Fixes C++ SendableChooser using invalid temp variable (#945 )

Adds TriState JNI entry point (#938 )
Also adds missing sim TriState DIO HAL call, and a ToDo for later
2026-06-22 01:11:42 +00:00 · 2018-02-15 23:00:46 -08:00 · 2018-02-12 16:05:10 -08:00 · 2018-02-09 08:30:12 -08:00 · 2018-02-04 22:38:19 -08:00 · 2018-02-01 21:39:06 -08:00
960 changed files with 4338 additions and 1548 deletions
--- a/.travis.yml
+++ b/.travis.yml
@@ -35,6 +35,6 @@ cache:
    - $HOME/.gradle/wrapper/

 script:
-  - python3.5 -m wpiformat -y 2017 -clang 5.0
+  - python3.5 -m wpiformat -y 2018 -clang 5.0
  - git --no-pager diff --exit-code HEAD  # Ensure formatter made no changes
  - ./gradlew --no-daemon --console=plain -PskipAthena :hal:halSimSharedLibrary :wpilibc:wpilibcSharedLibrary :wpilibj:wpilibJNISharedSharedLibrary :wpilibj:jar
--- a/config.gradle
+++ b/config.gradle
@@ -1,21 +1,21 @@
 import edu.wpi.first.nativeutils.*
 import org.gradle.internal.os.OperatingSystem

-def windowsCompilerArgs = ['/EHsc', '/DNOMINMAX', '/D_SCL_SECURE_NO_WARNINGS', '/D_WINSOCK_DEPRECATED_NO_WARNINGS',
-                           '/Zi', '/FS', '/Zc:inline', '/MT']
+def windowsCompilerArgs = ['/EHsc', '/DNOMINMAX', '/Zi', '/FS', '/Zc:inline', '/MT']
 def windowsReleaseCompilerArgs = ['/O2']
 def windowsLinkerArgs = [ '/DEBUG:FULL' ]
 def windowsReleaseLinkerArgs = [ '/OPT:REF', '/OPT:ICF' ]

-def linuxCompilerArgs = ['-std=c++1y', '-Wformat=2', '-Wall', '-Wextra', '-Werror', '-pedantic', '-Wno-psabi', '-g',
-                         '-Wno-unused-parameter', '-Wno-error=deprecated-declarations', '-fPIC', '-rdynamic', '-pthread']
+def linuxCompilerArgs = ['-std=c++11', '-Wformat=2', '-Wall', '-Wextra', '-Werror', '-pedantic', '-Wno-psabi', '-g',
+                         '-Wno-unused-parameter', '-fPIC', '-rdynamic', '-Wno-error=deprecated-declarations', '-pthread']
 def linuxLinkerArgs = ['-rdynamic', '-pthread']
-def linuxReleaseCompilerArgs = ['-O2']
+def linuxReleaseCompilerArgs = ['-Og']
 def linuxDebugCompilerArgs = ['-O0']
 def linux32BitArg = '-m32'

 def macCompilerArgs =  ['-std=c++11', '-Wall', '-Wextra', '-Werror', '-pedantic-errors', '-fPIC', '-g',
-                            '-Wno-unused-parameter', '-Wno-missing-field-initializers', '-Wno-unused-private-field', '-Wno-unused-const-variable', '-pthread']
+                            '-Wno-unused-parameter', '-Wno-missing-field-initializers', '-Wno-unused-private-field',
+                            '-Wno-unused-const-variable', '-pthread']
 def macReleaseCompilerArgs = ['-O2']
 def macDebugCompilerArgs = ['-O0']
 def mac32BitArg = '-m32'
@@ -147,6 +147,7 @@ if (!project.hasProperty('onlyAthena')) {
                linkerArgs << linux32BitArg
                debugCompilerArgs = linuxDebugCompilerArgs
                releaseCompilerArgs = linuxReleaseCompilerArgs
+                releaseStripBinaries = true
                compilerFamily = 'Gcc'
                detectPlatform = linux32IntelPlatformDetect
                exclude << 'halAthena'
@@ -159,6 +160,7 @@ if (!project.hasProperty('onlyAthena')) {
                linkerArgs = linuxLinkerArgs
                debugCompilerArgs = linuxDebugCompilerArgs
                releaseCompilerArgs = linuxReleaseCompilerArgs
+                releaseStripBinaries = true
                compilerFamily = 'Gcc'
                detectPlatform = linux64IntelPlatformDetect
                exclude << 'halAthena'
@@ -173,6 +175,7 @@ if (!project.hasProperty('onlyAthena')) {
                linkerArgs << mac32BitArg
                debugCompilerArgs = macDebugCompilerArgs
                releaseCompilerArgs = macReleaseCompilerArgs
+                releaseStripBinaries = true
                compilerFamily = 'Clang'
                detectPlatform = mac32PlatformDetect
                exclude << 'halAthena'
@@ -184,56 +187,45 @@ if (!project.hasProperty('onlyAthena')) {
                compilerArgs = macCompilerArgs
                debugCompilerArgs = macDebugCompilerArgs
                releaseCompilerArgs = macReleaseCompilerArgs
+                releaseStripBinaries = true
                compilerFamily = 'Clang'
                detectPlatform = mac64PlatformDetect
                exclude << 'halAthena'
            }
-            raspbian(CrossBuildConfig) {
-                architecture = 'raspbian'
+        }
+    }
+}
+
+if (project.hasProperty('linuxCross')) {
+    model {
+        buildConfigs {
+            linuxArm(CrossBuildConfig) {
+                architecture = 'nativearm'
                operatingSystem = 'linux'
-                toolChainPrefix = 'arm-linux-gnueabihf-'
-                compilerArgs = linuxCompilerArgs
-                linkerArgs = linuxLinkerArgs
-                debugCompilerArgs = linuxDebugCompilerArgs
-                releaseCompilerArgs = linuxReleaseCompilerArgs
-                skipByDefault = true
-                compilerFamily = 'Gcc'
-                exclude << 'gmock'
-                exclude << 'halAthena'
-            }
-            armhf(CrossBuildConfig) {
-                architecture = 'armhf'
-                operatingSystem = 'linux'
-                toolChainPrefix = 'arm-linux-gnueabihf-'
-                compilerArgs = linuxCompilerArgs
-                linkerArgs = linuxLinkerArgs
-                debugCompilerArgs = linuxDebugCompilerArgs
-                releaseCompilerArgs = linuxReleaseCompilerArgs
-                skipByDefault = true
-                compilerFamily = 'Gcc'
-                exclude << 'gmock'
-                exclude << 'halAthena'
-            }
-            aarch(CrossBuildConfig) {
-                architecture = 'aarch'
-                operatingSystem = 'linux'
-                toolChainPrefix = 'aarch-linux-gnu-'
+                toolChainPrefix = 'PLEASE_PROVIDE_A_COMPILER_NAME'
                compilerArgs = linuxCompilerArgs
                linkerArgs = linuxLinkerArgs
                debugCompilerArgs = linuxDebugCompilerArgs
                releaseCompilerArgs = linuxReleaseCompilerArgs
+                releaseStripBinaries = true
                skipByDefault = true
                compilerFamily = 'Gcc'
                exclude << 'gmock'
                exclude << 'halAthena'
            }
+        }
+    }
+} else {
+    model {
+        buildConfigs {
            linuxArm(BuildConfig) {
-                architecture = 'arm'
+                architecture = 'nativearm'
                operatingSystem = 'linux'
                compilerArgs = linuxCompilerArgs
                linkerArgs = linuxLinkerArgs
                debugCompilerArgs = linuxDebugCompilerArgs
                releaseCompilerArgs = linuxReleaseCompilerArgs
+                releaseStripBinaries = true
                compilerFamily = 'Gcc'
                detectPlatform = linuxArmPlatformDetect
                exclude << 'halAthena'
--- a/hal/src/dev/native/cpp/main.cpp
+++ b/hal/src/dev/native/cpp/main.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/Accelerometer.cpp
+++ b/hal/src/main/native/athena/Accelerometer.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/AnalogAccumulator.cpp
+++ b/hal/src/main/native/athena/AnalogAccumulator.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/AnalogGyro.cpp
+++ b/hal/src/main/native/athena/AnalogGyro.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/AnalogInput.cpp
+++ b/hal/src/main/native/athena/AnalogInput.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/AnalogInternal.cpp
+++ b/hal/src/main/native/athena/AnalogInternal.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/AnalogInternal.h
+++ b/hal/src/main/native/athena/AnalogInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/AnalogOutput.cpp
+++ b/hal/src/main/native/athena/AnalogOutput.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/AnalogTrigger.cpp
+++ b/hal/src/main/native/athena/AnalogTrigger.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/CAN.cpp
+++ b/hal/src/main/native/athena/CAN.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/Compressor.cpp
+++ b/hal/src/main/native/athena/Compressor.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/Constants.cpp
+++ b/hal/src/main/native/athena/Constants.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/ConstantsInternal.h
+++ b/hal/src/main/native/athena/ConstantsInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/Counter.cpp
+++ b/hal/src/main/native/athena/Counter.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/DIO.cpp
+++ b/hal/src/main/native/athena/DIO.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/DigitalInternal.cpp
+++ b/hal/src/main/native/athena/DigitalInternal.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/DigitalInternal.h
+++ b/hal/src/main/native/athena/DigitalInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/Encoder.cpp
+++ b/hal/src/main/native/athena/Encoder.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/EncoderInternal.h
+++ b/hal/src/main/native/athena/EncoderInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/FPGAEncoder.cpp
+++ b/hal/src/main/native/athena/FPGAEncoder.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/FPGAEncoder.h
+++ b/hal/src/main/native/athena/FPGAEncoder.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/FRCDriverStation.cpp
+++ b/hal/src/main/native/athena/FRCDriverStation.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/HAL.cpp
+++ b/hal/src/main/native/athena/HAL.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/HALInitializer.h
+++ b/hal/src/main/native/athena/HALInitializer.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/I2C.cpp
+++ b/hal/src/main/native/athena/I2C.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/Interrupts.cpp
+++ b/hal/src/main/native/athena/Interrupts.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/Notifier.cpp
+++ b/hal/src/main/native/athena/Notifier.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/OSSerialPort.cpp
+++ b/hal/src/main/native/athena/OSSerialPort.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/PCMInternal.cpp
+++ b/hal/src/main/native/athena/PCMInternal.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/PCMInternal.h
+++ b/hal/src/main/native/athena/PCMInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/PDP.cpp
+++ b/hal/src/main/native/athena/PDP.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/PWM.cpp
+++ b/hal/src/main/native/athena/PWM.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/Ports.cpp
+++ b/hal/src/main/native/athena/Ports.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/PortsInternal.h
+++ b/hal/src/main/native/athena/PortsInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/Power.cpp
+++ b/hal/src/main/native/athena/Power.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/Relay.cpp
+++ b/hal/src/main/native/athena/Relay.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/SPI.cpp
+++ b/hal/src/main/native/athena/SPI.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/SerialPort.cpp
+++ b/hal/src/main/native/athena/SerialPort.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/Solenoid.cpp
+++ b/hal/src/main/native/athena/Solenoid.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/Threads.cpp
+++ b/hal/src/main/native/athena/Threads.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/cpp/SerialHelper.cpp
+++ b/hal/src/main/native/athena/cpp/SerialHelper.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/athena/ctre/CtreCanNode.cpp
+++ b/hal/src/main/native/athena/ctre/CtreCanNode.cpp
@@ -68,17 +68,13 @@ void CtreCanNode::UnregisterTx(uint32_t arbId)
 		_txJobs.erase(iter);
 	}
 }
-timespec diff(const timespec & start, const timespec & end)
-{
-	timespec temp;
-	if ((end.tv_nsec-start.tv_nsec)<0) {
-		temp.tv_sec = end.tv_sec-start.tv_sec-1;
-		temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
-	} else {
-		temp.tv_sec = end.tv_sec-start.tv_sec;
-		temp.tv_nsec = end.tv_nsec-start.tv_nsec;
-	}
-	return temp;
+static int64_t GetTimeMs() {
+	std::chrono::time_point < std::chrono::system_clock > now;
+	now = std::chrono::system_clock::now();
+	auto duration = now.time_since_epoch();
+	auto millis = std::chrono::duration_cast < std::chrono::milliseconds
+					> (duration).count();
+	return (int64_t) millis;
 }
 CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
 {
@@ -90,10 +86,11 @@ CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeout
 	if(timeoutMs > 999)
 		timeoutMs = 999;
 	FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
+	std::lock_guard<wpi::mutex> lock(_lck);
 	if(status == 0){
 		/* fresh update */
 		rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
-		clock_gettime(2,&r.time); 			/* fill in time */
+		r.time = GetTimeMs();
 		memcpy(r.bytes,  dataBytes,  8);	/* fill in databytes */
 	}else{
 		/* did not get the message */
@@ -107,16 +104,13 @@ CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeout
 			/* we've gotten this message before but not recently */
 			memcpy(dataBytes,i->second.bytes,8);
 			/* get the time now */
-			struct timespec temp;
-			clock_gettime(2,&temp); /* get now */
+			int64_t now = GetTimeMs(); /* get now */
 			/* how long has it been? */
-			temp = diff(i->second.time,temp); /* temp = now - last */
-			if(temp.tv_sec > 0){
-				retval = CTR_RxTimeout;
-			}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
-				retval = CTR_RxTimeout;
-			}else {
-				/* our last update was recent enough */
+			int64_t temp = now - i->second.time; /* temp = now - last */
+			if (temp > ((int64_t) timeoutMs)) {
+					retval = CTR_RxTimeout;
+			} else {
+					/* our last update was recent enough */
 			}
 		}
 	}
--- a/hal/src/main/native/athena/ctre/CtreCanNode.h
+++ b/hal/src/main/native/athena/ctre/CtreCanNode.h
@@ -4,6 +4,7 @@
 #include <map>
 #include <string.h> // memcpy
 #include <sys/time.h>
+#include <support/mutex.h>
 class CtreCanNode
 {
 public:
@@ -108,7 +109,7 @@ private:
 	class rxEvent_t{
 		public:
 			uint8_t bytes[8];
-			struct timespec time;
+			int64_t time;
 			rxEvent_t()
 			{
 				bytes[0] = 0;
@@ -127,5 +128,7 @@ private:

 	typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
 	rxRxEvents_t _rxRxEvents;
+
+	wpi::mutex _lck;
 };
 #endif
--- a/hal/src/main/native/include/HAL/Accelerometer.h
+++ b/hal/src/main/native/include/HAL/Accelerometer.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/AnalogAccumulator.h
+++ b/hal/src/main/native/include/HAL/AnalogAccumulator.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/AnalogGyro.h
+++ b/hal/src/main/native/include/HAL/AnalogGyro.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/AnalogInput.h
+++ b/hal/src/main/native/include/HAL/AnalogInput.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/AnalogOutput.h
+++ b/hal/src/main/native/include/HAL/AnalogOutput.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/AnalogTrigger.h
+++ b/hal/src/main/native/include/HAL/AnalogTrigger.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/CAN.h
+++ b/hal/src/main/native/include/HAL/CAN.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/ChipObject.h
+++ b/hal/src/main/native/include/HAL/ChipObject.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Compressor.h
+++ b/hal/src/main/native/include/HAL/Compressor.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Constants.h
+++ b/hal/src/main/native/include/HAL/Constants.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Counter.h
+++ b/hal/src/main/native/include/HAL/Counter.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/DIO.h
+++ b/hal/src/main/native/include/HAL/DIO.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/DriverStation.h
+++ b/hal/src/main/native/include/HAL/DriverStation.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2013-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2013-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Encoder.h
+++ b/hal/src/main/native/include/HAL/Encoder.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Errors.h
+++ b/hal/src/main/native/include/HAL/Errors.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Extensions.h
+++ b/hal/src/main/native/include/HAL/Extensions.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/HAL.h
+++ b/hal/src/main/native/include/HAL/HAL.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2013-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2013-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/I2C.h
+++ b/hal/src/main/native/include/HAL/I2C.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Interrupts.h
+++ b/hal/src/main/native/include/HAL/Interrupts.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/LabVIEW/HAL.h
+++ b/hal/src/main/native/include/HAL/LabVIEW/HAL.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Notifier.h
+++ b/hal/src/main/native/include/HAL/Notifier.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/OSSerialPort.h
+++ b/hal/src/main/native/include/HAL/OSSerialPort.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/PDP.h
+++ b/hal/src/main/native/include/HAL/PDP.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/PWM.h
+++ b/hal/src/main/native/include/HAL/PWM.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Ports.h
+++ b/hal/src/main/native/include/HAL/Ports.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Power.h
+++ b/hal/src/main/native/include/HAL/Power.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Relay.h
+++ b/hal/src/main/native/include/HAL/Relay.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/SPI.h
+++ b/hal/src/main/native/include/HAL/SPI.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/SerialPort.h
+++ b/hal/src/main/native/include/HAL/SerialPort.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Solenoid.h
+++ b/hal/src/main/native/include/HAL/Solenoid.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Threads.h
+++ b/hal/src/main/native/include/HAL/Threads.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/Types.h
+++ b/hal/src/main/native/include/HAL/Types.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/cpp/Log.h
+++ b/hal/src/main/native/include/HAL/cpp/Log.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/cpp/SerialHelper.h
+++ b/hal/src/main/native/include/HAL/cpp/SerialHelper.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/cpp/UnsafeDIO.h
+++ b/hal/src/main/native/include/HAL/cpp/UnsafeDIO.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/cpp/fpga_clock.h
+++ b/hal/src/main/native/include/HAL/cpp/fpga_clock.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/cpp/make_unique.h
+++ b/hal/src/main/native/include/HAL/cpp/make_unique.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/handles/DigitalHandleResource.h
+++ b/hal/src/main/native/include/HAL/handles/DigitalHandleResource.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/handles/HandlesInternal.h
+++ b/hal/src/main/native/include/HAL/handles/HandlesInternal.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/handles/IndexedClassedHandleResource.h
+++ b/hal/src/main/native/include/HAL/handles/IndexedClassedHandleResource.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,6 +9,7 @@

 #include <stdint.h>

+#include <array>
 #include <memory>
 #include <vector>

@@ -40,7 +41,7 @@ class IndexedClassedHandleResource : public HandleBase {
  friend class IndexedClassedHandleResourceTest;

 public:
-  IndexedClassedHandleResource();
+  IndexedClassedHandleResource() = default;
  IndexedClassedHandleResource(const IndexedClassedHandleResource&) = delete;
  IndexedClassedHandleResource& operator=(const IndexedClassedHandleResource&) =
      delete;
@@ -49,20 +50,13 @@ class IndexedClassedHandleResource : public HandleBase {
                   int32_t* status);
  std::shared_ptr<TStruct> Get(THandle handle);
  void Free(THandle handle);
+  void ResetHandles();

 private:
-  std::array<std::shared_ptr<TStruct>[], size> m_structures;
-  std::array<wpi::mutex[], size> m_handleMutexes;
+  std::array<std::shared_ptr<TStruct>, size> m_structures;
+  std::array<wpi::mutex, size> m_handleMutexes;
 };

-template <typename THandle, typename TStruct, int16_t size,
-          HAL_HandleEnum enumValue>
-IndexedClassedHandleResource<THandle, TStruct, size,
-                             enumValue>::IndexedClassedHandleResource() {
-  m_structures = std::make_unique<std::shared_ptr<TStruct>[]>(size);
-  m_handleMutexes = std::make_unique<wpi::mutex[]>(size);
-}
-
 template <typename THandle, typename TStruct, int16_t size,
          HAL_HandleEnum enumValue>
 THandle
--- a/hal/src/main/native/include/HAL/handles/IndexedHandleResource.h
+++ b/hal/src/main/native/include/HAL/handles/IndexedHandleResource.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/handles/LimitedClassedHandleResource.h
+++ b/hal/src/main/native/include/HAL/handles/LimitedClassedHandleResource.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/handles/LimitedHandleResource.h
+++ b/hal/src/main/native/include/HAL/handles/LimitedHandleResource.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/HAL/handles/UnlimitedHandleResource.h
+++ b/hal/src/main/native/include/HAL/handles/UnlimitedHandleResource.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2017 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/MockData/AccelerometerData.h
+++ b/hal/src/main/native/include/MockData/AccelerometerData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/MockData/AnalogGyroData.h
+++ b/hal/src/main/native/include/MockData/AnalogGyroData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/MockData/AnalogInData.h
+++ b/hal/src/main/native/include/MockData/AnalogInData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/MockData/AnalogOutData.h
+++ b/hal/src/main/native/include/MockData/AnalogOutData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/MockData/AnalogTriggerData.h
+++ b/hal/src/main/native/include/MockData/AnalogTriggerData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/MockData/CanData.h
+++ b/hal/src/main/native/include/MockData/CanData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/MockData/DIOData.h
+++ b/hal/src/main/native/include/MockData/DIOData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/MockData/DigitalPWMData.h
+++ b/hal/src/main/native/include/MockData/DigitalPWMData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/MockData/DriverStationData.h
+++ b/hal/src/main/native/include/MockData/DriverStationData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/MockData/EncoderData.h
+++ b/hal/src/main/native/include/MockData/EncoderData.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/hal/src/main/native/include/MockData/HAL_Value.h
+++ b/hal/src/main/native/include/MockData/HAL_Value.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Thad House	57e9fb33d2	Fixes C++ SendableChooser using invalid temp variable (#945 )	2018-02-15 23:00:46 -08:00
Thad House	f5a292dadd	Adds TriState JNI entry point (#938 ) Also adds missing sim TriState DIO HAL call, and a ToDo for later	2018-02-12 16:05:10 -08:00
Sam Carlberg	77d6c11743	Invert right side motors in MecanumDrive sendable (#933 ) This aligns with the current behavior of DifferentialDrive Fixes shuffleboard#404	2018-02-09 08:30:12 -08:00
Tyler Veness	67f9c9a5b3	Fixed TimedRobot.java hanging if an exception was thrown (#926 )	2018-02-04 22:38:19 -08:00
Thad House	f720cbb121	Switches CtreCanNode to use locking and std::chrono for time (#909 )	2018-02-01 21:39:06 -08:00
Tyler Veness	64a7e57fe0	Added output normalization to DifferentialDrive::CurvatureDrive() (#924 ) This normalizes within -1..1 to avoid clipping and maintain the ratio between wheel speeds, since that ratio determines the center of rotation. Fixes #923.	2018-02-01 21:17:04 -08:00
Tyler Veness	5ca00dddbe	Added TimedRobot::GetPeriod() (#915 ) Fixes #914.	2018-01-27 01:01:15 -08:00
Tyler Veness	120ceb3427	Fix channel reassignments for C++ Joystick twist and throttle axes (#903 )	2018-01-26 17:26:10 -08:00
Thad House	5cbafc1382	Updates to image 17 (#913 ) These should be binary compatible, so safe to use with image 16.	2018-01-26 17:21:13 -08:00
Thad House	39d1650d51	Fixes double to int to double cast in encoderJNI (#918 ) Fixes #916	2018-01-26 17:20:20 -08:00
Thad House	02336fc478	Makes FMS data never be a null string. (#900 ) Fixes #895	2018-01-19 23:49:34 -08:00
Thad House	c00848c060	Fixes indexed classed handle resource (#899 ) Nothing in WPILib uses it, so it was not tested	2018-01-19 22:31:59 -08:00
Dustin Spicuzza	738a1c015c	PIDController: setContinuous should only check input range if continuous is true (#896 )	2018-01-19 22:31:08 -08:00
Thad House	48ae6c954a	Publishes match specific data and other FMS info to NT (#874 ) This is so products like SB can present the current setup.	2018-01-18 23:17:28 -08:00
Thad House	07f70cf784	Fixes control data packet delay (#875 ) Because of an expected change in 2018 that didn't happen, we had a race condition causing a 1 packet delay on all DS values. This fixes that.	2018-01-18 21:54:33 -08:00
sciencewhiz	e4e1eab413	Fix cancel of inner commands in ConditionalCommands (#858 )	2018-01-18 20:04:33 -08:00
Nic Hodlofski	0e8ff4663d	SpeedControllerGroup: Call set() from pidWrite() This means pidWrite() now takes m_isInverted into account. Fixes #887.	2018-01-18 20:03:13 -08:00
HeroCC	54a0a7654a	Link to replacements for RobotDrive in JavaDocs (#879 ) In smart IDEs, this will allow users to easily view source for these two classes by linking to it	2018-01-11 22:17:33 -08:00
Rohit Vighne	59f938b584	Invert when getting motor speed in SpeedControllerGroup (#886 )	2018-01-11 22:16:42 -08:00
sciencewhiz	5513888457	Fix PIDController with Continous and no Input Range set. (#883 )	2018-01-11 21:06:25 -08:00
Peter Johnson	02b6615042	RobotController: Make getBatteryVoltage() static. (#869 )	2018-01-04 23:12:13 -06:00
Tyler Veness	1f4822f332	Replaced Talon motor controller in DifferentialDrive class docs with Spark (#868 )	2018-01-03 20:27:34 -06:00
Peter Johnson	bb38ef5642	DifferentialDrive: Invert right motor in LiveWindow. (#867 )	2018-01-02 21:15:15 -06:00
PJ Reiniger	ca36d1dce6	Adding callbacks for notifying when the distance per pulse changes (#861 )	2018-01-02 16:53:39 -06:00
Sam Carlberg	ee33296e1f	SmartDashboard override .name entry in putData(String, Sendable) (#866 ) Fixes #865	2018-01-02 16:39:16 -06:00
Tyler Veness	0ef9803363	Update copyright year to 2018 (#864 ) Also fix a few files with incorrect line endings.	2018-01-02 11:20:21 -06:00
Tyler Veness	eedb8910c3	Removed extra newlines from beginning of Java classes (#859 ) The content of this PR was generated by styleguide#111.	2018-01-02 11:17:46 -06:00
Sam Carlberg	8346caed9c	Move subsystem command metadata to metadata key format (#863 )	2018-01-01 17:05:03 -05:00
PJ Reiniger	55b6764d50	Fix bugs in simulation libraries (#853 ) Some thing got broken in the past couple of weeks with updates to the HAL.	2017-12-31 14:37:14 -06:00
Thad House	2c4faee667	Fixes -Og compile and strip binaries (#838 )	2017-12-29 22:18:35 -06:00
Jaci R	8d1dee16be	Add DriverStation NetworkTables HAL Extension (#829 )	2017-12-29 21:55:31 -06:00
Jaci R	76b182600a	Add Low Fidelity NetworkTables simulation extension (#823 )	2017-12-29 21:54:18 -06:00
sciencewhiz	c647a801ad	Add Encoder Index as a child (#857 )	2017-12-29 21:48:39 -06:00
sciencewhiz	02131639bc	Add Digilent DMC 60 Speed Controller (#855 )	2017-12-28 21:42:19 -06:00
Noah Gleason	566e283694	Make setDefaultCommand public (#854 )	2017-12-28 12:48:15 -06:00
Peter Johnson	40eb6dfc9b	Fix SmartDashboard PutData to hook setters. (#851 ) * Fix SmartDashboard PutData to hook setters. Also update all PutData values in main periodic loop (same as LiveWindow). * Improve SmartDashboard.putData() repeat call handling.	2017-12-26 18:18:02 -05:00
Dustin Spicuzza	a3e5378d14	SPI: Check for null (#850 )	2017-12-25 22:03:22 -06:00
Thad House	691741cfcb	Fixes non public static methods in RobotController. (#852 )	2017-12-25 20:26:05 -06:00
Thad House	166d9e01bf	Add PWMVictorSPX (#842 )	2017-12-17 19:59:30 -08:00