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

Fixes #478

.gitignore

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

build.gradle

@@ -65,5 +65,5 @@ apply from: 'cppSettings.gradle'
 apply from: 'ni-libraries/ni-libraries.gradle'
 
 task wrapper(type: Wrapper) {
-    gradleVersion = '3.2.1'
+    gradleVersion = '3.3'
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
-#Thu Nov 24 12:34:01 EST 2016
-distributionBase=GRADLE_USER_HOME
-distributionPath=wrapper/dists
-zipStoreBase=GRADLE_USER_HOME
-zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-3.2.1-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

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.                                                               */

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.                                                               */
@@ -85,7 +85,15 @@
 
 #define HAL_SERIAL_PORT_NOT_FOUND -1123
 #define HAL_SERIAL_PORT_NOT_FOUND_MESSAGE \
-  "HAL: The specified serial port device was not found";
+  "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/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.                                                               */

hal/include/HAL/I2C.h

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

hal/include/HAL/Interrupts.h

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

hal/include/HAL/LabVIEW/HAL.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 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/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.                                                               */

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.                                                               */

hal/include/HAL/Threads.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.                                                               */
@@ -17,6 +17,7 @@
 #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);
@@ -24,3 +25,4 @@ 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

@@ -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/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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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

@@ -1,5 +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/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.                                                               */
@@ -170,6 +170,10 @@ const char* HAL_GetErrorMessage(int32_t code) {
       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";
   }

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.                                                               */

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.                                                               */

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.                                                               */

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.                                                               */

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);

hal/lib/athena/Threads.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.                                                               */
@@ -12,6 +12,7 @@
 
 #include "HAL/Errors.h"
 
+extern "C" {
 /**
  * Get the thread priority for the specified thread.
  *
@@ -94,10 +95,10 @@ HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
     sch.sched_priority = 0;
   if (pthread_setschedparam(*handle, scheduler, &sch)) {
     *status = HAL_THREAD_PRIORITY_ERROR;
-    return true;
+    return false;
   } else {
     *status = 0;
-    return false;
+    return true;
   }
 }
 
@@ -118,3 +119,4 @@ HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority,
   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

@@ -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/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/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/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.                                                               */

myRobotCpp/src/MyRobot.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.                                                               */

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Connection.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.                                                               */

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Msgs.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.                                                               */

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Node.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.                                                               */

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Publisher.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.                                                               */

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/PublisherRecord.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.                                                               */

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/RemotePublisherRecord.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.                                                               */

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/ServerCallback.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.                                                               */

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Subscriber.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.                                                               */