C++ CameraServer: initialize default Usb camera device number (#1601)

Otherwise just plain StartAutomaticCapture() starts with random number.

.wpilib/wpilib_preferences.json

@@ -0,0 +1,6 @@
+{
+  "enableCppIntellisense": true,
+  "currentLanguage": "cpp",
+  "projectYear": "2019",
+  "teamNumber": 0
+}

README.md

@@ -25,10 +25,10 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 - A C++ compiler
     - On Linux, GCC works fine
-    - On Windows, you need Visual Studio 2015 (the free community edition works fine).
+    - On Windows, you need Visual Studio 2017 (the free community edition works fine).
       Make sure to select the C++ Programming Language for installation
-- [ARM Compiler Toolchain](http://first.wpi.edu/FRC/roborio/toolchains/)
-  * Note that for 2017-2018 and beyond, you will need version 5 or greater of GCC
+- [ARM Compiler Toolchain](https://github.com/wpilibsuite/toolchain-builder/releases)
+  * Note that for 2019 and beyond, you should use version 6 or greater of GCC
 - Doxygen (Only required if you want to build the C++ documentation)
 
 ## Setup
@@ -79,23 +79,18 @@ There are a few tasks other than `build` available. To see them, run the meta-ta
 
 wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on Windows or `python3 -m wpiformat` on other platforms.
 
+CMake is also supported for building. See [README-CMAKE.md](README-CMAKE.md).
+
 ## Publishing
 
-If you are building to test with the Eclipse plugins or just want to export the build as a Maven-style dependency, simply run the `publish` task. This task will publish all available packages to ~/releases/maven/development. If you need to publish the project to a different repo, you can specify it with `-Prepo=repo_name`. Valid options are:
+If you are building to test with other dependencies or just want to export the build as a Maven-style dependency, simply run the `publish` task. This task will publish all available packages to ~/releases/maven/development. If you need to publish the project to a different repo, you can specify it with `-Prepo=repo_name`. Valid options are:
 
 - development - The default repo.
 - beta - Publishes to ~/releases/maven/beta.
 - stable - Publishes to ~/releases/maven/stable.
 - release - Publishes to ~/releases/maven/release.
 
-The following maven targets a published by this task:
-
-- edu.wpi.first.wpilib.cmake:cpp-root:1.0.0 - roboRIO C++
-- edu.wpi.first.wpilibc.simulation:WPILibCSim:0.1.0 - Simulation C++
-- edu.wpi.first.wpilibj:wpilibJavaFinal:0.1.0-SNAPSHOT - roboRIO Java
-- edu.wpi.first.wpilibj:wpilibJavaSim:0.1.0-SNAPSHOT - Simulation Java
-- edu.wpi.first.wpilibj.simulation:SimDS:0.1.0-SNAPSHOT - The driverstation for controlling simulation.
-- org.gazebosim:JavaGazebo:0.1.0-SNAPSHOT - Gazebo protocol for Java.
+The maven artifacts are described in [MavenArtifacts.md](MavenArtifacts.md)
 
 ## Structure and Organization
 

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java

@@ -65,6 +65,8 @@ public final class CameraServer {
   private final Map<String, VideoSource> m_sources;
   private final Map<String, VideoSink> m_sinks;
   private final Map<Integer, NetworkTable> m_tables;  // indexed by source handle
+  // source handle indexed by sink handle
+  private final Map<Integer, Integer> m_fixedSources;
   private final NetworkTable m_publishTable;
   private final VideoListener m_videoListener; //NOPMD
   private final int m_tableListener; //NOPMD
@@ -157,14 +159,20 @@ public final class CameraServer {
     return values;
   }
 
-  @SuppressWarnings({"JavadocMethod", "PMD.AvoidUsingHardCodedIP"})
+  @SuppressWarnings({"JavadocMethod", "PMD.AvoidUsingHardCodedIP", "PMD.CyclomaticComplexity"})
   private synchronized void updateStreamValues() {
     // Over all the sinks...
     for (VideoSink i : m_sinks.values()) {
       int sink = i.getHandle();
 
       // Get the source's subtable (if none exists, we're done)
-      int source = CameraServerJNI.getSinkSource(sink);
+      int source;
+      Integer fixedSource = m_fixedSources.get(sink);
+      if (fixedSource != null) {
+        source = fixedSource;
+      } else {
+        source = CameraServerJNI.getSinkSource(sink);
+      }
       if (source == 0) {
         continue;
       }
@@ -295,6 +303,7 @@ public final class CameraServer {
     m_defaultUsbDevice = new AtomicInteger();
     m_sources = new Hashtable<>();
     m_sinks = new Hashtable<>();
+    m_fixedSources = new Hashtable<>();
     m_tables = new Hashtable<>();
     m_publishTable = NetworkTableInstance.getDefault().getTable(kPublishName);
     m_nextPort = kBasePort;
@@ -537,10 +546,11 @@ public final class CameraServer {
    *
    * @param camera Camera
    */
-  public void startAutomaticCapture(VideoSource camera) {
+  public MjpegServer startAutomaticCapture(VideoSource camera) {
     addCamera(camera);
-    VideoSink server = addServer("serve_" + camera.getName());
+    MjpegServer server = addServer("serve_" + camera.getName());
     server.setSource(camera);
+    return server;
   }
 
   /**
@@ -595,6 +605,21 @@ public final class CameraServer {
     return camera;
   }
 
+  /**
+   * Adds a virtual camera for switching between two streams.  Unlike the
+   * other addCamera methods, this returns a VideoSink rather than a
+   * VideoSource.  Calling setSource() on the returned object can be used
+   * to switch the actual source of the stream.
+   */
+  public MjpegServer addSwitchedCamera(String name) {
+    // create a dummy CvSource
+    CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, 160, 120, 30);
+    MjpegServer server = startAutomaticCapture(source);
+    m_fixedSources.put(server.getHandle(), source.getHandle());
+
+    return server;
+  }
+
   /**
    * Get OpenCV access to the primary camera feed.  This allows you to
    * get images from the camera for image processing on the roboRIO.

cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp

@@ -33,10 +33,11 @@ struct CameraServer::Impl {
   void UpdateStreamValues();
 
   wpi::mutex m_mutex;
-  std::atomic<int> m_defaultUsbDevice;
+  std::atomic<int> m_defaultUsbDevice{0};
   std::string m_primarySourceName;
   wpi::StringMap<cs::VideoSource> m_sources;
   wpi::StringMap<cs::VideoSink> m_sinks;
+  wpi::DenseMap<CS_Sink, CS_Source> m_fixedSources;
   wpi::DenseMap<CS_Source, std::shared_ptr<nt::NetworkTable>> m_tables;
   std::shared_ptr<nt::NetworkTable> m_publishTable;
   cs::VideoListener m_videoListener;
@@ -156,7 +157,8 @@ void CameraServer::Impl::UpdateStreamValues() {
     CS_Sink sink = i.second.GetHandle();
 
     // Get the source's subtable (if none exists, we're done)
-    CS_Source source = cs::GetSinkSource(sink, &status);
+    CS_Source source = m_fixedSources.lookup(sink);
+    if (source == 0) source = cs::GetSinkSource(sink, &status);
     if (source == 0) continue;
     auto table = m_tables.lookup(source);
     if (table) {
@@ -538,10 +540,21 @@ cs::AxisCamera CameraServer::AddAxisCamera(const wpi::Twine& name,
   return camera;
 }
 
-void CameraServer::StartAutomaticCapture(const cs::VideoSource& camera) {
+cs::MjpegServer CameraServer::AddSwitchedCamera(const wpi::Twine& name) {
+  // create a dummy CvSource
+  cs::CvSource source{name, cs::VideoMode::PixelFormat::kMJPEG, 160, 120, 30};
+  cs::MjpegServer server = StartAutomaticCapture(source);
+  m_impl->m_fixedSources[server.GetHandle()] = source.GetHandle();
+
+  return server;
+}
+
+cs::MjpegServer CameraServer::StartAutomaticCapture(
+    const cs::VideoSource& camera) {
   AddCamera(camera);
   auto server = AddServer(wpi::Twine("serve_") + camera.GetName());
   server.SetSource(camera);
+  return server;
 }
 
 cs::CvSink CameraServer::GetVideo() {

cameraserver/src/main/native/include/cameraserver/CameraServer.h

@@ -82,7 +82,7 @@ class CameraServer {
    *
    * @param camera Camera
    */
-  void StartAutomaticCapture(const cs::VideoSource& camera);
+  cs::MjpegServer StartAutomaticCapture(const cs::VideoSource& camera);
 
   /**
    * Adds an Axis IP camera.
@@ -173,6 +173,14 @@ class CameraServer {
   cs::AxisCamera AddAxisCamera(const wpi::Twine& name,
                                std::initializer_list<T> hosts);
 
+  /**
+   * Adds a virtual camera for switching between two streams.  Unlike the
+   * other addCamera methods, this returns a VideoSink rather than a
+   * VideoSource.  Calling SetSource() on the returned object can be used
+   * to switch the actual source of the stream.
+   */
+  cs::MjpegServer AddSwitchedCamera(const wpi::Twine& name);
+
   /**
    * Get OpenCV access to the primary camera feed.  This allows you to
    * get images from the camera for image processing on the roboRIO.

cscore/src/main/java/edu/wpi/cscore/CameraServerJNI.java

@@ -147,6 +147,8 @@ public class CameraServerJNI {
   public static native String getSinkDescription(int sink);
   public static native int getSinkProperty(int sink, String name);
   public static native int[] enumerateSinkProperties(int sink);
+  public static native boolean setSinkConfigJson(int sink, String config);
+  public static native String getSinkConfigJson(int sink);
   public static native void setSinkSource(int sink, int source);
   public static native int getSinkSourceProperty(int sink, String name);
   public static native int getSinkSource(int sink);

cscore/src/main/java/edu/wpi/cscore/MjpegServer.java

@@ -60,7 +60,7 @@ public class MjpegServer extends VideoSink {
    * @param width width, 0 for unspecified
    * @param height height, 0 for unspecified
    */
-  void setResolution(int width, int height) {
+  public void setResolution(int width, int height) {
     CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "width"), width);
     CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "height"), height);
   }
@@ -72,7 +72,7 @@ public class MjpegServer extends VideoSink {
    *
    * @param fps FPS, 0 for unspecified
    */
-  void setFPS(int fps) {
+  public void setFPS(int fps) {
     CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "fps"), fps);
   }
 
@@ -85,7 +85,7 @@ public class MjpegServer extends VideoSink {
    *
    * @param quality JPEG compression quality (0-100), -1 for unspecified
    */
-  void setCompression(int quality) {
+  public void setCompression(int quality) {
     CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "compression"),
                                 quality);
   }
@@ -97,7 +97,7 @@ public class MjpegServer extends VideoSink {
    *
    * @param quality JPEG compression quality (0-100)
    */
-  void setDefaultCompression(int quality) {
+  public void setDefaultCompression(int quality) {
     CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "default_compression"),
                                 quality);
   }

cscore/src/main/java/edu/wpi/cscore/VideoSink.java

@@ -133,6 +133,38 @@ public class VideoSink implements AutoCloseable {
     return rv;
   }
 
+  /**
+   * Set properties from a JSON configuration string.
+   *
+   * <p>The format of the JSON input is:
+   *
+   * <pre>
+   * {
+   *     "properties": [
+   *         {
+   *             "name": property name
+   *             "value": property value
+   *         }
+   *     ]
+   * }
+   * </pre>
+   *
+   * @param config configuration
+   * @return True if set successfully
+   */
+  public boolean setConfigJson(String config) {
+    return CameraServerJNI.setSinkConfigJson(m_handle, config);
+  }
+
+  /**
+   * Get a JSON configuration string.
+   *
+   * @return JSON configuration string
+   */
+  public String getConfigJson() {
+    return CameraServerJNI.getSinkConfigJson(m_handle);
+  }
+
   /**
    * Configure which source should provide frames to this sink.  Each sink
    * can accept frames from only a single source, but a single source can

cscore/src/main/native/cpp/MjpegServerImpl.cpp

@@ -111,13 +111,13 @@ class MjpegServerImpl::ConnThread : public wpi::SafeThread {
 
   void StartStream() {
     std::lock_guard<wpi::mutex> lock(m_mutex);
-    m_source->EnableSink();
+    if (m_source) m_source->EnableSink();
     m_streaming = true;
   }
 
   void StopStream() {
     std::lock_guard<wpi::mutex> lock(m_mutex);
-    m_source->DisableSink();
+    if (m_source) m_source->DisableSink();
     m_streaming = false;
   }
 };

cscore/src/main/native/cpp/PropertyContainer.cpp

@@ -7,6 +7,11 @@
 
 #include "PropertyContainer.h"
 
+#include <wpi/Logger.h>
+#include <wpi/SmallString.h>
+#include <wpi/SmallVector.h>
+#include <wpi/json.h>
+
 using namespace cs;
 
 int PropertyContainer::GetPropertyIndex(const wpi::Twine& name) const {
@@ -204,3 +209,74 @@ bool PropertyContainer::CacheProperties(CS_Status* status) const {
   m_properties_cached = true;
   return true;
 }
+
+bool PropertyContainer::SetPropertiesJson(const wpi::json& config,
+                                          wpi::Logger& logger,
+                                          wpi::StringRef logName,
+                                          CS_Status* status) {
+  for (auto&& prop : config) {
+    std::string name;
+    try {
+      name = prop.at("name").get<std::string>();
+    } catch (const wpi::json::exception& e) {
+      WPI_WARNING(logger,
+                  logName << ": SetConfigJson: could not read property name: "
+                          << e.what());
+      continue;
+    }
+    int n = GetPropertyIndex(name);
+    try {
+      auto& v = prop.at("value");
+      if (v.is_string()) {
+        std::string val = v.get<std::string>();
+        WPI_INFO(logger, logName << ": SetConfigJson: setting property '"
+                                 << name << "' to '" << val << '\'');
+        SetStringProperty(n, val, status);
+      } else if (v.is_boolean()) {
+        bool val = v.get<bool>();
+        WPI_INFO(logger, logName << ": SetConfigJson: setting property '"
+                                 << name << "' to " << val);
+        SetProperty(n, val, status);
+      } else {
+        int val = v.get<int>();
+        WPI_INFO(logger, logName << ": SetConfigJson: setting property '"
+                                 << name << "' to " << val);
+        SetProperty(n, val, status);
+      }
+    } catch (const wpi::json::exception& e) {
+      WPI_WARNING(logger,
+                  logName << ": SetConfigJson: could not read property value: "
+                          << e.what());
+      continue;
+    }
+  }
+
+  return true;
+}
+
+wpi::json PropertyContainer::GetPropertiesJsonObject(CS_Status* status) {
+  wpi::json j;
+  wpi::SmallVector<int, 32> propVec;
+  for (int p : EnumerateProperties(propVec, status)) {
+    wpi::json prop;
+    wpi::SmallString<128> strBuf;
+    prop.emplace("name", GetPropertyName(p, strBuf, status));
+    switch (GetPropertyKind(p)) {
+      case CS_PROP_BOOLEAN:
+        prop.emplace("value", static_cast<bool>(GetProperty(p, status)));
+        break;
+      case CS_PROP_INTEGER:
+      case CS_PROP_ENUM:
+        prop.emplace("value", GetProperty(p, status));
+        break;
+      case CS_PROP_STRING:
+        prop.emplace("value", GetStringProperty(p, strBuf, status));
+        break;
+      default:
+        continue;
+    }
+    j.emplace_back(prop);
+  }
+
+  return j;
+}

cscore/src/main/native/cpp/PropertyContainer.h

@@ -24,6 +24,11 @@
 #include "PropertyImpl.h"
 #include "cscore_cpp.h"
 
+namespace wpi {
+class Logger;
+class json;
+}  // namespace wpi
+
 namespace cs {
 
 class PropertyContainer {
@@ -50,6 +55,10 @@ class PropertyContainer {
   std::vector<std::string> GetEnumPropertyChoices(int property,
                                                   CS_Status* status) const;
 
+  bool SetPropertiesJson(const wpi::json& config, wpi::Logger& logger,
+                         wpi::StringRef logName, CS_Status* status);
+  wpi::json GetPropertiesJsonObject(CS_Status* status);
+
  protected:
   // Get a property; must be called with m_mutex held.
   PropertyImpl* GetProperty(int property) {

cscore/src/main/native/cpp/SinkImpl.cpp

@@ -7,6 +7,8 @@
 
 #include "SinkImpl.h"
 
+#include <wpi/json.h>
+
 #include "Instance.h"
 #include "Notifier.h"
 #include "SourceImpl.h"
@@ -102,6 +104,43 @@ wpi::StringRef SinkImpl::GetError(wpi::SmallVectorImpl<char>& buf) const {
   return wpi::StringRef{buf.data(), buf.size()};
 }
 
+bool SinkImpl::SetConfigJson(wpi::StringRef config, CS_Status* status) {
+  wpi::json j;
+  try {
+    j = wpi::json::parse(config);
+  } catch (const wpi::json::parse_error& e) {
+    SWARNING("SetConfigJson: parse error at byte " << e.byte << ": "
+                                                   << e.what());
+    *status = CS_PROPERTY_WRITE_FAILED;
+    return false;
+  }
+  return SetConfigJson(j, status);
+}
+
+bool SinkImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
+  if (config.count("properties") != 0)
+    SetPropertiesJson(config.at("properties"), m_logger, GetName(), status);
+
+  return true;
+}
+
+std::string SinkImpl::GetConfigJson(CS_Status* status) {
+  std::string rv;
+  wpi::raw_string_ostream os(rv);
+  GetConfigJsonObject(status).dump(os, 4);
+  os.flush();
+  return rv;
+}
+
+wpi::json SinkImpl::GetConfigJsonObject(CS_Status* status) {
+  wpi::json j;
+
+  wpi::json props = GetPropertiesJsonObject(status);
+  if (props.is_array()) j.emplace("properties", props);
+
+  return j;
+}
+
 void SinkImpl::NotifyPropertyCreated(int propIndex, PropertyImpl& prop) {
   m_notifier.NotifySinkProperty(*this, CS_SINK_PROPERTY_CREATED, prop.name,
                                 propIndex, prop.propKind, prop.value,

cscore/src/main/native/cpp/SinkImpl.h

@@ -18,6 +18,10 @@
 
 #include "SourceImpl.h"
 
+namespace wpi {
+class json;
+}  // namespace wpi
+
 namespace cs {
 
 class Frame;
@@ -51,6 +55,11 @@ class SinkImpl : public PropertyContainer {
   std::string GetError() const;
   wpi::StringRef GetError(wpi::SmallVectorImpl<char>& buf) const;
 
+  bool SetConfigJson(wpi::StringRef config, CS_Status* status);
+  virtual bool SetConfigJson(const wpi::json& config, CS_Status* status);
+  std::string GetConfigJson(CS_Status* status);
+  virtual wpi::json GetConfigJsonObject(CS_Status* status);
+
  protected:
   // PropertyContainer implementation
   void NotifyPropertyCreated(int propIndex, PropertyImpl& prop) override;

cscore/src/main/native/cpp/SourceImpl.cpp

@@ -319,38 +319,8 @@ bool SourceImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
   }
 
   // properties
-  if (config.count("properties") != 0) {
-    for (auto&& prop : config.at("properties")) {
-      std::string name;
-      try {
-        name = prop.at("name").get<std::string>();
-      } catch (const wpi::json::exception& e) {
-        SWARNING("SetConfigJson: could not read property name: " << e.what());
-        continue;
-      }
-      int n = GetPropertyIndex(name);
-      try {
-        auto& v = prop.at("value");
-        if (v.is_string()) {
-          std::string val = v.get<std::string>();
-          SINFO("SetConfigJson: setting property '" << name << "' to '" << val
-                                                    << '\'');
-          SetStringProperty(n, val, status);
-        } else if (v.is_boolean()) {
-          bool val = v.get<bool>();
-          SINFO("SetConfigJson: setting property '" << name << "' to " << val);
-          SetProperty(n, val, status);
-        } else {
-          int val = v.get<int>();
-          SINFO("SetConfigJson: setting property '" << name << "' to " << val);
-          SetProperty(n, val, status);
-        }
-      } catch (const wpi::json::exception& e) {
-        SWARNING("SetConfigJson: could not read property value: " << e.what());
-        continue;
-      }
-    }
-  }
+  if (config.count("properties") != 0)
+    SetPropertiesJson(config.at("properties"), m_logger, GetName(), status);
 
   return true;
 }
@@ -401,28 +371,7 @@ wpi::json SourceImpl::GetConfigJsonObject(CS_Status* status) {
   // TODO: output brightness, white balance, and exposure?
 
   // properties
-  wpi::json props;
-  wpi::SmallVector<int, 32> propVec;
-  for (int p : EnumerateProperties(propVec, status)) {
-    wpi::json prop;
-    wpi::SmallString<128> strBuf;
-    prop.emplace("name", GetPropertyName(p, strBuf, status));
-    switch (GetPropertyKind(p)) {
-      case CS_PROP_BOOLEAN:
-        prop.emplace("value", static_cast<bool>(GetProperty(p, status)));
-        break;
-      case CS_PROP_INTEGER:
-      case CS_PROP_ENUM:
-        prop.emplace("value", GetProperty(p, status));
-        break;
-      case CS_PROP_STRING:
-        prop.emplace("value", GetStringProperty(p, strBuf, status));
-        break;
-      default:
-        continue;
-    }
-    props.emplace_back(prop);
-  }
+  wpi::json props = GetPropertiesJsonObject(status);
   if (props.is_array()) j.emplace("properties", props);
 
   return j;

cscore/src/main/native/cpp/cscore_c.cpp

@@ -277,6 +277,15 @@ CS_Property* CS_EnumerateSinkProperties(CS_Sink sink, int* count,
   return out;
 }
 
+CS_Bool CS_SetSinkConfigJson(CS_Sink sink, const char* config,
+                             CS_Status* status) {
+  return cs::SetSinkConfigJson(sink, config, status);
+}
+
+char* CS_GetSinkConfigJson(CS_Sink sink, CS_Status* status) {
+  return cs::ConvertToC(cs::GetSinkConfigJson(sink, status));
+}
+
 void CS_SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status) {
   return cs::SetSinkSource(sink, source, status);
 }

cscore/src/main/native/cpp/cscore_cpp.cpp

@@ -564,6 +564,43 @@ wpi::ArrayRef<CS_Property> EnumerateSinkProperties(
   return vec;
 }
 
+bool SetSinkConfigJson(CS_Sink sink, wpi::StringRef config, CS_Status* status) {
+  auto data = Instance::GetInstance().GetSink(sink);
+  if (!data) {
+    *status = CS_INVALID_HANDLE;
+    return false;
+  }
+  return data->sink->SetConfigJson(config, status);
+}
+
+bool SetSinkConfigJson(CS_Sink sink, const wpi::json& config,
+                       CS_Status* status) {
+  auto data = Instance::GetInstance().GetSink(sink);
+  if (!data) {
+    *status = CS_INVALID_HANDLE;
+    return false;
+  }
+  return data->sink->SetConfigJson(config, status);
+}
+
+std::string GetSinkConfigJson(CS_Sink sink, CS_Status* status) {
+  auto data = Instance::GetInstance().GetSink(sink);
+  if (!data) {
+    *status = CS_INVALID_HANDLE;
+    return std::string{};
+  }
+  return data->sink->GetConfigJson(status);
+}
+
+wpi::json GetSinkConfigJsonObject(CS_Sink sink, CS_Status* status) {
+  auto data = Instance::GetInstance().GetSink(sink);
+  if (!data) {
+    *status = CS_INVALID_HANDLE;
+    return wpi::json{};
+  }
+  return data->sink->GetConfigJsonObject(status);
+}
+
 void SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status) {
   auto data = Instance::GetInstance().GetSink(sink);
   if (!data) {

cscore/src/main/native/cpp/cscore_oo.cpp

@@ -16,6 +16,11 @@ wpi::json VideoSource::GetConfigJsonObject() const {
   return GetSourceConfigJsonObject(m_handle, &m_status);
 }
 
+wpi::json VideoSink::GetConfigJsonObject() const {
+  m_status = 0;
+  return GetSinkConfigJsonObject(m_handle, &m_status);
+}
+
 std::vector<VideoProperty> VideoSource::EnumerateProperties() const {
   wpi::SmallVector<CS_Property, 32> handles_buf;
   CS_Status status = 0;

cscore/src/main/native/cpp/jni/CameraServerJNI.cpp

@@ -1292,6 +1292,36 @@ Java_edu_wpi_cscore_CameraServerJNI_enumerateSinkProperties
   return MakeJIntArray(env, arr);
 }
 
+/*
+ * Class:     edu_wpi_cscore_CameraServerJNI
+ * Method:    setSinkConfigJson
+ * Signature: (ILjava/lang/String;)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_cscore_CameraServerJNI_setSinkConfigJson
+  (JNIEnv* env, jclass, jint source, jstring config)
+{
+  CS_Status status = 0;
+  auto val = cs::SetSinkConfigJson(source, JStringRef{env, config}, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class:     edu_wpi_cscore_CameraServerJNI
+ * Method:    getSinkConfigJson
+ * Signature: (I)Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL
+Java_edu_wpi_cscore_CameraServerJNI_getSinkConfigJson
+  (JNIEnv* env, jclass, jint source)
+{
+  CS_Status status = 0;
+  auto val = cs::GetSinkConfigJson(source, &status);
+  CheckStatus(env, status);
+  return MakeJString(env, val);
+}
+
 /*
  * Class:     edu_wpi_cscore_CameraServerJNI
  * Method:    setSinkSource

cscore/src/main/native/include/cscore_c.h

@@ -393,6 +393,9 @@ CS_Property* CS_EnumerateSinkProperties(CS_Sink sink, int* count,
 void CS_SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status);
 CS_Property CS_GetSinkSourceProperty(CS_Sink sink, const char* name,
                                      CS_Status* status);
+CS_Bool CS_SetSinkConfigJson(CS_Sink sink, const char* config,
+                             CS_Status* status);
+char* CS_GetSinkConfigJson(CS_Sink sink, CS_Status* status);
 CS_Source CS_GetSinkSource(CS_Sink sink, CS_Status* status);
 CS_Sink CS_CopySink(CS_Sink sink, CS_Status* status);
 void CS_ReleaseSink(CS_Sink sink, CS_Status* status);

cscore/src/main/native/include/cscore_cpp.h

@@ -332,6 +332,11 @@ wpi::ArrayRef<CS_Property> EnumerateSinkProperties(
 void SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status);
 CS_Property GetSinkSourceProperty(CS_Sink sink, const wpi::Twine& name,
                                   CS_Status* status);
+bool SetSinkConfigJson(CS_Sink sink, wpi::StringRef config, CS_Status* status);
+bool SetSinkConfigJson(CS_Sink sink, const wpi::json& config,
+                       CS_Status* status);
+std::string GetSinkConfigJson(CS_Sink sink, CS_Status* status);
+wpi::json GetSinkConfigJsonObject(CS_Sink sink, CS_Status* status);
 CS_Source GetSinkSource(CS_Sink sink, CS_Status* status);
 CS_Sink CopySink(CS_Sink sink, CS_Status* status);
 void ReleaseSink(CS_Sink sink, CS_Status* status);

cscore/src/main/native/include/cscore_oo.h

@@ -807,6 +807,49 @@ class VideoSink {
    */
   std::vector<VideoProperty> EnumerateProperties() const;
 
+  /**
+   * Set properties from a JSON configuration string.
+   *
+   * The format of the JSON input is:
+   *
+   * <pre>
+   * {
+   *     "properties": [
+   *         {
+   *             "name": property name
+   *             "value": property value
+   *         }
+   *     ]
+   * }
+   * </pre>
+   *
+   * @param config configuration
+   * @return True if set successfully
+   */
+  bool SetConfigJson(wpi::StringRef config);
+
+  /**
+   * Set properties from a JSON configuration object.
+   *
+   * @param config configuration
+   * @return True if set successfully
+   */
+  bool SetConfigJson(const wpi::json& config);
+
+  /**
+   * Get a JSON configuration string.
+   *
+   * @return JSON configuration string
+   */
+  std::string GetConfigJson() const;
+
+  /**
+   * Get a JSON configuration object.
+   *
+   * @return JSON configuration object
+   */
+  wpi::json GetConfigJsonObject() const;
+
   /**
    * Configure which source should provide frames to this sink.  Each sink
    * can accept frames from only a single source, but a single source can

cscore/src/main/native/include/cscore_oo.inl

@@ -521,6 +521,21 @@ inline VideoProperty VideoSink::GetSourceProperty(const wpi::Twine& name) {
   return VideoProperty{GetSinkSourceProperty(m_handle, name, &m_status)};
 }
 
+inline bool VideoSink::SetConfigJson(wpi::StringRef config) {
+  m_status = 0;
+  return SetSinkConfigJson(m_handle, config, &m_status);
+}
+
+inline bool VideoSink::SetConfigJson(const wpi::json& config) {
+  m_status = 0;
+  return SetSinkConfigJson(m_handle, config, &m_status);
+}
+
+inline std::string VideoSink::GetConfigJson() const {
+  m_status = 0;
+  return GetSinkConfigJson(m_handle, &m_status);
+}
+
 inline MjpegServer::MjpegServer(const wpi::Twine& name,
                                 const wpi::Twine& listenAddress, int port) {
   m_handle = CreateMjpegServer(name, listenAddress, port, &m_status);

cscore/src/main/native/linux/UsbCameraProperty.cpp

@@ -9,6 +9,7 @@
 
 #include <wpi/STLExtras.h>
 #include <wpi/SmallString.h>
+#include <wpi/raw_ostream.h>
 
 #include "UsbUtil.h"
 
@@ -151,6 +152,9 @@ UsbCameraProperty::UsbCameraProperty(const struct v4l2_query_ext_ctrl& ctrl)
       propKind = CS_PROP_BOOLEAN;
       break;
     case V4L2_CTRL_TYPE_INTEGER_MENU:
+      propKind = CS_PROP_ENUM;
+      intMenu = true;
+      break;
     case V4L2_CTRL_TYPE_MENU:
       propKind = CS_PROP_ENUM;
       break;
@@ -243,7 +247,12 @@ std::unique_ptr<UsbCameraProperty> UsbCameraProperty::DeviceQuery(int fd,
     for (int i = prop->minimum; i <= prop->maximum; ++i) {
       qmenu.index = static_cast<__u32>(i);
       if (TryIoctl(fd, VIDIOC_QUERYMENU, &qmenu) != 0) continue;
-      prop->enumChoices[i] = reinterpret_cast<const char*>(qmenu.name);
+      if (prop->intMenu) {
+        wpi::raw_string_ostream os(prop->enumChoices[i]);
+        os << qmenu.value;
+      } else {
+        prop->enumChoices[i] = reinterpret_cast<const char*>(qmenu.name);
+      }
     }
   }
 

cscore/src/main/native/linux/UsbCameraProperty.h

@@ -71,6 +71,9 @@ class UsbCameraProperty : public PropertyImpl {
 
   unsigned id{0};  // implementation-level id
   int type{0};     // implementation type, not CS_PropertyKind!
+
+  // If the enum property is integer rather than string
+  bool intMenu{false};
 };
 
 }  // namespace cs

cscore/src/main/native/windows/NetworkUtil.cpp

@@ -5,27 +5,12 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include <winsock2.h>  // NOLINT(build/include_order)
-
-#include <iphlpapi.h>  // NOLINT(build/include_order)
-
-#include <ws2tcpip.h>  // NOLINT(build/include_order)
-
 #include <uv.h>
 
-#include <iostream>
-
 #include "cscore_cpp.h"
 
-#pragma comment(lib, "IPHLPAPI.lib")
 #pragma comment(lib, "Ws2_32.lib")
 
-#define WORKING_BUFFER_SIZE 15000
-#define MAX_TRIES 3
-
-#define MALLOC(x) HeapAlloc(GetProcessHeap(), 0, (x))
-#define FREE(x) HeapFree(GetProcessHeap(), 0, (x))
-
 namespace cs {
 
 std::vector<std::string> GetNetworkInterfaces() {
@@ -40,80 +25,18 @@ std::vector<std::string> GetNetworkInterfaces() {
 
   for (int i = 0; i < counts; i++) {
     if (adrs[i].is_internal) continue;
-    std::cout << adrs[i].name << std::endl;
     InetNtop(PF_INET, &(adrs[i].netmask.netmask4.sin_addr.s_addr), ip,
              sizeof(ip) - 1);
     ip[49] = '\0';
-    std::cout << ip << std::endl;
     InetNtop(PF_INET, &(adrs[i].address.address4.sin_addr.s_addr), ip,
              sizeof(ip) - 1);
     ip[49] = '\0';
-    std::cout << ip << std::endl;
     addresses.emplace_back(std::string{ip});
   }
 
   uv_free_interface_addresses(adrs, counts);
 
-  std::cout << "finished\n";
-
   return addresses;
-
-  PIP_ADAPTER_ADDRESSES pAddresses = NULL;
-  PIP_ADAPTER_ADDRESSES pCurrAddresses = NULL;
-  PIP_ADAPTER_UNICAST_ADDRESS pUnicast = NULL;
-  PIP_ADAPTER_ANYCAST_ADDRESS pAnycast = NULL;
-  PIP_ADAPTER_MULTICAST_ADDRESS pMulticast = NULL;
-  unsigned int i = 0;
-
-  ULONG outBufLen = 0;
-  ULONG Iterations = 0;
-  DWORD dwRetVal = 0;
-
-  // Allocate a 15 KB buffer to start with.
-  outBufLen = WORKING_BUFFER_SIZE;
-
-  do {
-    pAddresses = reinterpret_cast<IP_ADAPTER_ADDRESSES*>(MALLOC(outBufLen));
-    if (pAddresses == NULL) {
-      std::printf("Memory allocation failed for IP_ADAPTER_ADDRESSES struct\n");
-      std::exit(1);
-    }
-
-    dwRetVal = GetAdaptersAddresses(AF_INET, GAA_FLAG_INCLUDE_PREFIX, NULL,
-                                    pAddresses, &outBufLen);
-
-    if (dwRetVal == ERROR_BUFFER_OVERFLOW) {
-      FREE(pAddresses);
-      pAddresses = NULL;
-    } else {
-      break;
-    }
-
-    Iterations++;
-  } while ((dwRetVal == ERROR_BUFFER_OVERFLOW) && (Iterations < MAX_TRIES));
-
-  if (dwRetVal == NO_ERROR) {
-    pCurrAddresses = pAddresses;
-    while (pCurrAddresses) {
-      pUnicast = pCurrAddresses->FirstUnicastAddress;
-      while (pUnicast != NULL) {
-        sockaddr_in* address =
-            reinterpret_cast<sockaddr_in*>(pUnicast->Address.lpSockaddr);
-        InetNtop(PF_INET, &(address->sin_addr.s_addr), ip, sizeof(ip) - 1);
-        ip[49] = '\0';
-        addresses.emplace_back(std::string{ip});
-        pUnicast = pUnicast->Next;
-      }
-
-      pCurrAddresses = pCurrAddresses->Next;
-    }
-  }
-
-  if (pAddresses) {
-    FREE(pAddresses);
-  }
-
-  return addresses;  // TODO
 }
 
 }  // namespace cs

cscore/src/main/native/windows/UsbCameraImpl.cpp

@@ -450,6 +450,15 @@ bool UsbCameraImpl::DeviceConnect() {
     return false;
   }
 
+  CS_Status st = 0;
+  auto devices = EnumerateUsbCameras(&st);
+
+  for (auto&& device : devices) {
+    if (device.path == m_path) {
+      SetDescription(device.name);
+    }
+  }
+
   if (!m_properties_cached) {
     SDEBUG3("caching properties");
     DeviceCacheProperties();
@@ -488,21 +497,32 @@ bool UsbCameraImpl::CacheProperties(CS_Status* status) const {
   return true;
 }
 
-void UsbCameraImpl::DeviceAddProperty(const wpi::Twine& name_,
-                                      tagVideoProcAmpProperty tag,
-                                      IAMVideoProcAmp* pProcAmp) {
+template <typename TagProperty, typename IAM>
+void UsbCameraImpl::DeviceAddProperty(const wpi::Twine& name_, TagProperty tag,
+                                      IAM* pProcAmp) {
   // First see if properties exist
   bool isValid = false;
   auto property = std::make_unique<UsbCameraProperty>(name_, tag, false,
                                                       pProcAmp, &isValid);
   if (isValid) {
-    DeviceCacheProperty(std::move(property), pProcAmp);
+    DeviceCacheProperty(std::move(property), m_sourceReader.Get());
   }
 }
 
+template void UsbCameraImpl::DeviceAddProperty(const wpi::Twine& name_,
+                                               tagVideoProcAmpProperty tag,
+                                               IAMVideoProcAmp* pProcAmp);
+
+template void UsbCameraImpl::DeviceAddProperty(const wpi::Twine& name_,
+                                               tagCameraControlProperty tag,
+                                               IAMCameraControl* pProcAmp);
+
 #define CREATEPROPERTY(val) \
   DeviceAddProperty(#val, VideoProcAmp_##val, pProcAmp);
 
+#define CREATECONTROLPROPERTY(val) \
+  DeviceAddProperty(#val, CameraControl_##val, pCamControl);
+
 void UsbCameraImpl::DeviceCacheProperties() {
   if (!m_sourceReader) return;
 
@@ -523,6 +543,21 @@ void UsbCameraImpl::DeviceCacheProperties() {
     CREATEPROPERTY(Gain)
     pProcAmp->Release();
   }
+
+  IAMCameraControl* pCamControl = NULL;
+
+  if (SUCCEEDED(m_sourceReader->GetServiceForStream(
+          (DWORD)MF_SOURCE_READER_MEDIASOURCE, GUID_NULL,
+          IID_PPV_ARGS(&pCamControl)))) {
+    CREATECONTROLPROPERTY(Pan)
+    CREATECONTROLPROPERTY(Tilt)
+    CREATECONTROLPROPERTY(Roll)
+    CREATECONTROLPROPERTY(Zoom)
+    CREATECONTROLPROPERTY(Exposure)
+    CREATECONTROLPROPERTY(Iris)
+    CREATECONTROLPROPERTY(Focus)
+    pCamControl->Release();
+  }
 }
 
 int UsbCameraImpl::RawToPercentage(const UsbCameraProperty& rawProp,
@@ -538,7 +573,7 @@ int UsbCameraImpl::PercentageToRaw(const UsbCameraProperty& rawProp,
 }
 
 void UsbCameraImpl::DeviceCacheProperty(
-    std::unique_ptr<UsbCameraProperty> rawProp, IAMVideoProcAmp* pProcAmp) {
+    std::unique_ptr<UsbCameraProperty> rawProp, IMFSourceReader* pProcAmp) {
   // For percentage properties, we want to cache both the raw and the
   // percentage versions.  This function is always called with prop being
   // the raw property (as it's coming from the camera) so if required, we need
@@ -707,16 +742,7 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetProperty(
   if (!prop->device) {
     if (prop->id == kPropConnectVerboseId) m_connectVerbose = value;
   } else {
-    IAMVideoProcAmp* pProcAmp = NULL;
-    if (SUCCEEDED(m_sourceReader->GetServiceForStream(
-            (DWORD)MF_SOURCE_READER_MEDIASOURCE, GUID_NULL,
-            IID_PPV_ARGS(&pProcAmp)))) {
-      if (!prop->DeviceSet(lock, pProcAmp, value)) {
-        pProcAmp->Release();
-        return CS_PROPERTY_WRITE_FAILED;
-      }
-      pProcAmp->Release();
-    } else {
+    if (!prop->DeviceSet(lock, m_sourceReader.Get())) {
       return CS_PROPERTY_WRITE_FAILED;
     }
   }
@@ -933,9 +959,7 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
   // Ensure we are initialized by grabbing the message pump
   // GetMessagePump();
 
-  ComPtr<IMFMediaSource> ppSource;
   std::wstring_convert<std::codecvt_utf8<wchar_t>> utf8_conv;
-  ComPtr<IMFMediaSource> pSource;
   ComPtr<IMFAttributes> pAttributes;
   IMFActivate** ppDevices = nullptr;
 
@@ -988,7 +1012,6 @@ done:
     }
   }
   CoTaskMemFree(ppDevices);
-  pSource.Reset();
   return retval;
 }
 

cscore/src/main/native/windows/UsbCameraImpl.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 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.                                                               */
@@ -132,11 +132,12 @@ class UsbCameraImpl : public SourceImpl,
   CS_StatusValue DeviceSetMode();
   void DeviceCacheMode();
   void DeviceCacheProperty(std::unique_ptr<UsbCameraProperty> rawProp,
-                           IAMVideoProcAmp* pProcAmp);
+                           IMFSourceReader* sourceReader);
   void DeviceCacheProperties();
   void DeviceCacheVideoModes();
-  void DeviceAddProperty(const wpi::Twine& name_, tagVideoProcAmpProperty tag,
-                         IAMVideoProcAmp* pProcAmp);
+  template <typename TagProperty, typename IAM>
+  void DeviceAddProperty(const wpi::Twine& name_, TagProperty tag,
+                         IAM* pProcAmp);
 
   ComPtr<IMFMediaType> DeviceCheckModeValid(const VideoMode& toCheck);
 

cscore/src/main/native/windows/UsbCameraProperty.cpp

@@ -7,13 +7,16 @@
 
 #include "UsbCameraProperty.h"
 
+#include "ComPtr.h"
+
 using namespace cs;
 
 UsbCameraProperty::UsbCameraProperty(const wpi::Twine& name_,
                                      tagVideoProcAmpProperty tag, bool autoProp,
                                      IAMVideoProcAmp* pProcAmp, bool* isValid)
     : PropertyImpl{autoProp ? name_ + "_auto" : name_} {
-  this->tag = tag;
+  this->tagVideoProc = tag;
+  this->isControlProperty = false;
   this->isAutoProp = autoProp;
   long paramVal, paramFlag;  // NOLINT(runtime/int)
   HRESULT hr;
@@ -42,7 +45,7 @@ bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock,
 
   lock.unlock();
   long newValue = 0, paramFlag = 0;  // NOLINT(runtime/int)
-  if (SUCCEEDED(pProcAmp->Get(tag, &newValue, &paramFlag))) {
+  if (SUCCEEDED(pProcAmp->Get(tagVideoProc, &newValue, &paramFlag))) {
     lock.lock();
     value = newValue;
     return true;
@@ -60,10 +63,127 @@ bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
   if (!pProcAmp) return true;
 
   lock.unlock();
-  if (SUCCEEDED(pProcAmp->Set(tag, newValue, VideoProcAmp_Flags_Manual))) {
+  if (SUCCEEDED(
+          pProcAmp->Set(tagVideoProc, newValue, VideoProcAmp_Flags_Manual))) {
     lock.lock();
     return true;
   }
 
   return false;
 }
+
+UsbCameraProperty::UsbCameraProperty(const wpi::Twine& name_,
+                                     tagCameraControlProperty tag,
+                                     bool autoProp, IAMCameraControl* pProcAmp,
+                                     bool* isValid)
+    : PropertyImpl{autoProp ? name_ + "_auto" : name_} {
+  this->tagCameraControl = tag;
+  this->isControlProperty = true;
+  this->isAutoProp = autoProp;
+  long paramVal, paramFlag;  // NOLINT(runtime/int)
+  HRESULT hr;
+  long minVal, maxVal, stepVal;  // NOLINT(runtime/int)
+  hr = pProcAmp->GetRange(tag, &minVal, &maxVal, &stepVal, &paramVal,
+                          &paramFlag);  // Unable to get the property, trying to
+                                        // return default value
+  if (SUCCEEDED(hr)) {
+    minimum = minVal;
+    maximum = maxVal;
+    hasMaximum = true;
+    hasMinimum = true;
+    defaultValue = paramVal;
+    step = stepVal;
+    value = paramVal;
+    propKind = CS_PropertyKind::CS_PROP_INTEGER;
+    *isValid = true;
+  } else {
+    *isValid = false;
+  }
+}
+
+bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock,
+                                  IAMCameraControl* pProcAmp) {
+  if (!pProcAmp) return true;
+
+  lock.unlock();
+  long newValue = 0, paramFlag = 0;  // NOLINT(runtime/int)
+  if (SUCCEEDED(pProcAmp->Get(tagCameraControl, &newValue, &paramFlag))) {
+    lock.lock();
+    value = newValue;
+    return true;
+  }
+
+  return false;
+}
+bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
+                                  IAMCameraControl* pProcAmp) const {
+  return DeviceSet(lock, pProcAmp, value);
+}
+bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
+                                  IAMCameraControl* pProcAmp,
+                                  int newValue) const {
+  if (!pProcAmp) return true;
+
+  lock.unlock();
+  if (SUCCEEDED(pProcAmp->Set(tagCameraControl, newValue,
+                              CameraControl_Flags_Manual))) {
+    lock.lock();
+    return true;
+  }
+
+  return false;
+}
+
+bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock,
+                                  IMFSourceReader* sourceReader) {
+  if (!sourceReader) return true;
+
+  if (isControlProperty) {
+    ComPtr<IAMCameraControl> pProcAmp;
+    if (SUCCEEDED(sourceReader->GetServiceForStream(
+            (DWORD)MF_SOURCE_READER_MEDIASOURCE, GUID_NULL,
+            IID_PPV_ARGS(pProcAmp.GetAddressOf())))) {
+      return DeviceGet(lock, pProcAmp.Get());
+    } else {
+      return false;
+    }
+  } else {
+    ComPtr<IAMVideoProcAmp> pProcAmp;
+    if (SUCCEEDED(sourceReader->GetServiceForStream(
+            (DWORD)MF_SOURCE_READER_MEDIASOURCE, GUID_NULL,
+            IID_PPV_ARGS(pProcAmp.GetAddressOf())))) {
+      return DeviceGet(lock, pProcAmp.Get());
+    } else {
+      return false;
+    }
+  }
+}
+bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
+                                  IMFSourceReader* sourceReader) const {
+  return DeviceSet(lock, sourceReader, value);
+}
+bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
+                                  IMFSourceReader* sourceReader,
+                                  int newValue) const {
+  if (!sourceReader) return true;
+
+  if (isControlProperty) {
+    ComPtr<IAMCameraControl> pProcAmp;
+    if (SUCCEEDED(sourceReader->GetServiceForStream(
+            (DWORD)MF_SOURCE_READER_MEDIASOURCE, GUID_NULL,
+            IID_PPV_ARGS(pProcAmp.GetAddressOf())))) {
+      return DeviceSet(lock, pProcAmp.Get(), newValue);
+    } else {
+      return false;
+    }
+  } else {
+    ComPtr<IAMVideoProcAmp> pProcAmp;
+    if (SUCCEEDED(sourceReader->GetServiceForStream(
+            (DWORD)MF_SOURCE_READER_MEDIASOURCE, GUID_NULL,
+            IID_PPV_ARGS(pProcAmp.GetAddressOf())))) {
+      return DeviceSet(lock, pProcAmp.Get(), newValue);
+    } else {
+      return false;
+    }
+  }
+}

cscore/src/main/native/windows/UsbCameraProperty.h

@@ -7,6 +7,10 @@
 
 #pragma once
 
+#include <mfapi.h>
+#include <mfidl.h>
+#include <mfreadwrite.h>
+
 #include <memory>
 
 #include <Dshow.h>
@@ -49,16 +53,23 @@ class UsbCameraProperty : public PropertyImpl {
   UsbCameraProperty(const wpi::Twine& name_, tagVideoProcAmpProperty tag,
                     bool autoProp, IAMVideoProcAmp* pProcAmp, bool* isValid);
 
-  bool DeviceGet(std::unique_lock<wpi::mutex>& lock, IAMVideoProcAmp* pProcAmp);
+  UsbCameraProperty(const wpi::Twine& name_, tagCameraControlProperty tag,
+                    bool autoProp, IAMCameraControl* pProcAmp, bool* isValid);
+
+  bool DeviceGet(std::unique_lock<wpi::mutex>& lock,
+                 IMFSourceReader* sourceReader);
   bool DeviceSet(std::unique_lock<wpi::mutex>& lock,
-                 IAMVideoProcAmp* pProcAmp) const;
-  bool DeviceSet(std::unique_lock<wpi::mutex>& lock, IAMVideoProcAmp* pProcAmp,
-                 int newValue) const;
+                 IMFSourceReader* sourceReader) const;
+  bool DeviceSet(std::unique_lock<wpi::mutex>& lock,
+                 IMFSourceReader* sourceReader, int newValue) const;
 
   // If this is a device (rather than software) property
   bool device{true};
   bool isAutoProp{true};
-  tagVideoProcAmpProperty tag;
+
+  bool isControlProperty{false};
+  tagVideoProcAmpProperty tagVideoProc;
+  tagCameraControlProperty tagCameraControl;
 
   // If this is a percentage (rather than raw) property
   bool percentage{false};
@@ -68,5 +79,19 @@ class UsbCameraProperty : public PropertyImpl {
 
   unsigned id{0};  // implementation-level id
   int type{0};     // implementation type, not CS_PropertyKind!
+
+ private:
+  bool DeviceGet(std::unique_lock<wpi::mutex>& lock,
+                 IAMCameraControl* pProcAmp);
+  bool DeviceSet(std::unique_lock<wpi::mutex>& lock,
+                 IAMCameraControl* pProcAmp) const;
+  bool DeviceSet(std::unique_lock<wpi::mutex>& lock, IAMCameraControl* pProcAmp,
+                 int newValue) const;
+
+  bool DeviceGet(std::unique_lock<wpi::mutex>& lock, IAMVideoProcAmp* pProcAmp);
+  bool DeviceSet(std::unique_lock<wpi::mutex>& lock,
+                 IAMVideoProcAmp* pProcAmp) const;
+  bool DeviceSet(std::unique_lock<wpi::mutex>& lock, IAMVideoProcAmp* pProcAmp,
+                 int newValue) const;
 };
 }  // namespace cs

docs/build.gradle

@@ -112,6 +112,19 @@ task generateJavaDocs(type: Javadoc) {
     source configurations.javaSource.collect { zipTree(it) }
     include '**/*.java'
     failOnError = true
+
+    title = "WPILib API $pubVersion"
+    ext.entryPoint = "$destinationDir/index.html"
+
+    if (JavaVersion.current().isJava11Compatible()) {
+        options.addBooleanOption('-no-module-directories', true)
+        doLast {
+            // This is a work-around for https://bugs.openjdk.java.net/browse/JDK-8211194. Can be removed once that issue is fixed on JDK's side
+            // Since JDK 11, package-list is missing from javadoc output files and superseded by element-list file, but a lot of external tools still need it
+            // Here we generate this file manually
+            new File(destinationDir, 'package-list').text = new File(destinationDir, 'element-list').text
+        }
+    }
 }
 
 tasks.register("zipJavaDocs", Zip) {

hal/CMakeLists.txt

@@ -26,7 +26,7 @@ file(GLOB
     hal_shared_native_src src/main/native/cpp/cpp/*.cpp
     hal_shared_native_src src/main/native/cpp/handles/*.cpp
     hal_sim_native_src src/main/native/sim/*.cpp
-    hal_sim_native_src src/main/native/sim/MockData/*.cpp)
+    hal_sim_native_src src/main/native/sim/mockdata/*.cpp)
 add_library(hal ${hal_shared_native_src})
 set_target_properties(hal PROPERTIES DEBUG_POSTFIX "d")
 

hal/src/main/native/athena/PDP.cpp

@@ -9,6 +9,8 @@
 
 #include <memory>
 
+#include <wpi/mutex.h>
+
 #include "HALInitializer.h"
 #include "PortsInternal.h"
 #include "hal/CANAPI.h"
@@ -106,9 +108,16 @@ union PdpStatusEnergy {
   } bits;
 };
 
+static wpi::mutex pdpHandleMutex;
+static HAL_PDPHandle pdpHandles[kNumPDPModules];
+
 namespace hal {
 namespace init {
-void InitializePDP() {}
+void InitializePDP() {
+  for (int i = 0; i < kNumPDPModules; i++) {
+    pdpHandles[i] = HAL_kInvalidHandle;
+  }
+}
 }  // namespace init
 }  // namespace hal
 
@@ -121,6 +130,13 @@ HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status) {
     return HAL_kInvalidHandle;
   }
 
+  std::lock_guard<wpi::mutex> lock(pdpHandleMutex);
+
+  if (pdpHandles[module] != HAL_kInvalidHandle) {
+    *status = 0;
+    return pdpHandles[module];
+  }
+
   auto handle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
 
   if (*status != 0) {
@@ -128,10 +144,21 @@ HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status) {
     return HAL_kInvalidHandle;
   }
 
+  pdpHandles[module] = handle;
+
   return handle;
 }
 
-void HAL_CleanPDP(HAL_PDPHandle handle) { HAL_CleanCAN(handle); }
+void HAL_CleanPDP(HAL_PDPHandle handle) {
+  HAL_CleanCAN(handle);
+
+  for (int i = 0; i < kNumPDPModules; i++) {
+    if (pdpHandles[i] == handle) {
+      pdpHandles[i] = HAL_kInvalidHandle;
+      return;
+    }
+  }
+}
 
 HAL_Bool HAL_CheckPDPModule(int32_t module) {
   return module < kNumPDPModules && module >= 0;

hal/src/main/native/cpp/jni/HALUtil.cpp

@@ -127,7 +127,7 @@ void ReportError(JNIEnv* env, int32_t status, bool doThrow) {
     ThrowUncleanStatusException(env, buf.c_str(), status);
   } else {
     std::string func;
-    auto stack = GetJavaStackTrace(env, &func, "edu.wpi.first.wpilibj");
+    auto stack = GetJavaStackTrace(env, &func, "edu.wpi.first");
     HAL_SendError(1, status, 0, message, func.c_str(), stack.c_str(), 1);
   }
 }

ntcore/src/main/native/cpp/Storage_load.cpp

@@ -109,10 +109,6 @@ static wpi::StringRef UnescapeString(wpi::StringRef source,
       continue;
     }
     switch (*++s) {
-      case '\\':
-      case '"':
-        buf.push_back(s[-1]);
-        break;
       case 't':
         buf.push_back('\t');
         break;
@@ -133,7 +129,7 @@ static wpi::StringRef UnescapeString(wpi::StringRef source,
         break;
       }
       default:
-        buf.push_back(s[-1]);
+        buf.push_back(*s);
         break;
     }
   }

ntcore/src/test/native/cpp/StorageTest.cpp

@@ -90,6 +90,7 @@ class StorageTestPersistent : public StorageTestEmpty {
     storage.SetEntryTypeValue("string/normal", Value::MakeString("hello"));
     storage.SetEntryTypeValue("string/special",
                               Value::MakeString(StringRef("\0\3\5\n", 4)));
+    storage.SetEntryTypeValue("string/quoted", Value::MakeString("\"a\""));
     storage.SetEntryTypeValue("raw/empty", Value::MakeRaw(""));
     storage.SetEntryTypeValue("raw/normal", Value::MakeRaw("hello"));
     storage.SetEntryTypeValue("raw/special",
@@ -599,6 +600,8 @@ TEST_P(StorageTestPersistent, SavePersistent) {
   std::tie(line, rem) = rem.split('\n');
   ASSERT_EQ("string \"string/normal\"=\"hello\"", line);
   std::tie(line, rem) = rem.split('\n');
+  ASSERT_EQ("string \"string/quoted\"=\"\\\"a\\\"\"", line);
+  std::tie(line, rem) = rem.split('\n');
   ASSERT_EQ("string \"string/special\"=\"\\x00\\x03\\x05\\n\"", line);
   std::tie(line, rem) = rem.split('\n');
   ASSERT_EQ("array string \"stringarr/empty\"=", line);
@@ -787,18 +790,19 @@ TEST_P(StorageTestEmpty, LoadPersistent) {
   in += "string \"string/empty\"=\"\"\n";
   in += "string \"string/normal\"=\"hello\"\n";
   in += "string \"string/special\"=\"\\x00\\x03\\x05\\n\"\n";
+  in += "string \"string/quoted\"=\"\\\"a\\\"\"\n";
   in += "array string \"stringarr/empty\"=\n";
   in += "array string \"stringarr/one\"=\"hello\"\n";
   in += "array string \"stringarr/two\"=\"hello\",\"world\\n\"\n";
 
-  EXPECT_CALL(dispatcher, QueueOutgoing(_, _, _)).Times(22);
+  EXPECT_CALL(dispatcher, QueueOutgoing(_, _, _)).Times(23);
   EXPECT_CALL(notifier,
               NotifyEntry(_, _, _, NT_NOTIFY_NEW | NT_NOTIFY_LOCAL, UINT_MAX))
-      .Times(22);
+      .Times(23);
 
   wpi::raw_mem_istream iss(in);
   EXPECT_TRUE(storage.LoadEntries(iss, "", true, warn_func));
-  ASSERT_EQ(22u, entries().size());
+  ASSERT_EQ(23u, entries().size());
 
   EXPECT_EQ(*Value::MakeBoolean(true), *storage.GetEntryValue("boolean/true"));
   EXPECT_EQ(*Value::MakeBoolean(false),
@@ -811,6 +815,8 @@ TEST_P(StorageTestEmpty, LoadPersistent) {
             *storage.GetEntryValue("string/normal"));
   EXPECT_EQ(*Value::MakeString(StringRef("\0\3\5\n", 4)),
             *storage.GetEntryValue("string/special"));
+  EXPECT_EQ(*Value::MakeString("\"a\""),
+            *storage.GetEntryValue("string/quoted"));
   EXPECT_EQ(*Value::MakeRaw(""), *storage.GetEntryValue("raw/empty"));
   EXPECT_EQ(*Value::MakeRaw("hello"), *storage.GetEntryValue("raw/normal"));
   EXPECT_EQ(*Value::MakeRaw(StringRef("\0\3\5\n", 4)),

simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp

@@ -26,6 +26,7 @@ DSCommPacket::DSCommPacket() {
     i.ResetTcp();
     i.ResetUdp();
   }
+  matchInfo.gameSpecificMessageSize = 0;
 }
 
 /*----------------------------------------------------------------------------
@@ -95,7 +96,7 @@ void DSCommPacket::ReadJoystickTag(wpi::ArrayRef<uint8_t> dataInput,
   int numBytes = (buttonCount + 7) / 8;
   stick.buttons.buttons = 0;
   for (int i = 0; i < numBytes; i++) {
-    stick.buttons.buttons |= dataInput[1 + i] << (8 * (i));
+    stick.buttons.buttons |= dataInput[numBytes - i] << (8 * (i));
   }
   stick.buttons.count = buttonCount;
 

simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp

@@ -66,13 +66,21 @@ TEST_F(DSCommPacketTest, BlankJoystickTag) {
 
 TEST_F(DSCommPacketTest, MainJoystickTag) {
   for (int i = 0; i < HAL_kMaxJoysticks; i++) {
+    // Just random data
+    std::array<uint8_t, 12> _buttons{{0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1}};
+
+    std::array<uint8_t, 2> _button_bytes{{0, 0}};
+    for (int btn = 0; btn < 8; btn++) _button_bytes[1] |= _buttons[btn] << btn;
+    for (int btn = 8; btn < 12; btn++)
+      _button_bytes[0] |= _buttons[btn] << (btn - 8);
+
     // 5 for base, 4 joystick, 12 buttons (2 bytes) 3 povs
     uint8_t arr[5 + 4 + 2 + 6] = {// Size, Tag
                                   16, 12,
                                   // Axes
                                   4, 0x9C, 0xCE, 0, 75,
-                                  // Buttons
-                                  12, 0xFF, 0x0F,
+                                  // Buttons (LSB 0)
+                                  12, _button_bytes[0], _button_bytes[1],
                                   // POVs
                                   3, 0, 50, 0, 100, 0x0F, 0x00};
 
@@ -80,6 +88,11 @@ TEST_F(DSCommPacketTest, MainJoystickTag) {
     ASSERT_EQ(data.axes.count, 4);
     ASSERT_EQ(data.povs.count, 3);
     ASSERT_EQ(data.buttons.count, 12);
+
+    for (int btn = 0; btn < 12; btn++) {
+      ASSERT_EQ((data.buttons.buttons & (1 << btn)) != 0, _buttons[btn] != 0)
+          << "Button " << btn;
+    }
   }
 }
 

wpilibc/src/main/native/cpp/IterativeRobotBase.cpp

@@ -26,29 +26,29 @@ IterativeRobotBase::IterativeRobotBase(double period)
       m_watchdog(period, [this] { PrintLoopOverrunMessage(); }) {}
 
 void IterativeRobotBase::RobotInit() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
 }
 
 void IterativeRobotBase::DisabledInit() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
 }
 
 void IterativeRobotBase::AutonomousInit() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
 }
 
 void IterativeRobotBase::TeleopInit() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
 }
 
 void IterativeRobotBase::TestInit() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
 }
 
 void IterativeRobotBase::RobotPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+    wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
     firstRun = false;
   }
 }
@@ -56,7 +56,7 @@ void IterativeRobotBase::RobotPeriodic() {
 void IterativeRobotBase::DisabledPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+    wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
     firstRun = false;
   }
 }
@@ -64,7 +64,7 @@ void IterativeRobotBase::DisabledPeriodic() {
 void IterativeRobotBase::AutonomousPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+    wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
     firstRun = false;
   }
 }
@@ -72,7 +72,7 @@ void IterativeRobotBase::AutonomousPeriodic() {
 void IterativeRobotBase::TeleopPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+    wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
     firstRun = false;
   }
 }
@@ -80,7 +80,7 @@ void IterativeRobotBase::TeleopPeriodic() {
 void IterativeRobotBase::TestPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
-    wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+    wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
     firstRun = false;
   }
 }

wpilibc/src/main/native/cpp/SampleRobot.cpp

@@ -59,23 +59,23 @@ void SampleRobot::StartCompetition() {
 }
 
 void SampleRobot::RobotInit() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
 }
 
 void SampleRobot::Disabled() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
 }
 
 void SampleRobot::Autonomous() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
 }
 
 void SampleRobot::OperatorControl() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
 }
 
 void SampleRobot::Test() {
-  wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n";
+  wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
 }
 
 void SampleRobot::RobotMain() { m_robotMainOverridden = false; }

wpilibc/src/main/native/cpp/Watchdog.cpp

@@ -18,7 +18,7 @@ constexpr std::chrono::milliseconds Watchdog::kMinPrintPeriod;
 class Watchdog::Thread : public wpi::SafeThread {
  public:
   template <typename T>
-  struct DerefGreater : public std::binary_function<T, T, bool> {
+  struct DerefGreater {
     constexpr bool operator()(const T& lhs, const T& rhs) const {
       return *lhs > *rhs;
     }
@@ -160,8 +160,6 @@ void Watchdog::Disable() {
   auto thr = m_owner->GetThread();
   if (!thr) return;
 
-  m_isExpired = false;
-
   thr->m_watchdogs.remove(this);
   thr->m_cond.notify_all();
 }

wpilibc/src/main/native/cpp/shuffleboard/BuiltInLayouts.cpp

@@ -1,13 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/shuffleboard/BuiltInLayouts.h"
-
-using namespace frc;
-
-const LayoutType BuiltInLayouts::kList{"List Layout"};
-const LayoutType BuiltInLayouts::kGrid{"Grid Layout"};

wpilibc/src/main/native/cpp/shuffleboard/BuiltInWidgets.cpp

@@ -1,35 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 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.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/shuffleboard/BuiltInWidgets.h"
-
-using namespace frc;
-
-const WidgetType BuiltInWidgets::kTextView{"Text View"};
-const WidgetType BuiltInWidgets::kNumberSlider{"Number Slider"};
-const WidgetType BuiltInWidgets::kNumberBar{"Number Bar"};
-const WidgetType BuiltInWidgets::kDial{"Simple Dial"};
-const WidgetType BuiltInWidgets::kGraph{"Graph"};
-const WidgetType BuiltInWidgets::kBooleanBox{"Boolean Box"};
-const WidgetType BuiltInWidgets::kToggleButton{"Toggle Button"};
-const WidgetType BuiltInWidgets::kToggleSwitch{"Toggle Switch"};
-const WidgetType BuiltInWidgets::kVoltageView{"Voltage View"};
-const WidgetType BuiltInWidgets::kPowerDistributionPanel{"PDP"};
-const WidgetType BuiltInWidgets::kComboBoxChooser{"ComboBox Chooser"};
-const WidgetType BuiltInWidgets::kSplitButtonChooser{"Split Button Chooser"};
-const WidgetType BuiltInWidgets::kEncoder{"Encoder"};
-const WidgetType BuiltInWidgets::kSpeedController{"Speed Controller"};
-const WidgetType BuiltInWidgets::kCommand{"Command"};
-const WidgetType BuiltInWidgets::kPIDCommand{"PID Command"};
-const WidgetType BuiltInWidgets::kPIDController{"PID Controller"};
-const WidgetType BuiltInWidgets::kAccelerometer{"Accelerometer"};
-const WidgetType BuiltInWidgets::k3AxisAccelerometer{"3-Axis Accelerometer"};
-const WidgetType BuiltInWidgets::kGyro{"Gyro"};
-const WidgetType BuiltInWidgets::kRelay{"Relay"};
-const WidgetType BuiltInWidgets::kDifferentialDrive{"Differential Drivebase"};
-const WidgetType BuiltInWidgets::kMecanumDrive{"Mecanum Drivebase"};
-const WidgetType BuiltInWidgets::kCameraStream{"Camera Stream"};

wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp

@@ -18,6 +18,12 @@
 
 using namespace frc;
 
+static constexpr const char* layoutStrings[] = {"List Layout", "Grid Layout"};
+
+static constexpr const char* GetStringFromBuiltInLayout(BuiltInLayouts layout) {
+  return layoutStrings[static_cast<int>(layout)];
+}
+
 ShuffleboardContainer::ShuffleboardContainer(const wpi::Twine& title)
     : ShuffleboardValue(title) {}
 
@@ -26,6 +32,11 @@ ShuffleboardContainer::GetComponents() const {
   return m_components;
 }
 
+ShuffleboardLayout& ShuffleboardContainer::GetLayout(const wpi::Twine& title,
+                                                     BuiltInLayouts type) {
+  return GetLayout(title, GetStringFromBuiltInLayout(type));
+}
+
 ShuffleboardLayout& ShuffleboardContainer::GetLayout(const wpi::Twine& title,
                                                      const LayoutType& type) {
   return GetLayout(title, type.GetLayoutName());

wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp

@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/shuffleboard/ShuffleboardWidget.h"
+
+using namespace frc;
+
+static constexpr const char* widgetStrings[] = {
+    "Text View",
+    "Number Slider",
+    "Number Bar",
+    "Simple Dial",
+    "Graph",
+    "Boolean Box",
+    "Toggle Button",
+    "Toggle Switch",
+    "Voltage View",
+    "PDP",
+    "ComboBox Chooser",
+    "Split Button Chooser",
+    "Encoder",
+    "Speed Controller",
+    "Command",
+    "PID Command",
+    "PID Controller",
+    "Accelerometer",
+    "3-Axis Accelerometer",
+    "Gyro",
+    "Relay",
+    "Differential Drivebase",
+    "Mecanum Drivebase",
+    "Camera Stream",
+};
+
+const char* detail::GetStringForWidgetType(BuiltInWidgets type) {
+  return widgetStrings[static_cast<int>(type)];
+}

wpilibc/src/main/native/include/frc/Filesystem.h

@@ -12,6 +12,7 @@
 #include "frc/RobotBase.h"
 
 namespace frc {
+/** WPILib FileSystem namespace */
 namespace filesystem {
 
 /**

wpilibc/src/main/native/include/frc/shuffleboard/BuiltInLayouts.h

@@ -19,8 +19,7 @@ namespace frc {
  *   .GetLayout(BuiltinLayouts::kList, "My List");
  * }</pre>
  */
-class BuiltInLayouts {
- public:
+enum class BuiltInLayouts {
   /**
    * Groups components in a vertical list. New widgets added to the layout will
    * be placed at the bottom of the list. <br>Custom properties: <table>
@@ -30,7 +29,7 @@ class BuiltInLayouts {
    * {@code ["TOP", "LEFT", "BOTTOM", "RIGHT", "HIDDEN"}</td></tr>
    * </table>
    */
-  static const LayoutType kList;
+  kList,
 
   /**
    * Groups components in an <i>n</i> x <i>m</i> grid. Grid layouts default to
@@ -47,7 +46,7 @@ class BuiltInLayouts {
    * </tr>
    * </table>
    */
-  static const LayoutType kGrid;
+  kGrid
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h

@@ -25,8 +25,7 @@ namespace frc {
  * <p>Each value in this enum goes into detail on what data types that widget
  * can support, as well as the custom properties that widget uses.
  */
-class BuiltInWidgets {
- public:
+enum class BuiltInWidgets {
   /**
    * Displays a value with a simple text field.
    * <br>Supported types:
@@ -37,7 +36,7 @@ class BuiltInWidgets {
    * </ul>
    * <br>This widget has no custom properties.
    */
-  static const WidgetType kTextView;
+  kTextView,
   /**
    * Displays a number with a controllable slider.
    * <br>Supported types:
@@ -54,7 +53,7 @@ class BuiltInWidgets {
    * slider by with the arrow keys</td></tr>
    * </table>
    */
-  static const WidgetType kNumberSlider;
+  kNumberSlider,
   /**
    * Displays a number with a view-only bar.
    * <br>Supported types:
@@ -71,7 +70,7 @@ class BuiltInWidgets {
    * of the bar</td></tr>
    * </table>
    */
-  static const WidgetType kNumberBar;
+  kNumberBar,
   /**
    * Displays a number with a view-only dial. Displayed values are rounded to
    * the nearest integer. <br>Supported types: <ul> <li>Number</li>
@@ -86,7 +85,7 @@ class BuiltInWidgets {
    * value as text</td></tr>
    * </table>
    */
-  static const WidgetType kDial;
+  kDial,
   /**
    * Displays a number with a graph. <strong>NOTE:</strong> graphs can be taxing
    * on the computer running the dashboard. Keep the number of visible data
@@ -103,7 +102,7 @@ class BuiltInWidgets {
    * <td>How long, in seconds, should past data be visible for</td></tr>
    * </table>
    */
-  static const WidgetType kGraph;
+  kGraph,
   /**
    * Displays a boolean value as a large colored box.
    * <br>Supported types:
@@ -121,7 +120,7 @@ class BuiltInWidgets {
    * <td>Can be specified as a string or a number</td></tr>
    * </table>
    */
-  static const WidgetType kBooleanBox;
+  kBooleanBox,
   /**
    * Displays a boolean with a large interactive toggle button.
    * <br>Supported types:
@@ -130,7 +129,7 @@ class BuiltInWidgets {
    * </ul>
    * <br>This widget has no custom properties.
    */
-  static const WidgetType kToggleButton;
+  kToggleButton,
   /**
    * Displays a boolean with a fixed-size toggle switch.
    * <br>Supported types:
@@ -139,7 +138,7 @@ class BuiltInWidgets {
    * </ul>
    * <br>This widget has no custom properties.
    */
-  static const WidgetType kToggleSwitch;
+  kToggleSwitch,
   /**
    * Displays an analog input or a raw number with a number bar.
    * <br>Supported types:
@@ -162,7 +161,7 @@ class BuiltInWidgets {
    * bar</td></tr>
    * </table>
    */
-  static const WidgetType kVoltageView;
+  kVoltageView,
   /**
    * Displays a {@link edu.wpi.first.wpilibj.PowerDistributionPanel
    * PowerDistributionPanel}. <br>Supported types: <ul> <li>{@link
@@ -175,7 +174,7 @@ class BuiltInWidgets {
    * <td>Whether or not to display the voltage and current draw</td></tr>
    * </table>
    */
-  static const WidgetType kPowerDistributionPanel;
+  kPowerDistributionPanel,
   /**
    * Displays a {@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser
    * SendableChooser} with a dropdown combo box with a list of options.
@@ -185,7 +184,7 @@ class BuiltInWidgets {
    * </ul>
    * <br>This widget has no custom properties.
    */
-  static const WidgetType kComboBoxChooser;
+  kComboBoxChooser,
   /**
    * Displays a {@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser
    * SendableChooser} with a toggle button for each available option.
@@ -195,7 +194,7 @@ class BuiltInWidgets {
    * </ul>
    * <br>This widget has no custom properties.
    */
-  static const WidgetType kSplitButtonChooser;
+  kSplitButtonChooser,
   /**
    * Displays an {@link edu.wpi.first.wpilibj.Encoder} displaying its speed,
    * total travelled distance, and its distance per tick. <br>Supported types:
@@ -204,7 +203,7 @@ class BuiltInWidgets {
    * </ul>
    * <br>This widget has no custom properties.
    */
-  static const WidgetType kEncoder;
+  kEncoder,
   /**
    * Displays a {@link edu.wpi.first.wpilibj.SpeedController SpeedController}.
    * The speed controller will be controllable from the dashboard when test mode
@@ -228,7 +227,7 @@ class BuiltInWidgets {
    * <td>One of {@code ["HORIZONTAL", "VERTICAL"]}</td></tr>
    * </table>
    */
-  static const WidgetType kSpeedController;
+  kSpeedController,
   /**
    * Displays a command with a toggle button. Pressing the button will start the
    * command, and the button will automatically release when the command
@@ -239,7 +238,7 @@ class BuiltInWidgets {
    * </ul>
    * <br>This widget has no custom properties.
    */
-  static const WidgetType kCommand;
+  kCommand,
   /**
    * Displays a PID command with a checkbox and an editor for the PIDF
    * constants. Selecting the checkbox will start the command, and the checkbox
@@ -249,7 +248,7 @@ class BuiltInWidgets {
    * </ul>
    * <br>This widget has no custom properties.
    */
-  static const WidgetType kPIDCommand;
+  kPIDCommand,
   /**
    * Displays a PID controller with an editor for the PIDF constants and a
    * toggle switch for enabling and disabling the controller. <br>Supported
@@ -257,7 +256,7 @@ class BuiltInWidgets {
    * </ul>
    * <br>This widget has no custom properties.
    */
-  static const WidgetType kPIDController;
+  kPIDController,
   /**
    * Displays an accelerometer with a number bar displaying the magnitude of the
    * acceleration and text displaying the exact value. <br>Supported types: <ul>
@@ -278,7 +277,7 @@ class BuiltInWidgets {
    * <td>Show or hide the tick marks on the number bars</td></tr>
    * </table>
    */
-  static const WidgetType kAccelerometer;
+  kAccelerometer,
   /**
    * Displays a 3-axis accelerometer with a number bar for each axis'
    * accleration. <br>Supported types: <ul> <li>{@link
@@ -298,7 +297,7 @@ class BuiltInWidgets {
    * <td>Show or hide the tick marks on the number bars</td></tr>
    * </table>
    */
-  static const WidgetType k3AxisAccelerometer;
+  k3AxisAccelerometer,
   /**
    * Displays a gyro with a dial from 0 to 360 degrees.
    * <br>Supported types:
@@ -317,7 +316,7 @@ class BuiltInWidgets {
    * <tr><td>Show tick mark ring</td><td>Boolean</td><td>true</td></tr>
    * </table>
    */
-  static const WidgetType kGyro;
+  kGyro,
   /**
    * Displays a relay with toggle buttons for each supported mode (off, on,
    * forward, reverse). <br>Supported types: <ul> <li>{@link
@@ -325,7 +324,7 @@ class BuiltInWidgets {
    * </ul>
    * <br>This widget has no custom properties.
    */
-  static const WidgetType kRelay;
+  kRelay,
   /**
    * Displays a differential drive with a widget that displays the speed of each
    * side of the drivebase and a vector for the direction and rotation of the
@@ -344,7 +343,7 @@ class BuiltInWidgets {
    * <tr><td>Show velocity vectors</td><td>Boolean</td><td>true</td></tr>
    * </table>
    */
-  static const WidgetType kDifferentialDrive;
+  kDifferentialDrive,
   /**
    * Displays a mecanum drive with a widget that displays the speed of each
    * wheel, and vectors for the direction and rotation of the drivebase. The
@@ -357,7 +356,7 @@ class BuiltInWidgets {
    * <tr><td>Show velocity vectors</td><td>Boolean</td><td>true</td></tr>
    * </table>
    */
-  static const WidgetType kMecanumDrive;
+  kMecanumDrive,
   /**
    * Displays a camera stream.
    * <br>Supported types:
@@ -381,7 +380,7 @@ class BuiltInWidgets {
    * </td></tr>
    * </table>
    */
-  static const WidgetType kCameraStream;
+  kCameraStream
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/LayoutType.h

@@ -7,7 +7,7 @@
 
 #pragma once
 
-#include <wpi/Twine.h>
+#include <wpi/StringRef.h>
 
 namespace frc {
 
@@ -20,7 +20,8 @@ namespace frc {
  */
 class LayoutType {
  public:
-  explicit LayoutType(const char* layoutName) : m_layoutName(layoutName) {}
+  explicit constexpr LayoutType(const char* layoutName)
+      : m_layoutName(layoutName) {}
   ~LayoutType() = default;
 
   /**
@@ -30,7 +31,7 @@ class LayoutType {
   wpi::StringRef GetLayoutName() const;
 
  private:
-  wpi::StringRef m_layoutName;
+  const char* m_layoutName;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h

@@ -20,6 +20,7 @@
 
 #include "frc/ErrorBase.h"
 #include "frc/WPIErrors.h"
+#include "frc/shuffleboard/BuiltInLayouts.h"
 #include "frc/shuffleboard/LayoutType.h"
 #include "frc/shuffleboard/ShuffleboardComponentBase.h"
 #include "frc/shuffleboard/ShuffleboardValue.h"
@@ -53,6 +54,16 @@ class ShuffleboardContainer : public virtual ShuffleboardValue,
   const std::vector<std::unique_ptr<ShuffleboardComponentBase>>& GetComponents()
       const;
 
+  /**
+   * Gets the layout with the given type and title, creating it if it does not
+   * already exist at the time this method is called.
+   *
+   * @param title      the title of the layout
+   * @param layoutType the type of the layout, eg "List" or "Grid"
+   * @return the layout
+   */
+  ShuffleboardLayout& GetLayout(const wpi::Twine& title, BuiltInLayouts type);
+
   /**
    * Gets the layout with the given type and title, creating it if it does not
    * already exist at the time this method is called.

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardWidget.h

@@ -9,6 +9,7 @@
 
 #include <wpi/Twine.h>
 
+#include "frc/shuffleboard/BuiltInWidgets.h"
 #include "frc/shuffleboard/ShuffleboardComponent.h"
 #include "frc/shuffleboard/WidgetType.h"
 
@@ -16,6 +17,10 @@ namespace frc {
 
 class ShuffleboardContainer;
 
+namespace detail {
+const char* GetStringForWidgetType(BuiltInWidgets type);
+}  // namespace detail
+
 /**
  * Abstract superclass for widgets.
  *
@@ -24,12 +29,11 @@ class ShuffleboardContainer;
  * @tparam Derived the self type
  */
 template <typename Derived>
-class ShuffleboardWidget
-    : public ShuffleboardComponent<ShuffleboardWidget<Derived>> {
+class ShuffleboardWidget : public ShuffleboardComponent<Derived> {
  public:
   ShuffleboardWidget(ShuffleboardContainer& parent, const wpi::Twine& title)
       : ShuffleboardValue(title),
-        ShuffleboardComponent<ShuffleboardWidget<Derived>>(parent, title) {}
+        ShuffleboardComponent<Derived>(parent, title) {}
 
   /**
    * Sets the type of widget used to display the data. If not set, the default
@@ -39,7 +43,18 @@ class ShuffleboardWidget
    * @return this widget object
    * @see BuiltInWidgets
    */
-  Derived& withWidget(const WidgetType& widgetType) {
+  Derived& WithWidget(BuiltInWidgets widgetType) {
+    return WithWidget(detail::GetStringForWidgetType(widgetType));
+  }
+
+  /**
+   * Sets the type of widget used to display the data. If not set, the default
+   * widget type will be used.
+   *
+   * @param widgetType the type of the widget used to display the data
+   * @return this widget object
+   */
+  Derived& WithWidget(const WidgetType& widgetType) {
     return WithWidget(widgetType.GetWidgetName());
   }
 

wpilibc/src/main/native/include/frc/shuffleboard/WidgetType.h

@@ -7,7 +7,7 @@
 
 #pragma once
 
-#include <wpi/Twine.h>
+#include <wpi/StringRef.h>
 
 namespace frc {
 
@@ -20,7 +20,8 @@ namespace frc {
  */
 class WidgetType {
  public:
-  explicit WidgetType(const char* widgetName) : m_widgetName(widgetName) {}
+  explicit constexpr WidgetType(const char* widgetName)
+      : m_widgetName(widgetName) {}
   ~WidgetType() = default;
 
   /**
@@ -30,7 +31,7 @@ class WidgetType {
   wpi::StringRef GetWidgetName() const;
 
  private:
-  wpi::StringRef m_widgetName;
+  const char* m_widgetName;
 };
 
 }  // namespace frc

wpilibc/src/test/native/cpp/WatchdogTest.cpp

@@ -83,11 +83,18 @@ TEST(WatchdogTest, SetTimeout) {
 
 TEST(WatchdogTest, IsExpired) {
   Watchdog watchdog(0.2, [] {});
+  EXPECT_FALSE(watchdog.IsExpired());
   watchdog.Enable();
 
   EXPECT_FALSE(watchdog.IsExpired());
   std::this_thread::sleep_for(std::chrono::milliseconds(300));
   EXPECT_TRUE(watchdog.IsExpired());
+
+  watchdog.Disable();
+  EXPECT_TRUE(watchdog.IsExpired());
+
+  watchdog.Reset();
+  EXPECT_FALSE(watchdog.IsExpired());
 }
 
 TEST(WatchdogTest, Epochs) {
@@ -118,7 +125,11 @@ TEST(WatchdogTest, Epochs) {
   EXPECT_EQ(0u, watchdogCounter) << "Watchdog triggered early";
 }
 
+#ifdef __APPLE__
+TEST(WatchdogTest, DISABLED_MultiWatchdog) {
+#else
 TEST(WatchdogTest, MultiWatchdog) {
+#endif
   uint32_t watchdogCounter1 = 0;
   uint32_t watchdogCounter2 = 0;
 

wpilibc/src/test/native/cpp/shuffleboard/ShuffleboardWidgetTest.cpp

@@ -0,0 +1,65 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <array>
+#include <memory>
+#include <string>
+
+#include <networktables/NetworkTableEntry.h>
+#include <networktables/NetworkTableInstance.h>
+
+#include "frc/commands/InstantCommand.h"
+#include "frc/shuffleboard/BuiltInWidgets.h"
+#include "frc/shuffleboard/ShuffleboardInstance.h"
+#include "frc/shuffleboard/ShuffleboardTab.h"
+#include "frc/shuffleboard/ShuffleboardWidget.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+class ShuffleboardWidgetTest : public testing::Test {
+  void SetUp() override {
+    m_ntInstance = nt::NetworkTableInstance::Create();
+    m_instance = std::make_unique<detail::ShuffleboardInstance>(m_ntInstance);
+    m_tab = &(m_instance->GetTab("Tab"));
+  }
+
+ protected:
+  nt::NetworkTableInstance m_ntInstance;
+  ShuffleboardTab* m_tab;
+  std::unique_ptr<detail::ShuffleboardInstance> m_instance;
+};
+
+TEST_F(ShuffleboardWidgetTest, UseBuiltInWidget) {
+  auto entry =
+      m_tab->Add("Name", "").WithWidget(BuiltInWidgets::kTextView).GetEntry();
+  EXPECT_EQ("/Shuffleboard/Tab/Name", entry.GetName())
+      << "The widget entry has the wrong name";
+}
+
+TEST_F(ShuffleboardWidgetTest, WithProperties) {
+  wpi::StringMap<std::shared_ptr<nt::Value>> properties{
+      std::make_pair("min", nt::Value::MakeDouble(0)),
+      std::make_pair("max", nt::Value::MakeDouble(1))};
+  auto entry =
+      m_tab->Add("WithProperties", "").WithProperties(properties).GetEntry();
+
+  // Update the instance to generate
+  // the metadata entries for the widget properties
+  m_instance->Update();
+
+  auto propertiesTable = m_ntInstance.GetTable(
+      "/Shuffleboard/.metadata/Tab/WithProperties/Properties");
+
+  EXPECT_EQ("/Shuffleboard/Tab/WithProperties", entry.GetName())
+      << "The widget entry has the wrong name";
+  EXPECT_FLOAT_EQ(0, propertiesTable->GetEntry("min").GetDouble(-1))
+      << "The 'min' property should be 0";
+  EXPECT_FLOAT_EQ(1, propertiesTable->GetEntry("max").GetDouble(-1))
+      << "The 'max' property should be 1";
+}

wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java

@@ -86,7 +86,7 @@ public abstract class IterativeRobotBase extends RobotBase {
    * never indicate that the code is ready, causing the robot to be bypassed in a match.
    */
   public void robotInit() {
-    System.out.println("Default robotInit() method... Overload me!");
+    System.out.println("Default robotInit() method... Override me!");
   }
 
   /**
@@ -96,7 +96,7 @@ public abstract class IterativeRobotBase extends RobotBase {
    * robot enters disabled mode.
    */
   public void disabledInit() {
-    System.out.println("Default disabledInit() method... Overload me!");
+    System.out.println("Default disabledInit() method... Override me!");
   }
 
   /**
@@ -106,7 +106,7 @@ public abstract class IterativeRobotBase extends RobotBase {
    * robot enters autonomous mode.
    */
   public void autonomousInit() {
-    System.out.println("Default autonomousInit() method... Overload me!");
+    System.out.println("Default autonomousInit() method... Override me!");
   }
 
   /**
@@ -116,7 +116,7 @@ public abstract class IterativeRobotBase extends RobotBase {
    * robot enters teleop mode.
    */
   public void teleopInit() {
-    System.out.println("Default teleopInit() method... Overload me!");
+    System.out.println("Default teleopInit() method... Override me!");
   }
 
   /**
@@ -127,7 +127,7 @@ public abstract class IterativeRobotBase extends RobotBase {
    */
   @SuppressWarnings("PMD.JUnit4TestShouldUseTestAnnotation")
   public void testInit() {
-    System.out.println("Default testInit() method... Overload me!");
+    System.out.println("Default testInit() method... Override me!");
   }
 
   /* ----------- Overridable periodic code ----------------- */
@@ -139,7 +139,7 @@ public abstract class IterativeRobotBase extends RobotBase {
    */
   public void robotPeriodic() {
     if (m_rpFirstRun) {
-      System.out.println("Default robotPeriodic() method... Overload me!");
+      System.out.println("Default robotPeriodic() method... Override me!");
       m_rpFirstRun = false;
     }
   }
@@ -151,7 +151,7 @@ public abstract class IterativeRobotBase extends RobotBase {
    */
   public void disabledPeriodic() {
     if (m_dpFirstRun) {
-      System.out.println("Default disabledPeriodic() method... Overload me!");
+      System.out.println("Default disabledPeriodic() method... Override me!");
       m_dpFirstRun = false;
     }
   }
@@ -163,7 +163,7 @@ public abstract class IterativeRobotBase extends RobotBase {
    */
   public void autonomousPeriodic() {
     if (m_apFirstRun) {
-      System.out.println("Default autonomousPeriodic() method... Overload me!");
+      System.out.println("Default autonomousPeriodic() method... Override me!");
       m_apFirstRun = false;
     }
   }
@@ -175,7 +175,7 @@ public abstract class IterativeRobotBase extends RobotBase {
    */
   public void teleopPeriodic() {
     if (m_tpFirstRun) {
-      System.out.println("Default teleopPeriodic() method... Overload me!");
+      System.out.println("Default teleopPeriodic() method... Override me!");
       m_tpFirstRun = false;
     }
   }
@@ -188,7 +188,7 @@ public abstract class IterativeRobotBase extends RobotBase {
   @SuppressWarnings("PMD.JUnit4TestShouldUseTestAnnotation")
   public void testPeriodic() {
     if (m_tmpFirstRun) {
-      System.out.println("Default testPeriodic() method... Overload me!");
+      System.out.println("Default testPeriodic() method... Override me!");
       m_tmpFirstRun = false;
     }
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java

@@ -667,7 +667,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
    *
    * @param pidSource the type of input
    */
-  void setPIDSourceType(PIDSourceType pidSource) {
+  public void setPIDSourceType(PIDSourceType pidSource) {
     m_pidInput.setPIDSourceType(pidSource);
   }
 
@@ -676,7 +676,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
    *
    * @return the PID controller input type
    */
-  PIDSourceType getPIDSourceType() {
+  public PIDSourceType getPIDSourceType() {
     return m_pidInput.getPIDSourceType();
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java

@@ -55,7 +55,7 @@ public class SampleRobot extends RobotBase {
   }
 
   /**
-   * Disabled should go here. Users should overload this method to run code that should run while
+   * Disabled should go here. Users should override this method to run code that should run while
    * the field is disabled.
    *
    * <p>Called once each time the robot enters the disabled state.

wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java

@@ -46,7 +46,7 @@ public class Ultrasonic extends SendableBase implements PIDSource {
   // ultrasonic sensor list
   private static final List<Ultrasonic> m_sensors = new ArrayList<>();
   // automatic round robin mode
-  private static boolean m_automaticEnabled;
+  private static volatile boolean m_automaticEnabled;
   private DigitalInput m_echoChannel;
   private DigitalOutput m_pingChannel;
   private boolean m_allocatedChannels;
@@ -70,30 +70,18 @@ public class Ultrasonic extends SendableBase implements PIDSource {
   private static class UltrasonicChecker extends Thread {
     @Override
     public synchronized void run() {
-      int sensorIndex = 0;
-      Ultrasonic ultrasonic;
       while (m_automaticEnabled) {
-        //lock list to ensure deletion doesn't occur between empty check and retrieving sensor
-        synchronized (m_sensors) {
-          if (m_sensors.isEmpty()) {
-            return;
+        for (Ultrasonic sensor: m_sensors) {
+          if (!m_automaticEnabled) {
+            break;
           }
-          if (sensorIndex >= m_sensors.size()) {
-            sensorIndex = m_sensors.size() - 1;
-          }
-          ultrasonic = m_sensors.get(sensorIndex);
-        }
-        if (ultrasonic.isEnabled()) {
-          // Do the ping
-          ultrasonic.m_pingChannel.pulse(kPingTime);
-        }
-        if (sensorIndex < m_sensors.size()) {
-          sensorIndex++;
-        } else {
-          sensorIndex = 0;
-        }
 
-        Timer.delay(.1); // wait for ping to return
+          if (sensor.isEnabled()) {
+            sensor.m_pingChannel.pulse(kPingTime);  // do the ping
+          }
+
+          Timer.delay(0.1);  // wait for ping to return
+        }
       }
     }
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java

@@ -195,8 +195,6 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
   public void disable() {
     m_queueMutex.lock();
     try {
-      m_isExpired = false;
-
       m_watchdogs.remove(this);
       m_schedulerWaiter.signalAll();
     } finally {

wpilibj/src/test/java/edu/wpi/first/wpilibj/WatchdogTest.java

@@ -121,6 +121,7 @@ class WatchdogTest {
   void isExpiredTest() {
     final Watchdog watchdog = new Watchdog(0.2, () -> {
     });
+    assertFalse(watchdog.isExpired());
     watchdog.enable();
 
     assertFalse(watchdog.isExpired());
@@ -130,6 +131,12 @@ class WatchdogTest {
       Thread.currentThread().interrupt();
     }
     assertTrue(watchdog.isExpired());
+
+    watchdog.disable();
+    assertTrue(watchdog.isExpired());
+
+    watchdog.reset();
+    assertFalse(watchdog.isExpired());
   }
 
   @Test

wpiutil/src/main/native/cpp/uv/Pipe.cpp

@@ -25,8 +25,27 @@ std::shared_ptr<Pipe> Pipe::Create(Loop& loop, bool ipc) {
   return h;
 }
 
+void Pipe::Reuse(std::function<void()> callback, bool ipc) {
+  if (IsClosing()) return;
+  if (!m_reuseData) m_reuseData = std::make_unique<ReuseData>();
+  m_reuseData->callback = callback;
+  m_reuseData->ipc = ipc;
+  uv_close(GetRawHandle(), [](uv_handle_t* handle) {
+    Pipe& h = *static_cast<Pipe*>(handle->data);
+    if (!h.m_reuseData) return;
+    auto data = std::move(h.m_reuseData);
+    auto err =
+        uv_pipe_init(h.GetLoopRef().GetRaw(), h.GetRaw(), data->ipc ? 1 : 0);
+    if (err < 0) {
+      h.ReportError(err);
+      return;
+    }
+    data->callback();
+  });
+}
+
 std::shared_ptr<Pipe> Pipe::Accept() {
-  auto client = Create(GetLoopRef());
+  auto client = Create(GetLoopRef(), GetRaw()->ipc);
   if (!client) return nullptr;
   if (!Accept(client)) {
     client->Release();

wpiutil/src/main/native/include/wpi/uv/Pipe.h

@@ -56,6 +56,18 @@ class Pipe final : public NetworkStreamImpl<Pipe, uv_pipe_t> {
     return Create(*loop, ipc);
   }
 
+  /**
+   * Reuse this handle.  This closes the handle, and after the close completes,
+   * reinitializes it (identically to Create) and calls the provided callback.
+   * Unlike Close(), it does NOT emit the closed signal, however, IsClosing()
+   * will return true until the callback is called.  This does nothing if
+   * IsClosing() is true (e.g. if Close() was called).
+   *
+   * @param ipc IPC
+   * @param callback Callback
+   */
+  void Reuse(std::function<void()> callback, bool ipc = false);
+
   /**
    * Accept incoming connection.
    *
@@ -176,6 +188,12 @@ class Pipe final : public NetworkStreamImpl<Pipe, uv_pipe_t> {
 
  private:
   Pipe* DoAccept() override;
+
+  struct ReuseData {
+    std::function<void()> callback;
+    bool ipc;
+  };
+  std::unique_ptr<ReuseData> m_reuseData;
 };
 
 /**