Corrects assumptions about return values from i2c-lib (#484)

Fixes #478

.gitignore

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

.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 '1.4'
+    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 {
@@ -50,5 +65,5 @@ apply from: 'cppSettings.gradle'
 apply from: 'ni-libraries/ni-libraries.gradle'
 
 task wrapper(type: Wrapper) {
-    gradleVersion = '3.0'
+    gradleVersion = '3.3'
 }

cppSettings.gradle

@@ -2,173 +2,69 @@
 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 = "$buildDir/wpiutil"
-
-// Create a task that will unzip the wpiutil files into a temporary build directory
-task unzipWpiUtil(type: Copy) {
-    description = 'Unzips the wpiutil maven dependency so that the include files and libraries can be used'
-    group = 'WPILib'
-    dependsOn downloadArmWpiUtil
-
-    if (project.hasProperty('makeSim')) {
-        dependsOn downloadDesktopWpiUtil
-        from zipTree(downloadDesktopWpiUtil.outputs.files.singleFile)
-    }
-    from zipTree(downloadArmWpiUtil.outputs.files.singleFile)
-    into wpiUtilUnzipLocation
-}
-
-task downloadArmCsCore() {
-    description = 'Downloads the C++ ARM CsCore Uberzip maven dependency.'
-    group = 'WPILib'
-    def depFolder = "$buildDir/dependencies"
-    def csZip = file("$depFolder/cscore-arm.zip")
-    outputs.file(csZip)
-    def armCsCore
-
-    doFirst {
-        def armCsDependency = project.dependencies.create('edu.wpi.cscore.cpp:cscore:+:athena-uberzip@zip')
-        def armConfig = project.configurations.detachedConfiguration(armCsDependency)
-        armConfig.setTransitive(false)
-        armCsCore = armConfig.files[0].canonicalFile
-    }
-
-    doLast {
-        copy {
-            from armCsCore
-            rename 'cscore(.+)', 'cscore-arm.zip'
-            into depFolder
-        }
-    }
-}
-
-def csCoreUnzipLocation = "$buildDir/cscore"
-
-// Create a task that will unzip the cscore files into a temporary build directory
-task unzipCsCore(type: Copy) {
-    description = 'Unzips the cscore maven dependency so that the include files and libraries can be used'
-    group = 'WPILib'
-    dependsOn downloadArmCsCore
-
-    from zipTree(downloadArmCsCore.outputs.files.singleFile)
-    into csCoreUnzipLocation
-}
-
+def netTablesUnzipLocation = "$depLocation/networktables"
+def wpiUtilUnzipLocation = "$depLocation/wpiutil"
+def csCoreUnzipLocation = "$depLocation/cscore"
 
 task clean(type: Delete) {
     description = "Deletes the build directory"
@@ -176,12 +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"
@@ -189,7 +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
@@ -197,7 +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
@@ -210,7 +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"
@@ -218,7 +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
@@ -227,7 +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
@@ -245,7 +145,7 @@ subprojects {
         ext.cvSharedLib = "$csLibArmLocation/libopencv.so"
 
         ext.addCsCoreLibraryLinks = { compileTask, linker, targetPlatform ->
-            compileTask.dependsOn project(':').unzipCsCore
+            compileTask.dependsOn project(':').downloadCscore
             String architecture = targetPlatform.architecture
             if (architecture.contains('arm')) {
                 linker.args << '-L' + csLibArmLocation
@@ -255,18 +155,25 @@ subprojects {
         }
     }
 
-    plugins.withType(CppPlugin).whenPluginAdded {
+    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
@@ -288,37 +195,10 @@ 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'
                 }
@@ -328,6 +208,11 @@ subprojects {
         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}${tool}"
+        }
+
         // This task adds the appropriate linker flags for the NI libraries
         ext.addNiLibraryLinks = { linker, targetPlatform ->
             String architecture = targetPlatform.architecture
@@ -346,9 +231,9 @@ subprojects {
                         def library = task.outputFile.absolutePath
                         def debugLibrary = task.outputFile.absolutePath + ".debug"
                         task.doLast {
-                            exec { commandLine "${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)
@@ -33,26 +33,10 @@ model {
                 }
             }
         }
-
-//        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
     }
 }
 
@@ -96,13 +80,6 @@ task halZip(type: Zip) {
         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) {
@@ -134,7 +111,7 @@ task athenaRuntimeZip(type: Zip) {
     }
 
     defineNetworkTablesProperties()
-    dependsOn project(':').unzipNetworkTables
+    dependsOn project(':').downloadNetworkTables
 
     from(project.file(netTablesInclude)) {
         into 'include'
@@ -155,13 +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/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.                                                               */

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"
@@ -33,6 +34,10 @@
 #include "HAL/SPI.h"
 #include "HAL/SerialPort.h"
 #include "HAL/Solenoid.h"
+
+#endif  // HAL_USE_LABVIEW
+
+#include "FRC_NetworkCommunication/UsageReporting.h"
 #include "HAL/Types.h"
 
 namespace HALUsageReporting = nUsageReporting;
@@ -42,13 +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);
@@ -56,6 +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++.
@@ -66,6 +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

@@ -0,0 +1,14 @@
+/*----------------------------------------------------------------------------*/
+/* 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
+
+#define HAL_USE_LABVIEW
+
+#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.                                                               */

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/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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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];

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.                                                               */
@@ -11,6 +11,7 @@
 #include <sys/prctl.h>
 #include <unistd.h>
 
+#include <atomic>
 #include <cstdlib>
 #include <fstream>
 #include <iostream>
@@ -21,7 +22,9 @@
 #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"
@@ -161,6 +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";
   }
@@ -249,20 +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.
  */
@@ -273,15 +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.                                                               */
@@ -78,7 +78,7 @@ void HAL_InitializeI2C(int32_t port, int32_t* status) {
  * @param sendSize Number of bytes to send as part of the transaction.
  * @param dataReceived Buffer to read data into.
  * @param receiveSize Number of bytes to read from the device.
- * @return The number of bytes read (>= 0) or -1 on transfer abort.
+ * @return >= 0 on success or -1 on transfer abort.
  */
 int32_t HAL_TransactionI2C(int32_t port, int32_t deviceAddress,
                            uint8_t* dataToSend, int32_t sendSize,
@@ -110,7 +110,7 @@ int32_t HAL_TransactionI2C(int32_t port, int32_t deviceAddress,
  * @param registerAddress The address of the register on the device to be
  * written.
  * @param data The byte to write to the register on the device.
- * @return The number of bytes written (>= 0) or -1 on transfer abort.
+ * @return >= 0 on success or -1 on transfer abort.
  */
 int32_t HAL_WriteI2C(int32_t port, int32_t deviceAddress, uint8_t* dataToSend,
                      int32_t sendSize) {
@@ -140,7 +140,7 @@ int32_t HAL_WriteI2C(int32_t port, int32_t deviceAddress, uint8_t* dataToSend,
  * @param count The number of bytes to read in the transaction.
  * @param buffer A pointer to the array of bytes to store the data read from the
  * device.
- * @return The number of bytes read (>= 0) or -1 on transfer abort.
+ * @return >= 0 on success or -1 on transfer abort.
  */
 int32_t HAL_ReadI2C(int32_t port, int32_t deviceAddress, uint8_t* buffer,
                     int32_t count) {

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.                                                               */

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.                                                               */
@@ -15,6 +15,7 @@
 #include <mutex>
 
 #include "HAL/ChipObject.h"
+#include "HAL/Errors.h"
 #include "HAL/HAL.h"
 #include "HAL/cpp/make_unique.h"
 #include "HAL/cpp/priority_mutex.h"

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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */
@@ -13,6 +13,7 @@
 #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"
@@ -634,7 +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.                                                               */
@@ -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/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);
+}
+}

hal/lib/athena/cpp/Semaphore.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2015-2016. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2015-2017. 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/cpp/SerialHelper.cpp

@@ -0,0 +1,343 @@
+/*----------------------------------------------------------------------------*/
+/* 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/cpp/SerialHelper.h"
+
+#include <algorithm>
+#include <cstdio>
+#include <cstring>
+
+#include "../visa/visa.h"
+#include "HAL/Errors.h"
+#include "llvm/StringRef.h"
+
+constexpr const char* OnboardResourceVISA = "ASRL1::INSTR";
+constexpr const char* MxpResourceVISA = "ASRL2::INSTR";
+
+constexpr const char* OnboardResourceOS = "/dev/ttyS0";
+constexpr const char* MxpResourceOS = "/dev/ttyS1";
+
+namespace hal {
+std::string SerialHelper::m_usbNames[2]{"", ""};
+
+priority_mutex SerialHelper::m_nameMutex;
+
+SerialHelper::SerialHelper() {
+  viOpenDefaultRM(reinterpret_cast<ViSession*>(&m_resourceHandle));
+}
+
+std::string SerialHelper::GetVISASerialPortName(HAL_SerialPort port,
+                                                int32_t* status) {
+  if (port == HAL_SerialPort::HAL_SerialPort_Onboard) {
+    return OnboardResourceVISA;
+  } else if (port == HAL_SerialPort::HAL_SerialPort_MXP) {
+    return MxpResourceVISA;
+  }
+
+  QueryHubPaths(status);
+
+  // If paths are empty or status error, return error
+  if (*status != 0 || m_visaResource.empty() || m_osResource.empty() ||
+      m_sortedHubPath.empty()) {
+    *status = HAL_SERIAL_PORT_NOT_FOUND;
+    return "";
+  }
+
+  int32_t visaIndex = GetIndexForPort(port, status);
+  if (visaIndex == -1) {
+    *status = HAL_SERIAL_PORT_NOT_FOUND;
+    return "";
+    // Error
+  } else {
+    return m_visaResource[visaIndex].str();
+  }
+}
+
+std::string SerialHelper::GetOSSerialPortName(HAL_SerialPort port,
+                                              int32_t* status) {
+  if (port == HAL_SerialPort::HAL_SerialPort_Onboard) {
+    return OnboardResourceOS;
+  } else if (port == HAL_SerialPort::HAL_SerialPort_MXP) {
+    return MxpResourceOS;
+  }
+
+  QueryHubPaths(status);
+
+  // If paths are empty or status error, return error
+  if (*status != 0 || m_visaResource.empty() || m_osResource.empty() ||
+      m_sortedHubPath.empty()) {
+    *status = HAL_SERIAL_PORT_NOT_FOUND;
+    return "";
+  }
+
+  int32_t osIndex = GetIndexForPort(port, status);
+  if (osIndex == -1) {
+    *status = HAL_SERIAL_PORT_NOT_FOUND;
+    return "";
+    // Error
+  } else {
+    return m_osResource[osIndex].str();
+  }
+}
+
+std::vector<std::string> SerialHelper::GetVISASerialPortList(int32_t* status) {
+  std::vector<std::string> retVec;
+
+  // Always add 2 onboard ports
+  retVec.emplace_back(OnboardResourceVISA);
+  retVec.emplace_back(MxpResourceVISA);
+
+  QueryHubPaths(status);
+
+  // If paths are empty or status error, return only onboard list
+  if (*status != 0 || m_visaResource.empty() || m_osResource.empty() ||
+      m_sortedHubPath.empty()) {
+    *status = 0;
+    return retVec;
+  }
+
+  for (auto& i : m_visaResource) {
+    retVec.emplace_back(i.str());
+  }
+
+  return retVec;
+}
+
+std::vector<std::string> SerialHelper::GetOSSerialPortList(int32_t* status) {
+  std::vector<std::string> retVec;
+
+  // Always add 2 onboard ports
+  retVec.emplace_back(OnboardResourceOS);
+  retVec.emplace_back(MxpResourceOS);
+
+  QueryHubPaths(status);
+
+  // If paths are empty or status error, return only onboard list
+  if (*status != 0 || m_visaResource.empty() || m_osResource.empty() ||
+      m_sortedHubPath.empty()) {
+    *status = 0;
+    return retVec;
+  }
+
+  for (auto& i : m_osResource) {
+    retVec.emplace_back(i.str());
+  }
+
+  return retVec;
+}
+
+void SerialHelper::SortHubPathVector() {
+  m_sortedHubPath.clear();
+  m_sortedHubPath = m_unsortedHubPath;
+  std::sort(m_sortedHubPath.begin(), m_sortedHubPath.end(),
+            [](const llvm::SmallVectorImpl<char>& lhs,
+               const llvm::SmallVectorImpl<char>& rhs) -> int {
+              llvm::StringRef lhsRef(lhs.begin(), lhs.size());
+              llvm::StringRef rhsRef(rhs.begin(), rhs.size());
+              return lhsRef.compare(rhsRef);
+            });
+}
+
+void SerialHelper::CoiteratedSort(
+    llvm::SmallVectorImpl<llvm::SmallString<16>>& vec) {
+  llvm::SmallVector<llvm::SmallString<16>, 4> sortedVec;
+  for (auto& str : m_sortedHubPath) {
+    for (size_t i = 0; i < m_unsortedHubPath.size(); i++) {
+      if (llvm::StringRef{m_unsortedHubPath[i].begin(),
+                          m_unsortedHubPath[i].size()}
+              .equals(llvm::StringRef{str.begin(), str.size()})) {
+        sortedVec.push_back(vec[i]);
+        break;
+      }
+    }
+  }
+  vec = sortedVec;
+}
+
+void SerialHelper::QueryHubPaths(int32_t* status) {
+  // VISA resource matching string
+  const char* str = "?*";
+  // Items needed for VISA
+  ViUInt32 retCnt = 0;
+  ViFindList viList = 0;
+  ViChar desc[VI_FIND_BUFLEN];
+  *status = viFindRsrc(m_resourceHandle, const_cast<char*>(str), &viList,
+                       &retCnt, desc);
+
+  if (*status < 0) {
+    // Handle the bad status elsewhere
+    // Note let positive statii (warnings) continue
+    goto done;
+  }
+  // Status might be positive, so reset it to 0
+  *status = 0;
+
+  // Storage buffers for Visa calls and system exec calls
+  char osName[256];
+  char execBuffer[128];
+
+  // Loop through all returned VISA objects.
+  // Increment the internal VISA ptr every loop
+  for (size_t i = 0; i < retCnt; i++, viFindNext(viList, desc)) {
+    // Ignore any matches to the 2 onboard ports
+    if (std::strcmp(OnboardResourceVISA, desc) == 0 ||
+        std::strcmp(MxpResourceVISA, desc) == 0) {
+      continue;
+    }
+
+    // Open the resource, grab its interface name, and close it.
+    ViSession vSession;
+    *status = viOpen(m_resourceHandle, desc, VI_NULL, VI_NULL, &vSession);
+    if (*status < 0) goto done;
+    *status = 0;
+
+    *status = viGetAttribute(vSession, VI_ATTR_INTF_INST_NAME, &osName);
+    // Ignore an error here, as we want to close the session on an error
+    // Use a seperate close variable so we can check
+    ViStatus closeStatus = viClose(vSession);
+    if (*status < 0) goto done;
+    if (closeStatus < 0) goto done;
+    *status = 0;
+
+    // split until (/dev/
+    llvm::StringRef devNameRef = llvm::StringRef{osName}.split("(/dev/").second;
+    // String not found, continue
+    if (devNameRef.equals("")) continue;
+
+    // Split at )
+    llvm::StringRef matchString = devNameRef.split(')').first;
+    if (matchString.equals(devNameRef)) continue;
+
+    // Run find using pipe to get a list of system accessors
+    llvm::SmallString<128> val(
+        "sh -c \"find /sys/devices/soc0 | grep amba | grep usb | grep ");
+    val += matchString;
+    val += "\"";
+
+    // Pipe code found on StackOverflow
+    // http://stackoverflow.com/questions/478898/how-to-execute-a-command-and-get-output-of-command-within-c-using-posix
+
+    // Using std::string because this is guarenteed to be large
+    std::string output = "";
+
+    std::shared_ptr<FILE> pipe(popen(val.c_str(), "r"), pclose);
+    // Just check the next item on a pipe failure
+    if (!pipe) continue;
+    while (!feof(pipe.get())) {
+      if (std::fgets(execBuffer, 128, pipe.get()) != 0) output += execBuffer;
+    }
+
+    if (!output.empty()) {
+      llvm::SmallVector<llvm::StringRef, 16> pathSplitVec;
+      // Split output by line, grab first line, and split it into
+      // individual directories
+      llvm::StringRef{output}.split('\n').first.split(pathSplitVec, '/', -1,
+                                                      false);
+
+      // Find each individual item index
+
+      const char* usb1 = "usb1";
+      const char* tty = "tty";
+
+      int findusb = -1;
+      int findtty = -1;
+      int findregex = -1;
+      for (size_t i = 0; i < pathSplitVec.size(); i++) {
+        if (findusb == -1 && pathSplitVec[i].equals(usb1)) {
+          findusb = i;
+        }
+        if (findtty == -1 && pathSplitVec[i].equals(tty)) {
+          findtty = i;
+        }
+        if (findregex == -1 && pathSplitVec[i].equals(matchString)) {
+          findregex = i;
+        }
+      }
+
+      // Get the index for our device
+      int hubIndex = findtty;
+      if (findtty == -1) hubIndex = findregex;
+
+      int devStart = findusb + 1;
+
+      if (hubIndex < devStart) continue;
+
+      // Add our devices to our list
+      m_unsortedHubPath.emplace_back(
+          llvm::StringRef{pathSplitVec[hubIndex - 2]});
+      m_visaResource.emplace_back(desc);
+      m_osResource.emplace_back(
+          llvm::StringRef{osName}.split("(").second.split(")").first);
+    }
+  }
+
+  SortHubPathVector();
+
+  CoiteratedSort(m_visaResource);
+  CoiteratedSort(m_osResource);
+done:
+  viClose(viList);
+}
+
+int32_t SerialHelper::GetIndexForPort(HAL_SerialPort port, int32_t* status) {
+  // Hold lock whenever we're using the names array
+  std::lock_guard<priority_mutex> lock(m_nameMutex);
+
+  std::string portString = m_usbNames[port - 2];
+
+  llvm::SmallVector<int32_t, 4> indices;
+
+  // If port has not been assigned, find the one to assign
+  if (portString.empty()) {
+    for (size_t i = 0; i < 2; i++) {
+      // Remove all used ports
+      auto idx = std::find(m_sortedHubPath.begin(), m_sortedHubPath.end(),
+                           m_usbNames[i]);
+      if (idx != m_sortedHubPath.end()) {
+        // found
+        m_sortedHubPath.erase(idx);
+      }
+      if (m_usbNames[i] == "") {
+        indices.push_back(i);
+      }
+    }
+
+    int32_t idx = -1;
+    for (size_t i = 0; i < indices.size(); i++) {
+      if (indices[i] == port - 2) {
+        idx = i;
+        break;
+      }
+    }
+
+    if (idx == -1) {
+      *status = HAL_SERIAL_PORT_NOT_FOUND;
+      return -1;
+    }
+
+    if (idx >= static_cast<int32_t>(m_sortedHubPath.size())) {
+      *status = HAL_SERIAL_PORT_NOT_FOUND;
+      return -1;
+    }
+
+    portString = m_sortedHubPath[idx].str();
+    m_usbNames[port - 2] = portString;
+  }
+
+  int retIndex = -1;
+
+  for (size_t i = 0; i < m_sortedHubPath.size(); i++) {
+    if (m_sortedHubPath[i].equals(portString)) {
+      retIndex = i;
+      break;
+    }
+  }
+
+  return retIndex;
+}
+
+}  // namespace hal

hal/lib/athena/cpp/priority_mutex.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/ctre/PCM.cpp

@@ -140,6 +140,19 @@ CTR_Code PCM::SetSolenoid(unsigned char idx, bool en)
 	return CTR_OKAY;
 }
 
+/* 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 PCM::SetAllSolenoids(UINT8 state) {
+	CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
+	if(toFill.IsEmpty())return CTR_UnexpectedArbId;
+	toFill->solenoidBits = state;
+	FlushTx(toFill);
+	return CTR_OKAY;
+}
+
 /* Clears PCM sticky faults (indicators of past faults
  *
  * @Return	-	CTR_Code	-	Error code (if any) for setting solenoid
@@ -465,6 +478,9 @@ extern "C" {
 	CTR_Code c_SetSolenoid(void * handle, unsigned char idx, INT8 param) {
 		return ((PCM*) handle)->SetSolenoid(idx, param);
 	}
+	CTR_Code c_SetAllSolenoids(void * handle, UINT8 state) {
+		return ((PCM*) handle)->SetAllSolenoids(state);
+	}
 	CTR_Code c_SetClosedLoopControl(void * handle, INT8 param) {
 		return ((PCM*) handle)->SetClosedLoopControl(param);
 	}

hal/lib/shared/handles/HandlesInternal.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/sim/HALDesktop.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.                                                               */

myRobot/build.gradle

@@ -18,9 +18,8 @@ def wpilibj = project(':wpilibj')
 dependencies {
     compile wpilibj
     compile files(wpilibj.sourceSets.test.output.classesDir)
-    compile 'edu.wpi.first.wpilib.networktables.java:NetworkTables:+:arm'
-    compile 'edu.wpi.first.wpilib.networktables.java:NetworkTables:+:arm'
-    compile 'edu.wpi.cscore.java:cscore:+:arm'
+    compile ntcoreDep('java', 'arm')
+    compile cscoreDep('java', 'arm')
     compile 'org.opencv:opencv-java:+'
 }
 

myRobot/src/main/java/MyRobot.java

@@ -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.                                                               */