL_GetSerialBytesReceived(HAL_SerialPort port, int32_t* status) {
   int32_t bytes = 0;
 
-  *status = viGetAttribute(m_portHandle[port], VI_ATTR_ASRL_AVAIL_NUM, &bytes);
+  *status = viGetAttribute(portHandles[port], VI_ATTR_ASRL_AVAIL_NUM, &bytes);
   if (*status > 0) *status = 0;
   return bytes;
 }
 
-int32_t HAL_ReadSerial(int32_t port, char* buffer, int32_t count,
+int32_t HAL_ReadSerial(HAL_SerialPort port, char* buffer, int32_t count,
                        int32_t* status) {
   uint32_t retCount = 0;
 
   *status =
-      viRead(m_portHandle[port], (ViPBuf)buffer, count, (ViPUInt32)&retCount);
+      viRead(portHandles[port], (ViPBuf)buffer, count, (ViPUInt32)&retCount);
 
   if (*status == VI_ERROR_IO || *status == VI_ERROR_ASRL_OVERRUN ||
       *status == VI_ERROR_ASRL_FRAMING || *status == VI_ERROR_ASRL_PARITY) {
@@ -121,29 +130,29 @@ int32_t HAL_ReadSerial(int32_t port, char* buffer, int32_t count,
   return static_cast<int32_t>(retCount);
 }
 
-int32_t HAL_WriteSerial(int32_t port, const char* buffer, int32_t count,
+int32_t HAL_WriteSerial(HAL_SerialPort port, const char* buffer, int32_t count,
                         int32_t* status) {
   uint32_t retCount = 0;
 
   *status =
-      viWrite(m_portHandle[port], (ViPBuf)buffer, count, (ViPUInt32)&retCount);
+      viWrite(portHandles[port], (ViPBuf)buffer, count, (ViPUInt32)&retCount);
 
   if (*status > 0) *status = 0;
   return static_cast<int32_t>(retCount);
 }
 
-void HAL_FlushSerial(int32_t port, int32_t* status) {
-  *status = viFlush(m_portHandle[port], VI_WRITE_BUF);
+void HAL_FlushSerial(HAL_SerialPort port, int32_t* status) {
+  *status = viFlush(portHandles[port], VI_WRITE_BUF);
   if (*status > 0) *status = 0;
 }
 
-void HAL_ClearSerial(int32_t port, int32_t* status) {
-  *status = viClear(m_portHandle[port]);
+void HAL_ClearSerial(HAL_SerialPort port, int32_t* status) {
+  *status = viClear(portHandles[port]);
   if (*status > 0) *status = 0;
 }
 
-void HAL_CloseSerial(int32_t port, int32_t* status) {
-  *status = viClose(m_portHandle[port]);
+void HAL_CloseSerial(HAL_SerialPort port, int32_t* status) {
+  *status = viClose(portHandles[port]);
   if (*status > 0) *status = 0;
 }
 

hal/lib/athena/Solenoid.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,8 +7,8 @@
 
 #include "HAL/Solenoid.h"
 
-#include "ChipObject.h"
 #include "FRC_NetworkCommunication/LoadOut.h"
+#include "HAL/ChipObject.h"
 #include "HAL/Errors.h"
 #include "HAL/Ports.h"
 #include "HAL/handles/HandlesInternal.h"
@@ -55,8 +55,7 @@ HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle portHandle,
 
   auto handle =
       solenoidHandles.Allocate(module * kNumSolenoidChannels + channel, status);
-  if (handle == HAL_kInvalidHandle) {  // out of resources
-    *status = NO_AVAILABLE_RESOURCES;
+  if (*status != 0) {
     return HAL_kInvalidHandle;
   }
   auto solenoidPort = solenoidHandles.Get(handle);
@@ -116,6 +115,12 @@ void HAL_SetSolenoid(HAL_SolenoidHandle solenoidPortHandle, HAL_Bool value,
   *status = PCM_modules[port->module]->SetSolenoid(port->channel, value);
 }
 
+void HAL_SetAllSolenoids(int32_t module, int32_t state, int32_t* status) {
+  if (!checkPCMInit(module, status)) return;
+
+  *status = PCM_modules[module]->SetAllSolenoids(state);
+}
+
 int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status) {
   if (!checkPCMInit(module, status)) return 0;
   uint8_t value;

hal/lib/athena/Task.cpp

@@ -1,59 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#include "HAL/Task.h"
-
-#include <signal.h>
-
-#ifndef OK
-#define OK 0
-#endif /* OK */
-#ifndef ERROR
-#define ERROR (-1)
-#endif /* ERROR */
-
-extern "C" {
-
-STATUS HAL_VerifyTaskID(TASK task) {
-  if (task != nullptr && pthread_kill(*task, 0) == 0) {
-    return OK;
-  } else {
-    return ERROR;
-  }
-}
-
-STATUS HAL_SetTaskPriority(TASK task, int32_t priority) {
-  int32_t policy = 0;
-  struct sched_param param;
-
-  if (HAL_VerifyTaskID(task) == OK &&
-      pthread_getschedparam(*task, &policy, &param) == 0) {
-    param.sched_priority = priority;
-    if (pthread_setschedparam(*task, SCHED_FIFO, &param) == 0) {
-      return OK;
-    } else {
-      return ERROR;
-    }
-  } else {
-    return ERROR;
-  }
-}
-
-STATUS HAL_GetTaskPriority(TASK task, int32_t* priority) {
-  int32_t policy = 0;
-  struct sched_param param;
-
-  if (HAL_VerifyTaskID(task) == OK &&
-      pthread_getschedparam(*task, &policy, &param) == 0) {
-    *priority = param.sched_priority;
-    return OK;
-  } else {
-    return ERROR;
-  }
-}
-
-}  // extern "C"

hal/lib/athena/Threads.cpp

@@ -0,0 +1,122 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/Threads.h"
+
+#include <pthread.h>
+#include <sched.h>
+
+#include "HAL/Errors.h"
+
+extern "C" {
+/**
+ * Get the thread priority for the specified thread.
+ *
+ * @param handle Native handle pointer to the thread to get the priority for
+ * @param isRealTime Set to true if thread is realtime, otherwise false
+ * @param status Error status variable. 0 on success
+ * @return The current thread priority. Scaled 1-99, with 1 being highest.
+ */
+int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
+                              int32_t* status) {
+  sched_param sch;
+  int policy;
+  int success = pthread_getschedparam(*handle, &policy, &sch);
+  if (success == 0) {
+    *status = 0;
+  } else {
+    *status = HAL_THREAD_PRIORITY_ERROR;
+    return -1;
+  }
+  if (policy == SCHED_FIFO || policy == SCHED_RR) {
+    *isRealTime = true;
+    return sch.sched_priority;
+  } else {
+    *isRealTime = false;
+    // 0 is the only suppored priority for non-realtime, so scale to 1
+    return 1;
+  }
+}
+
+/**
+ * Get the thread priority for the current thread.
+ *
+ * @param handle Native handle pointer to the thread to get the priority for
+ * @param isRealTime Set to true if thread is realtime, otherwise false
+ * @param status Error status variable. 0 on success
+ * @return The current thread priority. Scaled 1-99, with 1 being highest.
+ */
+int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status) {
+  auto thread = pthread_self();
+  return HAL_GetThreadPriority(&thread, isRealTime, status);
+}
+
+/**
+ * Sets the thread priority for the specified thread
+ *
+ * @param thread Reference to the thread to set the priority of
+ * @param realTime Set to true to set a realtime priority, false for standard
+ * priority
+ * @param priority Priority to set the thread to. Scaled 1-99, with 1 being
+ * highest
+ * @param status Error status variable. 0 on success
+ *
+ * @return The success state of setting the priority
+ */
+HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
+                               int32_t priority, int32_t* status) {
+  if (handle == nullptr) {
+    *status = NULL_PARAMETER;
+    return false;
+  }
+
+  int scheduler = realTime ? SCHED_FIFO : SCHED_OTHER;
+  if (realTime) {
+    // We don't support setting priorities for non RT threads
+    // so we don't need to check for proper range
+    if (priority < sched_get_priority_min(scheduler) ||
+        priority > sched_get_priority_max(scheduler)) {
+      *status = HAL_THREAD_PRIORITY_RANGE_ERROR;
+      return false;
+    }
+  }
+
+  sched_param sch;
+  int policy;
+  pthread_getschedparam(*handle, &policy, &sch);
+  if (scheduler == SCHED_FIFO || scheduler == SCHED_RR)
+    sch.sched_priority = priority;
+  else
+    // Only need to set 0 priority for non RT thread
+    sch.sched_priority = 0;
+  if (pthread_setschedparam(*handle, scheduler, &sch)) {
+    *status = HAL_THREAD_PRIORITY_ERROR;
+    return false;
+  } else {
+    *status = 0;
+    return true;
+  }
+}
+
+/**
+ * Sets the thread priority for the current thread
+ *
+ * @param thread Reference to the thread to set the priority of
+ * @param realTime Set to true to set a realtime priority, false for standard
+ * priority
+ * @param priority Priority to set the thread to. Scaled 1-99, with 1 being
+ * highest
+ * @param status Error status variable. 0 on success
+ *
+ * @return The success state of setting the priority
+ */
+HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority,
+                                      int32_t* status) {
+  auto thread = pthread_self();
+  return HAL_SetThreadPriority(&thread, realTime, priority, status);
+}
+}