Fix "'dimensionless' ambiguous symbol" error (#2382)

A typedef for units::dimensionless::dimensionless is defined, which
conflicted with the namespace when we added "using namespace
dimensionless". This patch reverts the "using namespace" directive.
"using" directives were added to pull three of the four relevant
typedefs but avoid the "dimensionless" type conflict.

This issue was first introduced in #2301.

.github/workflows/gradle-wrapper-validation.yml

@@ -0,0 +1,10 @@
+name: "Validate Gradle Wrapper"
+on: [push]
+
+jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: gradle/wrapper-validation-action@v1

.gitignore

@@ -3,6 +3,7 @@
 dependency-reduced-pom.xml
 doxygen.log
 build*/
+!buildSrc/
 
 # Created by the jenkins test script
 test-reports

.styleguide

@@ -9,16 +9,9 @@ cppSrcFileInclude {
 }
 
 generatedFileExclude {
-  gtest/
-  ni-libraries/include/
-  ni-libraries/lib/
   FRCNetComm\.java$
-  simulation/frc_gazebo_plugins/frcgazebo/
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
-}
-
-modifiableFileExclude {
-  \.so$
+  simulation/halsim_gui/src/main/native/include/portable-file-dialogs\.h$
 }
 
 repoRootNameOverride {

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
   "enableCppIntellisense": true,
   "currentLanguage": "cpp",
-  "projectYear": "2019",
+  "projectYear": "2020",
   "teamNumber": 0
 }

CMakeLists.txt

@@ -55,6 +55,7 @@ option(USE_VCPKG_LIBUV "Use vcpkg libuv" OFF)
 option(USE_VCPKG_EIGEN "Use vcpkg eigen" OFF)
 option(FLAT_INSTALL_WPILIB "Use a flat install directory" OFF)
 option(WITH_SIMULATION_MODULES "build simulation modules" OFF)
+set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
 
 if (NOT WITHOUT_JAVA AND NOT BUILD_SHARED_LIBS)
     message(FATAL_ERROR "
@@ -64,6 +65,15 @@ FATAL: Cannot build static libs with Java enabled.
 ")
 endif()
 
+if (WITHOUT_JAVA OR WITHOUT_CSCORE)
+    if(NOT "${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
+        message(WARNING "
+WARNING: OpenCV Java dir set but java is not enabled!
+It will be ignored.
+")
+    endif()
+endif()
+
 set( wpilib_dest wpilib)
 set( include_dest wpilib/include )
 set( main_lib_dest wpilib/lib )

CONTRIBUTING.md

@@ -37,7 +37,7 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 
 ## Coding Guidelines
 
-WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system. We currently use clang-format 5.0 with wpiformat.
+WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system. We currently use clang-format 6.0 with wpiformat.
 
 While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
 

FasterBuilds.md

@@ -0,0 +1,15 @@
+# Faster Builds for Developers
+
+When you run `./gradlew build`, it builds EVERYTHING. This means debug and release builds for desktop and all installed cross compilers. For many developers, this is way too much, and causes much developer pain.
+
+To help with some of these things, common tasks have shortcuts to only build necessary things for common development and testing tasks.
+
+## Development (Desktop)
+
+For projects `wpiutil`, `ntcore`, `cscore`, `hal` `wpilibOldCommands`, `wpilibNewCommands` and `cameraserver`, a `testDesktopJava` and a `testDesktopCpp` task exists. These can be ran with `./gradlew :projectName:task`, and will only build the minimum things required to run those tests.
+
+For `wpilibc`, a `testDesktopCpp` task exists. For `wpilibj`, a `testDesktopJava` task exists.
+
+For `wpilibcExamples`, a `buildDesktopCpp` task exists (These can't be ran, but they can compile).
+
+For `wpilibjExamples`, a `buildDesktopJava` task exists.

MavenArtifacts.md

@@ -5,8 +5,8 @@ WPILib publishes its built artifacts to our Maven server for use by downstream p
 ## Repositories
 We provide two repositories. These repositories are:
 
-* (Release)     https://first.wpi.edu/FRC/roborio/maven/release/
-* (Development) https://first.wpi.edu/FRC/roborio/maven/development/
+* (Release)     https://frcmaven.wpi.edu/artifactory/release/
+* (Development) https://frcmaven.wpi.edu/artifactory/development/
 
 The release repository is where official WPILib releases are pushed.
 The development repository is where development releases of every commit to [master](https://github.com/wpilibsuite/allwpilib/tree/master) is pushed.
@@ -72,6 +72,10 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
 * hal
   * wpiutil
 
+* halsim
+  * imgui
+  * wpiutil
+
 * ntcore
   * wpiutil
 
@@ -85,7 +89,6 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * opencv
   * wpiutil
 
-
 * wpilibj
   * hal
   * cameraserver
@@ -93,10 +96,35 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * cscore
   * wpiutil
 
-
 * wpilibc
   * hal
   * cameraserver
   * ntcore
   * cscore
   * wpiutil
+
+* wpilibNewCommands
+  * wpilibc
+  * hal
+  * cameraserver
+  * ntcore
+  * cscore
+  * wpiutil
+
+* wpilibNewCommands
+  * wpilibc
+  * hal
+  * cameraserver
+  * ntcore
+  * cscore
+  * wpiutil
+
+### Third Party Artifacts
+
+This repository provides the builds of the following third party software.
+
+All artifacts are based at `edu.wpi.first.thirdparty.frcYEAR` in the repository.
+
+* googletest
+* imgui
+* opencv

README-CMAKE.md

@@ -34,6 +34,8 @@ The following build options are available:
   * TODO
 * EXTERNAL_HAL_FILE
   * TODO
+* OPENCV_JAVA_INSTALL_DIR
+  * Set this option to the location of the archive of the OpenCV Java bindings (it should be called opencv-xxx.jar, with the x'es being version numbers). NOTE: set it to the LOCATION of the file, not the file itself!
 
 ## Build Setup
 

README.md

@@ -27,7 +27,7 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
     - On Linux, GCC works fine
     - On Windows, you need Visual Studio 2019 (the free community edition works fine).
       Make sure to select the C++ Programming Language for installation
-- [ARM Compiler Toolchain](https://github.com/wpilibsuite/toolchain-builder/releases)
+- [ARM Compiler Toolchain](https://github.com/wpilibsuite/roborio-toolchain/releases)
   * Note that for 2020 and beyond, you should use version 7 or greater of GCC
 - Doxygen (Only required if you want to build the C++ documentation)
 

ThirdPartyNotices.txt

@@ -44,6 +44,7 @@ Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineP
                       wpilibc/src/main/native/include/spline/SplineParameterizer.h
                       wpilibc/src/main/native/include/trajectory/TrajectoryParameterizer.h
                       wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
+Portable File Dialogs simulation/halsim_gui/src/main/native/include/portable-file-dialogs.h
 
 
 ==============================================================================

azure-pipelines-testbench.yaml

@@ -1,19 +1,91 @@
-# Starter pipeline
-# Start with a minimal pipeline that you can customize to build and deploy your code.
-# Add steps that build, run tests, deploy, and more:
-# https://aka.ms/yaml
-
-trigger:
-- master
-
-pool:
-  vmImage: 'ubuntu-latest'
-
-steps:
-- script: echo Hello, world!
-  displayName: 'Run a one-line script'
-
-- script: |
-    echo Add other tasks to build, test, and deploy your project.
-    echo See https://aka.ms/yaml
-  displayName: 'Run a multi-line script'
+# Testing steps for real hardware
+
+trigger:
+  batch: true
+  branches:
+    include:
+    - master
+
+stages:
+- stage: Build
+  jobs:
+  - job: IntegrationTests
+    displayName: Integration Tests
+    pool:
+      vmImage: 'Ubuntu 16.04'
+
+    container:
+      image:  wpilib/roborio-cross-ubuntu:2020-18.04
+
+    timeoutInMinutes: 0
+
+    steps:
+    - task: Gradle@2
+      condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
+      inputs:
+        workingDirectory: ''
+        gradleWrapperFile: 'gradlew'
+        gradleOptions: '-Xmx3072m'
+        publishJUnitResults: false
+        testResultsFiles: '**/TEST-*.xml'
+        tasks: 'copyWpilibJIntegrationTestJarToOutput copyWpilibCTestLibrariesToOutput'
+        options: '-Ponlylinuxathena -PbuildServer'
+
+    - task: PublishPipelineArtifact@0
+      inputs:
+        artifactName: 'Integration Tests'
+        targetPath: 'build/integrationTestFiles'
+
+- stage: TestBench
+  displayName: Test Bench
+  jobs:
+  - job: Cpp
+    displayName: C++
+    pool: RoboRioConnections
+    timeoutInMinutes: 30
+    workspace:
+      clean: all
+    steps:
+    - task: DownloadPipelineArtifact@0
+      inputs:
+        artifactName: 'Integration Tests'
+        targetPath: 'build/integrationTestFiles'
+
+    - task: ShellScript@2
+      displayName: Run C++ Tests
+      inputs:
+        scriptPath: test-scripts/deploy-and-run-test-on-robot.sh
+        args: 'cpp -A "--gtest_output=xml:/home/admin/testResults/cppreport.xml"'
+
+    - task: PublishTestResults@2
+      displayName: Publish C++ Test Results
+      inputs:
+        testResultsFormat: 'JUnit'
+        testResultsFiles: '*.xml'
+        testRunTitle: 'C++ Test Report'
+        searchFolder: '$(System.DefaultWorkingDirectory)/test-reports'
+
+  - job: Java
+    pool: RoboRioConnections
+    timeoutInMinutes: 30
+    workspace:
+      clean: all
+    steps:
+    - task: DownloadPipelineArtifact@0
+      inputs:
+        artifactName: 'Integration Tests'
+        targetPath: 'build/integrationTestFiles'
+
+    - task: ShellScript@2
+      displayName: Run Java Tests
+      inputs:
+        scriptPath: test-scripts/deploy-and-run-test-on-robot.sh
+        args: 'java'
+
+    - task: PublishTestResults@2
+      displayName: Publish Java Test Results
+      inputs:
+        testResultsFormat: 'JUnit'
+        testResultsFiles: '*.xml'
+        testRunTitle: 'Java Test Report'
+        searchFolder: '$(System.DefaultWorkingDirectory)/test-reports'

azure-pipelines.yml

@@ -298,9 +298,6 @@ stages:
           mkdir build
           export JAVA_HOME=`/usr/libexec/java_home -v 11`
         displayName: 'Setup JDK'
-      - script: |
-          rm /Users/vsts/.gradle/init.d/log-gradle-version-plugin.gradle
-        displayName: 'Delete Version init script'
 
       - task: Gradle@2
         condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))

build.gradle

@@ -3,15 +3,14 @@ import edu.wpi.first.toolchain.*
 plugins {
     id 'base'
     id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '4.0.1'
-    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.1'
+    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
     id 'edu.wpi.first.NativeUtils' apply false
-    id 'edu.wpi.first.GradleJni' version '0.9.1'
-    id 'edu.wpi.first.GradleVsCode' version '0.9.4'
+    id 'edu.wpi.first.GradleJni' version '0.10.1'
+    id 'edu.wpi.first.GradleVsCode' version '0.11.0'
     id 'idea'
     id 'visual-studio'
-    id 'com.gradle.build-scan' version '2.3'
-    id 'net.ltgt.errorprone' version '0.6' apply false
-    id 'com.github.johnrengelman.shadow' version '4.0.3' apply false
+    id 'net.ltgt.errorprone' version '1.1.1' apply false
+    id 'com.github.johnrengelman.shadow' version '5.2.0' apply false
 }
 
 if (project.hasProperty('buildServer')) {
@@ -99,7 +98,9 @@ subprojects {
     // Disables doclint in java 8.
     if (JavaVersion.current().isJava8Compatible()) {
         tasks.withType(Javadoc) {
-            options.addStringOption('Xdoclint:none', '-quiet')
+            if (project.name != "docs") {
+                options.addStringOption('Xdoclint:none', '-quiet')
+            }
         }
     }
 }
@@ -109,5 +110,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '5.4.1'
+    gradleVersion = '6.0'
 }

buildSrc/build.gradle

@@ -5,5 +5,5 @@ repositories {
     }
 }
 dependencies {
-    compile "edu.wpi.first:native-utils:2020.1.2"
+    implementation "edu.wpi.first:native-utils:2020.7.2"
 }

buildSrc/src/main/groovy/JREArtifact.groovy

@@ -0,0 +1,48 @@
+import groovy.transform.CompileStatic
+import javax.inject.Inject
+import jaci.gradle.deploy.artifact.MavenArtifact
+import jaci.gradle.deploy.context.DeployContext
+import org.gradle.api.Project
+import jaci.gradle.ActionWrapper
+
+import java.util.function.Function
+
+@CompileStatic
+class JREArtifact extends MavenArtifact {
+    Function<DeployContext, Boolean> buildRequiresJre = (Function<DeployContext, Boolean>){ true }
+
+    void setJreDependency(String dep) {
+      dependency = project.dependencies.add(configuration(), dep)
+    }
+
+    @Inject
+    JREArtifact(String name, Project project) {
+        super(name, project)
+        configuration = project.configurations.create(configuration())
+
+        onlyIf = { DeployContext ctx ->
+            (buildRequiresJre.apply(ctx) && jreMissing(ctx)) || project.hasProperty("force-redeploy-jre")
+        }
+
+        predeploy << new ActionWrapper({ DeployContext ctx ->
+            ctx.logger.log('Deploying RoboRIO JRE (this will take a while)...')
+        })
+
+        directory = '/tmp'
+        filename = 'frcjre.ipk'
+
+        postdeploy << new ActionWrapper({ DeployContext ctx ->
+            ctx.logger.log('Installing JRE...')
+            ctx.execute('opkg remove frc2020-openjdk*; opkg install /tmp/frcjre.ipk; rm /tmp/frcjre.ipk')
+            ctx.logger.log('JRE Deployed!')
+        })
+    }
+
+    String configuration() {
+        return name + 'frcjre'
+    }
+
+    boolean jreMissing(DeployContext ctx) {
+        return ctx.execute('if [[ -f "/usr/local/frc/JRE/bin/java" ]]; then echo OK; else echo MISSING; fi').result.contains("MISSING")
+    }
+}

cameraserver/.styleguide

@@ -7,16 +7,12 @@ cppSrcFileInclude {
   \.cpp$
 }
 
-modifiableFileExclude {
-  \.so$
-}
-
 repoRootNameOverride {
   cameraserver
 }
 
 includeOtherLibs {
-  ^HAL/
+  ^hal/
   ^networktables/
   ^opencv2/
   ^support/

cameraserver/build.gradle

@@ -10,12 +10,12 @@ evaluationDependsOn(':hal')
 apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
 
 dependencies {
-    compile project(':wpiutil')
-    compile project(':ntcore')
-    compile project(':cscore')
-    devCompile project(':wpiutil')
-    devCompile project(':ntcore')
-    devCompile project(':cscore')
+    implementation project(':wpiutil')
+    implementation project(':ntcore')
+    implementation project(':cscore')
+    devImplementation project(':wpiutil')
+    devImplementation project(':ntcore')
+    devImplementation project(':cscore')
 }
 
 ext {

cameraserver/multiCameraServer/build.gradle

@@ -27,12 +27,12 @@ repositories {
 }
 
 dependencies {
-    compile 'com.google.code.gson:gson:2.8.5'
+    implementation 'com.google.code.gson:gson:2.8.5'
 
-    compile project(':wpiutil')
-    compile project(':ntcore')
-    compile project(':cscore')
-    compile project(':cameraserver')
+    implementation project(':wpiutil')
+    implementation project(':ntcore')
+    implementation project(':cscore')
+    implementation project(':cameraserver')
 }
 
 model {

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

@@ -13,6 +13,7 @@
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
 #include <wpi/DenseMap.h>
+#include <wpi/ManagedStatic.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringMap.h>
 #include <wpi/mutex.h>
@@ -47,8 +48,14 @@ struct CameraServer::Impl {
 };
 
 CameraServer* CameraServer::GetInstance() {
-  static CameraServer instance;
-  return &instance;
+  struct Creator {
+    static void* call() { return new CameraServer{}; }
+  };
+  struct Deleter {
+    static void call(void* ptr) { delete static_cast<CameraServer*>(ptr); }
+  };
+  static wpi::ManagedStatic<CameraServer, Creator, Deleter> instance;
+  return &(*instance);
 }
 
 static wpi::StringRef MakeSourceValue(CS_Source source,

cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp

@@ -24,15 +24,10 @@ class DefaultCameraServerShared : public frc::CameraServerShared {
 };
 }  // namespace
 
-namespace frc {
-
-static std::unique_ptr<CameraServerShared> cameraServerShared = nullptr;
+static std::unique_ptr<frc::CameraServerShared> cameraServerShared = nullptr;
 static wpi::mutex setLock;
 
-void SetCameraServerShared(std::unique_ptr<CameraServerShared> shared) {
-  std::unique_lock lock(setLock);
-  cameraServerShared = std::move(shared);
-}
+namespace frc {
 CameraServerShared* GetCameraServerShared() {
   std::unique_lock lock(setLock);
   if (!cameraServerShared) {
@@ -41,3 +36,10 @@ CameraServerShared* GetCameraServerShared() {
   return cameraServerShared.get();
 }
 }  // namespace frc
+
+extern "C" {
+void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared) {
+  std::unique_lock lock(setLock);
+  cameraServerShared.reset(shared);
+}
+}  // extern "C"

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2018-2019 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.                                                               */
@@ -26,6 +26,10 @@ class CameraServerShared {
   virtual std::pair<std::thread::id, bool> GetRobotMainThreadId() const = 0;
 };
 
-void SetCameraServerShared(std::unique_ptr<CameraServerShared> shared);
 CameraServerShared* GetCameraServerShared();
 }  // namespace frc
+
+extern "C" {
+// Takes ownership
+void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared);
+}  // extern "C"

cmake/modules/GenResources.cmake

@@ -1,3 +1,4 @@
+set(SCRIPTS_DIR "${CMAKE_CURRENT_LIST_DIR}/../scripts")
 MACRO(GENERATE_RESOURCES inputDir outputDir prefix namespace outputFiles)
   FILE(GLOB inputFiles ${inputDir}/*)
   SET(${outputFiles})
@@ -16,9 +17,9 @@ MACRO(GENERATE_RESOURCES inputDir outputDir prefix namespace outputFiles)
         "-Doutput=${output}"
         "-Dprefix=${prefix}"
         "-Dnamespace=${namespace}"
-        -P "${CMAKE_SOURCE_DIR}/cmake/scripts/GenResource.cmake"
+        -P "${SCRIPTS_DIR}/GenResource.cmake"
       MAIN_DEPENDENCY ${input}
-      DEPENDS ${CMAKE_SOURCE_DIR}/cmake/scripts/GenResource.cmake
+      DEPENDS ${SCRIPTS_DIR}/GenResource.cmake
       VERBATIM
     )
   ENDFOREACH()

cscore/CMakeLists.txt

@@ -69,7 +69,9 @@ if (NOT WITHOUT_JAVA)
 
     #find java files, copy them locally
 
-    set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/OpenCV/java/)
+    if("${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
+        set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/OpenCV/java/)
+    endif()
 
     find_file(OPENCV_JAR_FILE NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin NO_DEFAULT_PATH)
     find_file(OPENCV_JNI_FILE NAMES libopencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.so

cscore/build.gradle

@@ -19,7 +19,8 @@ ext {
     sharedCvConfigs = [cscore    : [],
                        cscoreBase: [],
                        cscoreDev : [],
-                       cscoreTest: []]
+                       cscoreTest: [],
+                       cscoreJNIShared: []]
     staticCvConfigs = [cscoreJNI: []]
     useJava = true
     useCpp = true

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -18,13 +18,18 @@ public class UsbCameraInfo {
    * @param path Path to device if available (e.g. '/dev/video0' on Linux)
    * @param name Vendor/model name of the camera as provided by the USB driver
    * @param otherPaths Other path aliases to device
+   * @param vendorId USB vendor id
+   * @param productId USB product id
    */
   @SuppressWarnings("PMD.ArrayIsStoredDirectly")
-  public UsbCameraInfo(int dev, String path, String name, String[] otherPaths) {
+  public UsbCameraInfo(int dev, String path, String name, String[] otherPaths, int vendorId,
+      int productId) {
     this.dev = dev;
     this.path = path;
     this.name = name;
     this.otherPaths = otherPaths;
+    this.vendorId = vendorId;
+    this.productId = productId;
   }
 
   /**
@@ -50,4 +55,16 @@ public class UsbCameraInfo {
    */
   @SuppressWarnings("MemberName")
   public String[] otherPaths;
+
+  /**
+   * USB vendor id.
+   */
+  @SuppressWarnings("MemberName")
+  public int vendorId;
+
+  /**
+   * USB product id.
+   */
+  @SuppressWarnings("MemberName")
+  public int productId;
 }

cscore/src/main/native/cpp/HttpCameraImpl.cpp

@@ -412,7 +412,11 @@ std::unique_ptr<PropertyImpl> HttpCameraImpl::CreateEmptyProperty(
 }
 
 bool HttpCameraImpl::CacheProperties(CS_Status* status) const {
+#ifdef _MSC_VER  // work around VS2019 16.4.0 bug
+  std::scoped_lock<wpi::mutex> lock(m_mutex);
+#else
   std::scoped_lock lock(m_mutex);
+#endif
 
   // Pretty typical set of video modes
   m_videoModes.clear();

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

@@ -78,7 +78,11 @@ template <typename THandle, typename TStruct, int typeValue, typename TMutex>
 template <typename... Args>
 THandle UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::Allocate(
     Args&&... args) {
+#ifdef _MSC_VER  // work around VS2019 16.4.0 bug
+  std::scoped_lock<TMutex> lock(m_handleMutex);
+#else
   std::scoped_lock sync(m_handleMutex);
+#endif
   size_t i;
   for (i = 0; i < m_structures.size(); i++) {
     if (m_structures[i] == nullptr) {

cscore/src/main/native/cpp/UsbCameraImplCommon.cpp

@@ -21,6 +21,8 @@ static void ConvertToC(CS_UsbCameraInfo* out, const UsbCameraInfo& in) {
   out->otherPathsCount = in.otherPaths.size();
   for (size_t i = 0; i < in.otherPaths.size(); ++i)
     out->otherPaths[i] = cs::ConvertToC(in.otherPaths[i]);
+  out->vendorId = in.vendorId;
+  out->productId = in.productId;
 }
 
 static void FreeUsbCameraInfo(CS_UsbCameraInfo* info) {

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

@@ -5,6 +5,9 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include <exception>
+
+#include <opencv2/core/core.hpp>
 #include <wpi/SmallString.h>
 #include <wpi/jni_util.h>
 #include <wpi/raw_ostream.h>
@@ -33,6 +36,7 @@ static JClass rawFrameCls;
 static JException videoEx;
 static JException nullPointerEx;
 static JException unsupportedEx;
+static JException exceptionEx;
 // Thread-attached environment for listener callbacks.
 static JNIEnv* listenerEnv = nullptr;
 
@@ -45,7 +49,8 @@ static const JClassInit classes[] = {
 static const JExceptionInit exceptions[] = {
     {"edu/wpi/cscore/VideoException", &videoEx},
     {"java/lang/NullPointerException", &nullPointerEx},
-    {"java/lang/UnsupportedOperationException", &unsupportedEx}};
+    {"java/lang/UnsupportedOperationException", &unsupportedEx},
+    {"java/lang/Exception", &exceptionEx}};
 
 static void ListenerOnStart() {
   if (!jvm) return;
@@ -67,6 +72,30 @@ static void ListenerOnExit() {
   jvm->DetachCurrentThread();
 }
 
+/// throw java exception
+static void ThrowJavaException(JNIEnv* env, const std::exception* e) {
+  wpi::SmallString<128> what;
+  jclass je = 0;
+
+  if (e) {
+    const char* exception_type = "std::exception";
+
+    if (dynamic_cast<const cv::Exception*>(e)) {
+      exception_type = "cv::Exception";
+      je = env->FindClass("org/opencv/core/CvException");
+    }
+
+    what = exception_type;
+    what += ": ";
+    what += e->what();
+  } else {
+    what = "unknown exception";
+  }
+
+  if (!je) je = exceptionEx;
+  env->ThrowNew(je, what.c_str());
+}
+
 extern "C" {
 
 JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
@@ -194,13 +223,14 @@ static inline bool CheckStatus(JNIEnv* env, CS_Status status) {
 static jobject MakeJObject(JNIEnv* env, const cs::UsbCameraInfo& info) {
   static jmethodID constructor = env->GetMethodID(
       usbCameraInfoCls, "<init>",
-      "(ILjava/lang/String;Ljava/lang/String;[Ljava/lang/String;)V");
+      "(ILjava/lang/String;Ljava/lang/String;[Ljava/lang/String;II)V");
   JLocal<jstring> path(env, MakeJString(env, info.path));
   JLocal<jstring> name(env, MakeJString(env, info.name));
   JLocal<jobjectArray> otherPaths(env, MakeJStringArray(env, info.otherPaths));
   return env->NewObject(usbCameraInfoCls, constructor,
                         static_cast<jint>(info.dev), path.obj(), name.obj(),
-                        otherPaths.obj());
+                        otherPaths.obj(), static_cast<jint>(info.vendorId),
+                        static_cast<jint>(info.productId));
 }
 
 static jobject MakeJObject(JNIEnv* env, const cs::VideoMode& videoMode) {
@@ -1095,10 +1125,16 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_cscore_CameraServerCvJNI_putSourceFrame
   (JNIEnv* env, jclass, jint source, jlong imageNativeObj)
 {
-  cv::Mat& image = *((cv::Mat*)imageNativeObj);
-  CS_Status status = 0;
-  cs::PutSourceFrame(source, image, &status);
-  CheckStatus(env, status);
+  try {
+    cv::Mat& image = *((cv::Mat*)imageNativeObj);
+    CS_Status status = 0;
+    cs::PutSourceFrame(source, image, &status);
+    CheckStatus(env, status);
+  } catch (const std::exception& e) {
+    ThrowJavaException(env, &e);
+  } catch (...) {
+    ThrowJavaException(env, 0);
+  }
 }
 
 // int width, int height, int pixelFormat, int totalData
@@ -1554,11 +1590,19 @@ JNIEXPORT jlong JNICALL
 Java_edu_wpi_cscore_CameraServerCvJNI_grabSinkFrame
   (JNIEnv* env, jclass, jint sink, jlong imageNativeObj)
 {
-  cv::Mat& image = *((cv::Mat*)imageNativeObj);
-  CS_Status status = 0;
-  auto rv = cs::GrabSinkFrame(sink, image, &status);
-  CheckStatus(env, status);
-  return rv;
+  try {
+    cv::Mat& image = *((cv::Mat*)imageNativeObj);
+    CS_Status status = 0;
+    auto rv = cs::GrabSinkFrame(sink, image, &status);
+    CheckStatus(env, status);
+    return rv;
+  } catch (const std::exception& e) {
+    ThrowJavaException(env, &e);
+    return 0;
+  } catch (...) {
+    ThrowJavaException(env, 0);
+    return 0;
+  }
 }
 
 /*
@@ -1570,11 +1614,19 @@ JNIEXPORT jlong JNICALL
 Java_edu_wpi_cscore_CameraServerCvJNI_grabSinkFrameTimeout
   (JNIEnv* env, jclass, jint sink, jlong imageNativeObj, jdouble timeout)
 {
-  cv::Mat& image = *((cv::Mat*)imageNativeObj);
-  CS_Status status = 0;
-  auto rv = cs::GrabSinkFrameTimeout(sink, image, timeout, &status);
-  CheckStatus(env, status);
-  return rv;
+  try {
+    cv::Mat& image = *((cv::Mat*)imageNativeObj);
+    CS_Status status = 0;
+    auto rv = cs::GrabSinkFrameTimeout(sink, image, timeout, &status);
+    CheckStatus(env, status);
+    return rv;
+  } catch (const std::exception& e) {
+    ThrowJavaException(env, &e);
+    return 0;
+  } catch (...) {
+    ThrowJavaException(env, 0);
+    return 0;
+  }
 }
 
 static void SetRawFrameData(JNIEnv* env, jobject rawFrameObj,

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

@@ -236,6 +236,8 @@ typedef struct CS_UsbCameraInfo {
   char* name;
   int otherPathsCount;
   char** otherPaths;
+  int vendorId;
+  int productId;
 } CS_UsbCameraInfo;
 
 /**

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

@@ -56,6 +56,10 @@ struct UsbCameraInfo {
   std::string name;
   /** Other path aliases to device (e.g. '/dev/v4l/by-id/...' etc on Linux) */
   std::vector<std::string> otherPaths;
+  /** USB Vendor Id */
+  int vendorId = -1;
+  /** USB Product Id */
+  int productId = -1;
 };
 
 /**

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2020 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.                                                               */
@@ -102,7 +102,7 @@ static bool IsPercentageProperty(wpi::StringRef name) {
   if (name.startswith("raw_")) name = name.substr(4);
   return name == "brightness" || name == "contrast" || name == "saturation" ||
          name == "hue" || name == "sharpness" || name == "gain" ||
-         name == "exposure_absolute";
+         name == "exposure_absolute" || name == "exposure_time_absolute";
 }
 
 static constexpr const int quirkLifeCamHd3000[] = {
@@ -112,6 +112,11 @@ static constexpr char const* quirkPS3EyePropExAuto = "auto_exposure";
 static constexpr char const* quirkPS3EyePropExValue = "exposure";
 static constexpr const int quirkPS3EyePropExAutoOn = 0;
 static constexpr const int quirkPS3EyePropExAutoOff = 1;
+static constexpr char const* quirkPiCameraPropExAuto = "auto_exposure";
+static constexpr char const* quirkPiCameraPropExValue =
+    "exposure_time_absolute";
+static constexpr const int quirkPiCameraPropExAutoOn = 0;
+static constexpr const int quirkPiCameraPropExAutoOff = 1;
 
 int UsbCameraImpl::RawToPercentage(const UsbCameraProperty& rawProp,
                                    int rawValue) {
@@ -143,10 +148,36 @@ int UsbCameraImpl::PercentageToRaw(const UsbCameraProperty& rawProp,
          (rawProp.maximum - rawProp.minimum) * (percentValue / 100.0);
 }
 
-static bool GetDescriptionSysV4L(wpi::StringRef path, std::string* desc) {
-  wpi::SmallString<64> ifpath{"/sys/class/video4linux/"};
-  ifpath += path.substr(5);
-  ifpath += "/device/interface";
+static bool GetVendorProduct(int dev, int* vendor, int* product) {
+  wpi::SmallString<64> ifpath;
+  {
+    wpi::raw_svector_ostream oss{ifpath};
+    oss << "/sys/class/video4linux/video" << dev << "/device/modalias";
+  }
+
+  int fd = open(ifpath.c_str(), O_RDONLY);
+  if (fd < 0) return false;
+
+  char readBuf[128];
+  ssize_t n = read(fd, readBuf, sizeof(readBuf));
+  close(fd);
+
+  if (n <= 0) return false;
+  wpi::StringRef readStr{readBuf};
+  if (readStr.substr(readStr.find('v')).substr(1, 4).getAsInteger(16, *vendor))
+    return false;
+  if (readStr.substr(readStr.find('p')).substr(1, 4).getAsInteger(16, *product))
+    return false;
+
+  return true;
+}
+
+static bool GetDescriptionSysV4L(int dev, std::string* desc) {
+  wpi::SmallString<64> ifpath;
+  {
+    wpi::raw_svector_ostream oss{ifpath};
+    oss << "/sys/class/video4linux/video" << dev << "/device/interface";
+  }
 
   int fd = open(ifpath.c_str(), O_RDONLY);
   if (fd < 0) return false;
@@ -192,23 +223,35 @@ static bool GetDescriptionIoctl(const char* cpath, std::string* desc) {
   return true;
 }
 
-static std::string GetDescriptionImpl(const char* cpath) {
+static int GetDeviceNum(const char* cpath) {
   wpi::StringRef path{cpath};
-  char pathBuf[128];
-  std::string rv;
+  std::string pathBuf;
 
-  // If trying to get by id or path, follow symlink
-  if (path.startswith("/dev/v4l/by-id/")) {
-    ssize_t n = readlink(cpath, pathBuf, sizeof(pathBuf));
-    if (n > 0) path = wpi::StringRef(pathBuf, n);
-  } else if (path.startswith("/dev/v4l/by-path/")) {
-    ssize_t n = readlink(cpath, pathBuf, sizeof(pathBuf));
-    if (n > 0) path = wpi::StringRef(pathBuf, n);
+  // it might be a symlink; if so, find the symlink target (e.g. /dev/videoN),
+  // add that to the list and make it the keypath
+  if (wpi::sys::fs::is_symlink_file(cpath)) {
+    char* target = ::realpath(cpath, nullptr);
+    if (target) {
+      pathBuf = target;
+      path = pathBuf;
+      std::free(target);
+    }
   }
 
-  if (path.startswith("/dev/video")) {
+  path = wpi::sys::path::filename(path);
+  if (!path.startswith("video")) return -1;
+  int dev = -1;
+  if (path.substr(5).getAsInteger(10, dev)) return -1;
+  return dev;
+}
+
+static std::string GetDescriptionImpl(const char* cpath) {
+  std::string rv;
+
+  int dev = GetDeviceNum(cpath);
+  if (dev >= 0) {
     // Sometimes the /sys tree gives a better name.
-    if (GetDescriptionSysV4L(path, &rv)) return rv;
+    if (GetDescriptionSysV4L(dev, &rv)) return rv;
   }
 
   // Otherwise use an ioctl to query the caps and get the card name
@@ -1074,6 +1117,25 @@ void UsbCameraImpl::DeviceCacheVideoModes() {
     }
   }
 
+  // The Pi camera reports mode ranges, which we don't currently handle, so only
+  // provide a set of discrete modes; list based on
+  // https://picamera.readthedocs.io/en/release-1.10/fov.html
+  if (modes.empty() && m_picamera) {
+    for (VideoMode::PixelFormat pixelFormat :
+         {VideoMode::kYUYV, VideoMode::kMJPEG, VideoMode::kBGR}) {
+      modes.emplace_back(pixelFormat, 1920, 1080, 30);
+      modes.emplace_back(pixelFormat, 2592, 1944, 15);
+      modes.emplace_back(pixelFormat, 1296, 972, 42);
+      modes.emplace_back(pixelFormat, 1296, 730, 49);
+      modes.emplace_back(pixelFormat, 640, 480, 90);
+      modes.emplace_back(pixelFormat, 320, 240, 90);
+      modes.emplace_back(pixelFormat, 160, 120, 90);
+      modes.emplace_back(pixelFormat, 640, 480, 60);
+      modes.emplace_back(pixelFormat, 320, 240, 60);
+      modes.emplace_back(pixelFormat, 160, 120, 60);
+    }
+  }
+
   {
     std::scoped_lock lock(m_mutex);
     m_videoModes.swap(modes);
@@ -1154,8 +1216,15 @@ void UsbCameraImpl::SetQuirks() {
   wpi::StringRef desc = GetDescription(descbuf);
   m_lifecam_exposure =
       desc.endswith("LifeCam HD-3000") || desc.endswith("LifeCam Cinema (TM)");
-  m_ps3eyecam_exposure =
-      desc.endswith("Camera-B4.04.27.1") || desc.endswith("Camera-B4.09.24.1");
+  m_picamera = desc.startswith("mmal service");
+
+  int deviceNum = GetDeviceNum(m_path.c_str());
+  if (deviceNum >= 0) {
+    int vendorId, productId;
+    if (GetVendorProduct(deviceNum, &vendorId, &productId)) {
+      m_ps3eyecam_exposure = vendorId == 0x1415 && productId == 0x2000;
+    }
+  }
 }
 
 void UsbCameraImpl::SetProperty(int property, int value, CS_Status* status) {
@@ -1204,7 +1273,9 @@ void UsbCameraImpl::SetExposureAuto(CS_Status* status) {
   if (m_ps3eyecam_exposure) {
     SetProperty(GetPropertyIndex(quirkPS3EyePropExAuto),
                 quirkPS3EyePropExAutoOn, status);
-
+  } else if (m_picamera) {
+    SetProperty(GetPropertyIndex(quirkPiCameraPropExAuto),
+                quirkPiCameraPropExAutoOn, status);
   } else {
     SetProperty(GetPropertyIndex(kPropExAuto), 3, status);
   }
@@ -1214,6 +1285,9 @@ void UsbCameraImpl::SetExposureHoldCurrent(CS_Status* status) {
   if (m_ps3eyecam_exposure) {
     SetProperty(GetPropertyIndex(quirkPS3EyePropExAuto),
                 quirkPS3EyePropExAutoOff, status);  // manual
+  } else if (m_picamera) {
+    SetProperty(GetPropertyIndex(quirkPiCameraPropExAuto),
+                quirkPiCameraPropExAutoOff, status);  // manual
   } else {
     SetProperty(GetPropertyIndex(kPropExAuto), 1, status);  // manual
   }
@@ -1223,6 +1297,9 @@ void UsbCameraImpl::SetExposureManual(int value, CS_Status* status) {
   if (m_ps3eyecam_exposure) {
     SetProperty(GetPropertyIndex(quirkPS3EyePropExAuto),
                 quirkPS3EyePropExAutoOff, status);  // manual
+  } else if (m_picamera) {
+    SetProperty(GetPropertyIndex(quirkPiCameraPropExAuto),
+                quirkPiCameraPropExAutoOff, status);  // manual
   } else {
     SetProperty(GetPropertyIndex(kPropExAuto), 1, status);  // manual
   }
@@ -1233,6 +1310,8 @@ void UsbCameraImpl::SetExposureManual(int value, CS_Status* status) {
   }
   if (m_ps3eyecam_exposure) {
     SetProperty(GetPropertyIndex(quirkPS3EyePropExValue), value, status);
+  } else if (m_picamera) {
+    SetProperty(GetPropertyIndex(quirkPiCameraPropExValue), value, status);
   } else {
     SetProperty(GetPropertyIndex(kPropExValue), value, status);
   }
@@ -1318,24 +1397,15 @@ UsbCameraInfo GetUsbCameraInfo(CS_Source source, CS_Status* status) {
   std::string keypath = static_cast<UsbCameraImpl&>(*data->source).GetPath();
   info.path = keypath;
 
-  // it might be a symlink; if so, find the symlink target (e.g. /dev/videoN),
-  // add that to the list and make it the keypath
-  if (wpi::sys::fs::is_symlink_file(keypath)) {
-    char* target = ::realpath(keypath.c_str(), nullptr);
-    if (target) {
-      keypath.assign(target);
-      info.otherPaths.emplace_back(keypath);
-      std::free(target);
-    }
-  }
-
   // device number
-  wpi::StringRef fname = wpi::sys::path::filename(keypath);
-  if (fname.startswith("video")) fname.substr(5).getAsInteger(10, info.dev);
+  info.dev = GetDeviceNum(keypath.c_str());
 
   // description
   info.name = GetDescriptionImpl(keypath.c_str());
 
+  // vendor/product id
+  GetVendorProduct(info.dev, &info.vendorId, &info.productId);
+
   // look through /dev/v4l/by-id and /dev/v4l/by-path for symlinks to the
   // keypath
   wpi::SmallString<128> path;
@@ -1386,6 +1456,8 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
       info.name = GetDescriptionImpl(path.c_str());
       if (info.name.empty()) continue;
 
+      GetVendorProduct(dev, &info.vendorId, &info.productId);
+
       if (dev >= retval.size()) retval.resize(info.dev + 1);
       retval[info.dev] = std::move(info);
     }

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2020 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.                                                               */
@@ -166,6 +166,7 @@ class UsbCameraImpl : public SourceImpl {
   // Quirks
   bool m_lifecam_exposure{false};    // Microsoft LifeCam exposure
   bool m_ps3eyecam_exposure{false};  // PS3 Eyecam exposure
+  bool m_picamera{false};            // Raspberry Pi camera
 
   //
   // Variables protected by m_mutex

docs/build.gradle

@@ -10,6 +10,8 @@ evaluationDependsOn(':hal')
 evaluationDependsOn(':cameraserver')
 evaluationDependsOn(':wpilibc')
 evaluationDependsOn(':wpilibj')
+evaluationDependsOn(':wpilibOldCommands')
+evaluationDependsOn(':wpilibNewCommands')
 
 def baseArtifactIdCpp = 'documentation'
 def artifactGroupIdCpp = 'edu.wpi.first.wpilibc'
@@ -29,6 +31,8 @@ cppProjectZips.add(project(':ntcore').cppHeadersZip)
 cppProjectZips.add(project(':cscore').cppHeadersZip)
 cppProjectZips.add(project(':cameraserver').cppHeadersZip)
 cppProjectZips.add(project(':wpilibc').cppHeadersZip)
+cppProjectZips.add(project(':wpilibOldCommands').cppHeadersZip)
+cppProjectZips.add(project(':wpilibNewCommands').cppHeadersZip)
 
 doxygen {
   executables {
@@ -71,8 +75,8 @@ doxygen {
 }
 
 tasks.register("zipCppDocs", Zip) {
-    baseName = zipBaseNameCpp
-    destinationDir = outputsFolder
+    archiveBaseName = zipBaseNameCpp
+    destinationDirectory = outputsFolder
     dependsOn doxygen
     from ("$buildDir/docs/doxygen/html")
     into '/'
@@ -100,7 +104,7 @@ task generateJavaDocs(type: Javadoc) {
     classpath += project(":wpiutil").sourceSets.main.compileClasspath
     options.links("https://docs.oracle.com/en/java/javase/11/docs/api/")
     options.addStringOption "tag", "pre:a:Pre-Condition"
-    options.addStringOption('Xdoclint:accessibility,html,missing,reference,syntax')
+    options.addBooleanOption "Xdoclint:html,missing,reference,syntax", true
     options.addBooleanOption('html5', true)
     dependsOn project(':wpilibj').generateJavaVersion
     dependsOn project(':hal').generateUsageReporting
@@ -110,6 +114,8 @@ task generateJavaDocs(type: Javadoc) {
     source project(':ntcore').sourceSets.main.java
     source project(':wpilibj').sourceSets.main.java
     source project(':cameraserver').sourceSets.main.java
+    source project(':wpilibOldCommands').sourceSets.main.java
+    source project(':wpilibNewCommands').sourceSets.main.java
     source configurations.javaSource.collect { zipTree(it) }
     include '**/*.java'
     failOnError = true
@@ -130,8 +136,8 @@ task generateJavaDocs(type: Javadoc) {
 }
 
 tasks.register("zipJavaDocs", Zip) {
-    baseName = zipBaseNameJava
-    destinationDir = outputsFolder
+    archiveBaseName = zipBaseNameJava
+    destinationDirectory = outputsFolder
     dependsOn generateJavaDocs
     from ("$buildDir/docs/javadoc")
     into '/'

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-5.4.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.0-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

gradlew

@@ -7,7 +7,7 @@
 # you may not use this file except in compliance with the License.
 # You may obtain a copy of the License at
 #
-#      http://www.apache.org/licenses/LICENSE-2.0
+#      https://www.apache.org/licenses/LICENSE-2.0
 #
 # Unless required by applicable law or agreed to in writing, software
 # distributed under the License is distributed on an "AS IS" BASIS,
@@ -125,8 +125,8 @@ if $darwin; then
     GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
 fi
 
-# For Cygwin, switch paths to Windows format before running java
-if $cygwin ; then
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
     APP_HOME=`cygpath --path --mixed "$APP_HOME"`
     CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
     JAVACMD=`cygpath --unix "$JAVACMD"`
@@ -154,19 +154,19 @@ if $cygwin ; then
         else
             eval `echo args$i`="\"$arg\""
         fi
-        i=$((i+1))
+        i=`expr $i + 1`
     done
     case $i in
-        (0) set -- ;;
-        (1) set -- "$args0" ;;
-        (2) set -- "$args0" "$args1" ;;
-        (3) set -- "$args0" "$args1" "$args2" ;;
-        (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+        0) set -- ;;
+        1) set -- "$args0" ;;
+        2) set -- "$args0" "$args1" ;;
+        3) set -- "$args0" "$args1" "$args2" ;;
+        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
     esac
 fi
 
@@ -175,14 +175,9 @@ save () {
     for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
     echo " "
 }
-APP_ARGS=$(save "$@")
+APP_ARGS=`save "$@"`
 
 # Collect all arguments for the java command, following the shell quoting and substitution rules
 eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
 
-# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
-if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
-  cd "$(dirname "$0")"
-fi
-
 exec "$JAVACMD" "$@"

gradlew.bat

@@ -5,7 +5,7 @@
 @rem you may not use this file except in compliance with the License.
 @rem You may obtain a copy of the License at
 @rem
-@rem      http://www.apache.org/licenses/LICENSE-2.0
+@rem      https://www.apache.org/licenses/LICENSE-2.0
 @rem
 @rem Unless required by applicable law or agreed to in writing, software
 @rem distributed under the License is distributed on an "AS IS" BASIS,

hal/CMakeLists.txt

@@ -57,7 +57,7 @@ set_property(TARGET hal PROPERTY FOLDER "libraries")
 
 install(TARGETS hal EXPORT hal DESTINATION "${main_lib_dest}")
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/hal")
-install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/gen DESTINATION "${include_dest}/hal")
+install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/gen/ DESTINATION "${include_dest}/hal")
 
 if (MSVC OR FLAT_INSTALL_WPILIB)
     set (hal_config_dir ${wpilib_dest})

hal/build.gradle

@@ -185,3 +185,14 @@ nativeUtils.exportsConfigs {
         }
     }
 }
+
+model {
+    binaries {
+        all {
+            if (!(it instanceof NativeBinarySpec)) return
+            if (it.component.name != 'hal' && it.component.name != 'halBase') return
+            if (it.targetPlatform.name != nativeUtils.wpi.platforms.roborio) return
+            nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared', 'visa_shared')
+        }
+    }
+}

hal/src/generate/FRCUsageReporting.h.in

@@ -1,14 +1,54 @@
 #pragma once
 
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// ifdef's definition is to allow for default parameters in C++.
+#ifdef __cplusplus
+/**
+ * Reports a hardware usage to the HAL.
+ *
+ * @param resource       the used resource
+ * @param instanceNumber the instance of the resource
+ * @param context        a user specified context index
+ * @param feature        a user specified feature string
+ * @return               the index of the added value in NetComm
+ */
+int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
+                   int32_t context = 0, const char* feature = nullptr);
+#else
+
+/**
+ * Reports a hardware usage to the HAL.
+ *
+ * @param resource       the used resource
+ * @param instanceNumber the instance of the resource
+ * @param context        a user specified context index
+ * @param feature        a user specified feature string
+ * @return               the index of the added value in NetComm
+ */
+int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
+                   const char* feature);
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
 /*
  * Autogenerated file! Do not manually edit this file.
  */
 
+#ifdef __cplusplus
 namespace HALUsageReporting {
-  typedef enum {
+  enum tResourceType : int32_t {
 ${usage_reporting_types_cpp}
-  } tResourceType;
-  typedef enum {
+  };
+  enum tInstances : int32_t {
 ${usage_reporting_instances_cpp}
-  } tInstances;
+  };
 }
+#endif

hal/src/generate/Instances.txt

@@ -3,6 +3,7 @@ kLanguage_CPlusPlus = 2
 kLanguage_Java = 3
 kLanguage_Python = 4
 kLanguage_DotNet = 5
+kLanguage_Kotlin = 6
 kCANPlugin_BlackJagBridge = 1
 kCANPlugin_2CAN = 2
 kFramework_Iterative = 1
@@ -41,4 +42,11 @@ kDriverStationEIO_TouchSlider = 11
 kADXL345_SPI = 1
 kADXL345_I2C = 2
 kCommand_Scheduler = 1
+kCommand2_Scheduler = 2
 kSmartDashboard_Instance = 1
+kKinematics_DifferentialDrive = 1
+kKinematics_MecanumDrive = 2
+kKinematics_SwerveDrive = 3
+kOdometry_DifferentialDrive = 1
+kOdometry_MecanumDrive = 2
+kOdometry_SwerveDrive = 3

hal/src/generate/ResourceType.txt

@@ -62,7 +62,7 @@ kResourceType_PCM = 60
 kResourceType_PigeonIMU = 61
 kResourceType_NidecBrushless = 62
 kResourceType_CANifier = 63
-kResourceType_CTRE_future0 = 64
+kResourceType_TalonFX = 64
 kResourceType_CTRE_future1 = 65
 kResourceType_CTRE_future2 = 66
 kResourceType_CTRE_future3 = 67
@@ -83,3 +83,12 @@ kResourceType_PWMVictorSPX = 81
 kResourceType_RevSparkMaxPWM = 82
 kResourceType_RevSparkMaxCAN = 83
 kResourceType_ADIS16470 = 84
+kResourceType_PIDController2 = 85
+kResourceType_ProfiledPIDController = 86
+kResourceType_Kinematics = 87
+kResourceType_Odometry = 88
+kResourceType_Units = 89
+kResourceType_TrapezoidProfile = 90
+kResourceType_DutyCycle = 91
+kResourceType_AddressableLEDs = 92
+kResourceType_FusionVenom = 93

hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java

@@ -0,0 +1,23 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class AddressableLEDJNI extends JNIWrapper {
+  public static native int initialize(int pwmHandle);
+  public static native void free(int handle);
+
+  public static native void setLength(int handle, int length);
+  public static native void setData(int handle, byte[] data);
+
+  public static native void setBitTiming(int handle, int lowTime0, int highTime0, int lowTime1, int highTime1);
+  public static native void setSyncTime(int handle, int syncTime);
+
+  public static native void start(int handle);
+  public static native void stop(int handle);
+}

hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java

@@ -7,8 +7,6 @@
 
 package edu.wpi.first.hal;
 
-import java.nio.IntBuffer;
-
 public class AnalogJNI extends JNIWrapper {
   /**
    * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:58</i><br> enum values
@@ -94,13 +92,18 @@ public class AnalogJNI extends JNIWrapper {
 
   public static native void getAccumulatorOutput(int analogPortHandle, AccumulatorResult result);
 
-  public static native int initializeAnalogTrigger(int analogInputHandle, IntBuffer index);
+  public static native int initializeAnalogTrigger(int analogInputHandle);
+
+  public static native int initializeAnalogTriggerDutyCycle(int dutyCycleHandle);
 
   public static native void cleanAnalogTrigger(int analogTriggerHandle);
 
   public static native void setAnalogTriggerLimitsRaw(int analogTriggerHandle, int lower,
                                                       int upper);
 
+  public static native void setAnalogTriggerLimitsDutyCycle(int analogTriggerHandle, double lower,
+                                                            double higher);
+
   public static native void setAnalogTriggerLimitsVoltage(int analogTriggerHandle,
                                                           double lower, double upper);
 
@@ -115,4 +118,7 @@ public class AnalogJNI extends JNIWrapper {
   public static native boolean getAnalogTriggerTriggerState(int analogTriggerHandle);
 
   public static native boolean getAnalogTriggerOutput(int analogTriggerHandle, int type);
+
+  @SuppressWarnings("AbbreviationAsWordInName")
+  public static native int getAnalogTriggerFPGAIndex(int analogTriggerHandle);
 }

hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java

@@ -0,0 +1,21 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+public class DutyCycleJNI extends JNIWrapper {
+  public static native int initialize(int digitalSourceHandle, int analogTriggerType);
+  public static native void free(int handle);
+
+  public static native int getFrequency(int handle);
+  public static native double getOutput(int handle);
+  public static native int getOutputRaw(int handle);
+  public static native int getOutputScaleFactor(int handle);
+
+  @SuppressWarnings("AbbreviationAsWordInName")
+  public static native int getFPGAIndex(int handle);
+}

hal/src/main/java/edu/wpi/first/hal/HAL.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2020 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.                                                               */
@@ -130,6 +130,8 @@ public final class HAL extends JNIWrapper {
                                      String details, String location, String callStack,
                                      boolean printMsg);
 
+  public static native int sendConsoleLine(String line);
+
   public static native int getPortWithModule(byte module, byte channel);
 
   public static native int getPort(byte channel);

hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2020 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.                                                               */
@@ -38,4 +38,6 @@ public class InterruptJNI extends JNIWrapper {
 
   public static native void setInterruptUpSourceEdge(int interruptHandle, boolean risingEdge,
                                                      boolean fallingEdge);
+
+  public static native void releaseWaitingInterrupt(int interruptHandle);
 }

hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -19,6 +19,11 @@ public class NotifierJNI extends JNIWrapper {
    */
   public static native int initializeNotifier();
 
+  /**
+   * Sets the name of the notifier.
+   */
+  public static native void setNotifierName(int notifierHandle, String name);
+
   /**
    * Wakes up the waiter with time=0.  Note: after this function is called, all
    * calls to waitForNotifierAlarm() will immediately start returning 0.

hal/src/main/java/edu/wpi/first/hal/PDPJNI.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -21,6 +21,8 @@ public class PDPJNI extends JNIWrapper {
 
   public static native double getPDPChannelCurrent(byte channel, int handle);
 
+  public static native void getPDPAllCurrents(int handle, double[] currents);
+
   public static native double getPDPTotalCurrent(int handle);
 
   public static native double getPDPTotalPower(int handle);

hal/src/main/java/edu/wpi/first/hal/SPIJNI.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -61,4 +61,6 @@ public class SPIJNI extends JNIWrapper {
                                                    double timeout);
 
   public static native int spiGetAutoDroppedCount(int port);
+
+  public static native void spiConfigureAutoStall(int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead);
 }

hal/src/main/java/edu/wpi/first/hal/sim/AddressableLEDSim.java

@@ -0,0 +1,77 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim;
+
+import edu.wpi.first.hal.sim.mockdata.AddressableLEDDataJNI;
+
+public class AddressableLEDSim {
+  private final int m_index;
+
+  public AddressableLEDSim(int index) {
+    m_index = index;
+  }
+
+  public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = AddressableLEDDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, AddressableLEDDataJNI::cancelInitializedCallback);
+  }
+  public boolean getInitialized() {
+    return AddressableLEDDataJNI.getInitialized(m_index);
+  }
+  public void setInitialized(boolean initialized) {
+    AddressableLEDDataJNI.setInitialized(m_index, initialized);
+  }
+
+  public CallbackStore registerOutputPortCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = AddressableLEDDataJNI.registerOutputPortCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, AddressableLEDDataJNI::cancelOutputPortCallback);
+  }
+  public int getOutputPort() {
+    return AddressableLEDDataJNI.getOutputPort(m_index);
+  }
+  public void setOutputPort(int outputPort) {
+    AddressableLEDDataJNI.setOutputPort(m_index, outputPort);
+  }
+
+  public CallbackStore registerLengthCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = AddressableLEDDataJNI.registerLengthCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, AddressableLEDDataJNI::cancelLengthCallback);
+  }
+  public int getLength() {
+    return AddressableLEDDataJNI.getLength(m_index);
+  }
+  public void setLength(int length) {
+    AddressableLEDDataJNI.setLength(m_index, length);
+  }
+
+  public CallbackStore registerRunningCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = AddressableLEDDataJNI.registerRunningCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, AddressableLEDDataJNI::cancelRunningCallback);
+  }
+  public boolean getRunning() {
+    return AddressableLEDDataJNI.getRunning(m_index);
+  }
+  public void setRunning(boolean running) {
+    AddressableLEDDataJNI.setRunning(m_index, running);
+  }
+
+  public CallbackStore registerDataCallback(ConstBufferCallback callback) {
+    int uid = AddressableLEDDataJNI.registerDataCallback(m_index, callback);
+    return new CallbackStore(m_index, uid, AddressableLEDDataJNI::cancelDataCallback);
+  }
+  public byte[] getData() {
+    return AddressableLEDDataJNI.getData(m_index);
+  }
+  public void setData(byte[] data) {
+    AddressableLEDDataJNI.setData(m_index, data);
+  }
+
+  public void resetData() {
+    AddressableLEDDataJNI.resetData(m_index);
+  }
+}

hal/src/main/java/edu/wpi/first/hal/sim/DriverStationSim.java

@@ -79,6 +79,15 @@ public class DriverStationSim {
     DriverStationDataJNI.notifyNewData();
   }
 
+  /**
+   * Toggles suppression of DriverStation.reportError and reportWarning messages.
+   *
+   * @param shouldSend If false then messages will will be suppressed.
+   */
+  public void setSendError(boolean shouldSend) {
+    DriverStationDataJNI.setSendError(shouldSend);
+  }
+
   public void resetData() {
     DriverStationDataJNI.resetData();
   }

hal/src/main/java/edu/wpi/first/hal/sim/DutyCycleSim.java

@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim;
+
+import edu.wpi.first.hal.sim.mockdata.DutyCycleDataJNI;
+
+public class DutyCycleSim {
+  private final int m_index;
+
+  public DutyCycleSim(int index) {
+    m_index = index;
+  }
+
+  public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = DutyCycleDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, DutyCycleDataJNI::cancelInitializedCallback);
+  }
+  public boolean getInitialized() {
+    return DutyCycleDataJNI.getInitialized(m_index);
+  }
+  public void setInitialized(boolean initialized) {
+    DutyCycleDataJNI.setInitialized(m_index, initialized);
+  }
+
+  public CallbackStore registerFrequencyCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = DutyCycleDataJNI.registerFrequencyCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, DutyCycleDataJNI::cancelFrequencyCallback);
+  }
+  public int getFrequency() {
+    return DutyCycleDataJNI.getFrequency(m_index);
+  }
+  public void setFrequency(int frequency) {
+    DutyCycleDataJNI.setFrequency(m_index, frequency);
+  }
+
+  public CallbackStore registerOutputCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = DutyCycleDataJNI.registerOutputCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, DutyCycleDataJNI::cancelOutputCallback);
+  }
+  public double getOutput() {
+    return DutyCycleDataJNI.getOutput(m_index);
+  }
+  public void setOutput(double output) {
+    DutyCycleDataJNI.setOutput(m_index, output);
+  }
+}

hal/src/main/java/edu/wpi/first/hal/sim/NotifierSim.java

@@ -0,0 +1,23 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim;
+
+import edu.wpi.first.hal.sim.mockdata.NotifierDataJNI;
+
+public final class NotifierSim {
+  private NotifierSim() {
+  }
+
+  public static long getNextTimeout() {
+    return NotifierDataJNI.getNextTimeout();
+  }
+
+  public static int getNumNotifiers() {
+    return NotifierDataJNI.getNumNotifiers();
+  }
+}

hal/src/main/java/edu/wpi/first/hal/sim/SimDeviceSim.java

@@ -0,0 +1,94 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim;
+
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.hal.SimEnum;
+import edu.wpi.first.hal.SimValue;
+import edu.wpi.first.hal.sim.mockdata.SimDeviceDataJNI;
+
+public class SimDeviceSim {
+  private final int m_handle;
+
+  public SimDeviceSim(String name) {
+    m_handle = SimDeviceDataJNI.getSimDeviceHandle(name);
+  }
+
+  public SimValue getValue(String name) {
+    int handle = SimDeviceDataJNI.getSimValueHandle(m_handle, name);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimValue(handle);
+  }
+
+  public SimDouble getDouble(String name) {
+    int handle = SimDeviceDataJNI.getSimValueHandle(m_handle, name);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimDouble(handle);
+  }
+
+  public SimEnum getEnum(String name) {
+    int handle = SimDeviceDataJNI.getSimValueHandle(m_handle, name);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimEnum(handle);
+  }
+
+  public SimBoolean getBoolean(String name) {
+    int handle = SimDeviceDataJNI.getSimValueHandle(m_handle, name);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimBoolean(handle);
+  }
+
+  public static String[] getEnumOptions(SimEnum val) {
+    return SimDeviceDataJNI.getSimValueEnumOptions(val.getNativeHandle());
+  }
+
+  public SimDeviceDataJNI.SimValueInfo[] enumerateValues() {
+    return SimDeviceDataJNI.enumerateSimValues(m_handle);
+  }
+
+  public int getNativeHandle() {
+    return m_handle;
+  }
+
+  public CallbackStore registerValueCreatedCallback(SimValueCallback callback, boolean initialNotify) {
+    int uid = SimDeviceDataJNI.registerSimValueCreatedCallback(m_handle, callback, initialNotify);
+    return new CallbackStore(uid, SimDeviceDataJNI::cancelSimValueCreatedCallback);
+  }
+
+  public CallbackStore registerValueChangedCallback(SimValueCallback callback, boolean initialNotify) {
+    int uid = SimDeviceDataJNI.registerSimValueChangedCallback(m_handle, callback, initialNotify);
+    return new CallbackStore(uid, SimDeviceDataJNI::cancelSimValueChangedCallback);
+  }
+
+  public static SimDeviceDataJNI.SimDeviceInfo[] enumerateDevices(String prefix) {
+    return SimDeviceDataJNI.enumerateSimDevices(prefix);
+  }
+
+  public CallbackStore registerDeviceCreatedCallback(String prefix, SimDeviceCallback callback, boolean initialNotify) {
+    int uid = SimDeviceDataJNI.registerSimDeviceCreatedCallback(prefix, callback, initialNotify);
+    return new CallbackStore(uid, SimDeviceDataJNI::cancelSimDeviceCreatedCallback);
+  }
+
+  public CallbackStore registerDeviceFreedCallback(String prefix, SimDeviceCallback callback) {
+    int uid = SimDeviceDataJNI.registerSimDeviceFreedCallback(prefix, callback);
+    return new CallbackStore(uid, SimDeviceDataJNI::cancelSimDeviceFreedCallback);
+  }
+
+  public static void resetData() {
+    SimDeviceDataJNI.resetSimDeviceData();
+  }
+}

hal/src/main/java/edu/wpi/first/hal/sim/SimHooks.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2018-2019 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.                                                               */
@@ -24,4 +24,20 @@ public final class SimHooks {
   public static void restartTiming() {
     SimulatorJNI.restartTiming();
   }
+
+  public static void pauseTiming() {
+    SimulatorJNI.pauseTiming();
+  }
+
+  public static void resumeTiming() {
+    SimulatorJNI.resumeTiming();
+  }
+
+  public static boolean isTimingPaused() {
+    return SimulatorJNI.isTimingPaused();
+  }
+
+  public static void stepTiming(long delta) {
+    SimulatorJNI.stepTiming(delta);
+  }
 }

hal/src/main/java/edu/wpi/first/hal/sim/mockdata/AddressableLEDDataJNI.java

@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim.mockdata;
+
+import edu.wpi.first.hal.sim.ConstBufferCallback;
+import edu.wpi.first.hal.sim.NotifyCallback;
+import edu.wpi.first.hal.JNIWrapper;
+
+public class AddressableLEDDataJNI extends JNIWrapper {
+  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native void cancelInitializedCallback(int index, int uid);
+  public static native boolean getInitialized(int index);
+  public static native void setInitialized(int index, boolean initialized);
+
+  public static native int registerOutputPortCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native void cancelOutputPortCallback(int index, int uid);
+  public static native int getOutputPort(int index);
+  public static native void setOutputPort(int index, int outputPort);
+
+  public static native int registerLengthCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native void cancelLengthCallback(int index, int uid);
+  public static native int getLength(int index);
+  public static native void setLength(int index, int length);
+
+  public static native int registerRunningCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native void cancelRunningCallback(int index, int uid);
+  public static native boolean getRunning(int index);
+  public static native void setRunning(int index, boolean running);
+
+  public static native int registerDataCallback(int index, ConstBufferCallback callback);
+  public static native void cancelDataCallback(int index, int uid);
+  public static native byte[] getData(int index);
+  public static native void setData(int index, byte[] data);
+
+  public static native void resetData(int index);
+}

hal/src/main/java/edu/wpi/first/hal/sim/mockdata/DriverStationDataJNI.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2018-2020 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.                                                               */
@@ -49,5 +49,8 @@ public class DriverStationDataJNI extends JNIWrapper {
   public static native void registerAllCallbacks(NotifyCallback callback, boolean initialNotify);
   public static native void notifyNewData();
 
+  public static native void setSendError(boolean shouldSend);
+  public static native void setSendConsoleLine(boolean shouldSend);
+
   public static native void resetData();
 }

hal/src/main/java/edu/wpi/first/hal/sim/mockdata/DutyCycleDataJNI.java

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim.mockdata;
+
+import edu.wpi.first.hal.sim.NotifyCallback;
+import edu.wpi.first.hal.JNIWrapper;
+
+public class DutyCycleDataJNI extends JNIWrapper {
+  public static native int registerInitializedCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native void cancelInitializedCallback(int index, int uid);
+  public static native boolean getInitialized(int index);
+  public static native void setInitialized(int index, boolean initialized);
+
+  public static native int registerFrequencyCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native void cancelFrequencyCallback(int index, int uid);
+  public static native int getFrequency(int index);
+  public static native void setFrequency(int index, int frequency);
+
+  public static native int registerOutputCallback(int index, NotifyCallback callback, boolean initialNotify);
+  public static native void cancelOutputCallback(int index, int uid);
+  public static native double getOutput(int index);
+  public static native void setOutput(int index, double output);
+
+  public static native void resetData(int index);
+}

hal/src/main/java/edu/wpi/first/hal/sim/mockdata/NotifierDataJNI.java

@@ -0,0 +1,15 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim.mockdata;
+
+import edu.wpi.first.hal.JNIWrapper;
+
+public class NotifierDataJNI extends JNIWrapper {
+  public static native long getNextTimeout();
+  public static native int getNumNotifiers();
+}

hal/src/main/java/edu/wpi/first/hal/sim/mockdata/SimulatorJNI.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2018-2019 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.                                                               */
@@ -13,5 +13,9 @@ public class SimulatorJNI extends JNIWrapper {
   public static native void waitForProgramStart();
   public static native void setProgramStarted();
   public static native void restartTiming();
+  public static native void pauseTiming();
+  public static native void resumeTiming();
+  public static native boolean isTimingPaused();
+  public static native void stepTiming(long delta);
   public static native void resetHandles();
 }

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

@@ -0,0 +1,243 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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 "hal/AddressableLED.h"
+
+#include <cstring>
+
+#include <FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga_HMB.h>
+
+#include "ConstantsInternal.h"
+#include "DigitalInternal.h"
+#include "HALInitializer.h"
+#include "PortsInternal.h"
+#include "hal/ChipObject.h"
+#include "hal/handles/HandlesInternal.h"
+#include "hal/handles/LimitedHandleResource.h"
+
+using namespace hal;
+
+namespace {
+struct AddressableLED {
+  std::unique_ptr<tLED> led;
+  void* ledBuffer;
+  size_t ledBufferSize;
+  int32_t stringLength = 1;
+};
+}  // namespace
+
+static LimitedHandleResource<
+    HAL_AddressableLEDHandle, AddressableLED, kNumAddressableLEDs,
+    HAL_HandleEnum::AddressableLED>* addressableLEDHandles;
+
+namespace hal {
+namespace init {
+void InitializeAddressableLED() {
+  static LimitedHandleResource<HAL_AddressableLEDHandle, AddressableLED,
+                               kNumAddressableLEDs,
+                               HAL_HandleEnum::AddressableLED>
+      alH;
+  addressableLEDHandles = &alH;
+}
+}  // namespace init
+}  // namespace hal
+
+extern "C" {
+
+HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
+    HAL_DigitalHandle outputPort, int32_t* status) {
+  hal::init::CheckInit();
+
+  auto digitalPort =
+      hal::digitalChannelHandles->Get(outputPort, hal::HAL_HandleEnum::PWM);
+
+  if (!digitalPort) {
+    // If DIO was passed, channel error, else generic error
+    if (getHandleType(outputPort) == hal::HAL_HandleEnum::DIO) {
+      *status = HAL_LED_CHANNEL_ERROR;
+    } else {
+      *status = HAL_HANDLE_ERROR;
+    }
+    return HAL_kInvalidHandle;
+  }
+
+  if (digitalPort->channel >= kNumPWMHeaders) {
+    *status = HAL_LED_CHANNEL_ERROR;
+    return HAL_kInvalidHandle;
+  }
+
+  auto handle = addressableLEDHandles->Allocate();
+
+  if (handle == HAL_kInvalidHandle) {
+    *status = NO_AVAILABLE_RESOURCES;
+    return HAL_kInvalidHandle;
+  }
+
+  auto led = addressableLEDHandles->Get(handle);
+
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return HAL_kInvalidHandle;
+  }
+
+  led->led.reset(tLED::create(status));
+
+  if (*status != 0) {
+    addressableLEDHandles->Free(handle);
+    return HAL_kInvalidHandle;
+  }
+
+  led->led->writeOutputSelect(digitalPort->channel, status);
+
+  if (*status != 0) {
+    addressableLEDHandles->Free(handle);
+    return HAL_kInvalidHandle;
+  }
+
+  led->ledBuffer = nullptr;
+  led->ledBufferSize = 0;
+
+  uint32_t session = led->led->getSystemInterface()->getHandle();
+
+  *status = NiFpga_OpenHostMemoryBuffer(session, "HMB_0_LED", &led->ledBuffer,
+                                        &led->ledBufferSize);
+
+  if (*status != 0) {
+    addressableLEDHandles->Free(handle);
+    return HAL_kInvalidHandle;
+  }
+
+  return handle;
+}
+
+void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle) {
+  addressableLEDHandles->Free(handle);
+}
+
+void HAL_SetAddressableLEDOutputPort(HAL_AddressableLEDHandle handle,
+                                     HAL_DigitalHandle outputPort,
+                                     int32_t* status) {
+  auto digitalPort =
+      hal::digitalChannelHandles->Get(outputPort, hal::HAL_HandleEnum::PWM);
+
+  if (!digitalPort) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  auto led = addressableLEDHandles->Get(handle);
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  led->led->writeOutputSelect(digitalPort->channel, status);
+}
+
+void HAL_SetAddressableLEDLength(HAL_AddressableLEDHandle handle,
+                                 int32_t length, int32_t* status) {
+  auto led = addressableLEDHandles->Get(handle);
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  if (length > HAL_kAddressableLEDMaxLength) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    return;
+  }
+
+  led->led->strobeReset(status);
+
+  while (led->led->readPixelWriteIndex(status) != 0) {
+  }
+
+  if (*status != 0) {
+    return;
+  }
+
+  led->led->writeStringLength(length, status);
+
+  led->stringLength = length;
+}
+
+static_assert(sizeof(HAL_AddressableLEDData) == sizeof(uint32_t),
+              "LED Data must be 32 bit");
+
+void HAL_WriteAddressableLEDData(HAL_AddressableLEDHandle handle,
+                                 const struct HAL_AddressableLEDData* data,
+                                 int32_t length, int32_t* status) {
+  auto led = addressableLEDHandles->Get(handle);
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  if (length > led->stringLength) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    return;
+  }
+
+  std::memcpy(led->ledBuffer, data, length * sizeof(HAL_AddressableLEDData));
+
+  asm("dmb");
+
+  led->led->strobeLoad(status);
+}
+
+void HAL_SetAddressableLEDBitTiming(HAL_AddressableLEDHandle handle,
+                                    int32_t lowTime0NanoSeconds,
+                                    int32_t highTime0NanoSeconds,
+                                    int32_t lowTime1NanoSeconds,
+                                    int32_t highTime1NanoSeconds,
+                                    int32_t* status) {
+  auto led = addressableLEDHandles->Get(handle);
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  led->led->writeLowBitTickTiming(1, highTime0NanoSeconds / 25, status);
+  led->led->writeLowBitTickTiming(0, lowTime0NanoSeconds / 25, status);
+  led->led->writeHighBitTickTiming(1, highTime1NanoSeconds / 25, status);
+  led->led->writeHighBitTickTiming(0, lowTime1NanoSeconds / 25, status);
+}
+
+void HAL_SetAddressableLEDSyncTime(HAL_AddressableLEDHandle handle,
+                                   int32_t syncTimeMicroSeconds,
+                                   int32_t* status) {
+  auto led = addressableLEDHandles->Get(handle);
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  led->led->writeSyncTiming(syncTimeMicroSeconds, status);
+}
+
+void HAL_StartAddressableLEDOutput(HAL_AddressableLEDHandle handle,
+                                   int32_t* status) {
+  auto led = addressableLEDHandles->Get(handle);
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  led->led->strobeStart(status);
+}
+
+void HAL_StopAddressableLEDOutput(HAL_AddressableLEDHandle handle,
+                                  int32_t* status) {
+  auto led = addressableLEDHandles->Get(handle);
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  led->led->strobeAbort(status);
+}
+}  // extern "C"

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -181,7 +181,7 @@ void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
   if (*status != 0) return;
 
   gyro->center = static_cast<int32_t>(
-      static_cast<double>(value) / static_cast<double>(count) + .5);
+      static_cast<double>(value) / static_cast<double>(count) + 0.5);
 
   gyro->offset = static_cast<double>(value) / static_cast<double>(count) -
                  static_cast<double>(gyro->center);

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

@@ -201,6 +201,14 @@ double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
   return voltage;
 }
 
+double HAL_GetAnalogValueToVolts(HAL_AnalogInputHandle analogPortHandle,
+                                 int32_t rawValue, int32_t* status) {
+  int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status);
+  int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status);
+  double voltage = LSBWeight * 1.0e-9 * rawValue - offset * 1.0e-9;
+  return voltage;
+}
+
 double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
                                    int32_t* status) {
   int32_t value = HAL_GetAnalogAverageValue(analogPortHandle, status);
@@ -216,26 +224,38 @@ double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle,
 
 int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
                                int32_t* status) {
-  auto port = analogInputHandles->Get(analogPortHandle);
-  if (port == nullptr) {
-    *status = HAL_HANDLE_ERROR;
-    return 0;
-  }
-  int32_t lsbWeight = FRC_NetworkCommunication_nAICalibration_getLSBWeight(
-      0, port->channel, status);  // XXX: aiSystemIndex == 0?
-  return lsbWeight;
+  // On the roboRIO, LSB is the same for all channels. So the channel lookup can
+  // be avoided
+  return FRC_NetworkCommunication_nAICalibration_getLSBWeight(0, 0, status);
+
+  // Keep the old code for future hardware
+
+  // auto port = analogInputHandles->Get(analogPortHandle);
+  // if (port == nullptr) {
+  //   *status = HAL_HANDLE_ERROR;
+  //   return 0;
+  // }
+  // int32_t lsbWeight = FRC_NetworkCommunication_nAICalibration_getLSBWeight(
+  //     0, port->channel, status);  // XXX: aiSystemIndex == 0?
+  // return lsbWeight;
 }
 
 int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
                             int32_t* status) {
-  auto port = analogInputHandles->Get(analogPortHandle);
-  if (port == nullptr) {
-    *status = HAL_HANDLE_ERROR;
-    return 0;
-  }
-  int32_t offset = FRC_NetworkCommunication_nAICalibration_getOffset(
-      0, port->channel, status);  // XXX: aiSystemIndex == 0?
-  return offset;
+  // On the roboRIO, offset is the same for all channels. So the channel lookup
+  // can be avoided
+  return FRC_NetworkCommunication_nAICalibration_getOffset(0, 0, status);
+
+  // Keep the old code for future hardware
+
+  // auto port = analogInputHandles->Get(analogPortHandle);
+  // if (port == nullptr) {
+  //   *status = HAL_HANDLE_ERROR;
+  //   return 0;
+  // }
+  // int32_t offset = FRC_NetworkCommunication_nAICalibration_getOffset(
+  //     0, port->channel, status);  // XXX: aiSystemIndex == 0?
+  // return offset;
 }
 
 }  // extern "C"

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -8,9 +8,11 @@
 #include "hal/AnalogTrigger.h"
 
 #include "AnalogInternal.h"
+#include "DutyCycleInternal.h"
 #include "HALInitializer.h"
 #include "PortsInternal.h"
 #include "hal/AnalogInput.h"
+#include "hal/DutyCycle.h"
 #include "hal/Errors.h"
 #include "hal/handles/HandlesInternal.h"
 #include "hal/handles/LimitedHandleResource.h"
@@ -21,7 +23,7 @@ namespace {
 
 struct AnalogTrigger {
   std::unique_ptr<tAnalogTrigger> trigger;
-  HAL_AnalogInputHandle analogHandle;
+  HAL_Handle handle;
   uint8_t index;
 };
 
@@ -46,7 +48,7 @@ void InitializeAnalogTrigger() {
 extern "C" {
 
 HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
-    HAL_AnalogInputHandle portHandle, int32_t* index, int32_t* status) {
+    HAL_AnalogInputHandle portHandle, int32_t* status) {
   hal::init::CheckInit();
   // ensure we are given a valid and active AnalogInput handle
   auto analog_port = analogInputHandles->Get(portHandle);
@@ -64,19 +66,46 @@ HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
     *status = HAL_HANDLE_ERROR;
     return HAL_kInvalidHandle;
   }
-  trigger->analogHandle = portHandle;
+  trigger->handle = portHandle;
   trigger->index = static_cast<uint8_t>(getHandleIndex(handle));
-  *index = trigger->index;
 
   trigger->trigger.reset(tAnalogTrigger::create(trigger->index, status));
   trigger->trigger->writeSourceSelect_Channel(analog_port->channel, status);
   return handle;
 }
 
+HAL_AnalogTriggerHandle HAL_InitializeAnalogTriggerDutyCycle(
+    HAL_DutyCycleHandle dutyCycleHandle, int32_t* status) {
+  hal::init::CheckInit();
+  // ensure we are given a valid and active DutyCycle handle
+  auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+  if (dutyCycle == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return HAL_kInvalidHandle;
+  }
+  HAL_AnalogTriggerHandle handle = analogTriggerHandles->Allocate();
+  if (handle == HAL_kInvalidHandle) {
+    *status = NO_AVAILABLE_RESOURCES;
+    return HAL_kInvalidHandle;
+  }
+  auto trigger = analogTriggerHandles->Get(handle);
+  if (trigger == nullptr) {  // would only occur on thread issue
+    *status = HAL_HANDLE_ERROR;
+    return HAL_kInvalidHandle;
+  }
+  trigger->handle = dutyCycleHandle;
+  trigger->index = static_cast<uint8_t>(getHandleIndex(handle));
+
+  trigger->trigger.reset(tAnalogTrigger::create(trigger->index, status));
+  trigger->trigger->writeSourceSelect_Channel(dutyCycle->index, status);
+  trigger->trigger->writeSourceSelect_DutyCycle(true, status);
+  return handle;
+}
+
 void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
                             int32_t* status) {
   analogTriggerHandles->Free(analogTriggerHandle);
-  // caller owns the analog input handle.
+  // caller owns the input handle.
 }
 
 void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
@@ -89,11 +118,46 @@ void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
   }
   if (lower > upper) {
     *status = ANALOG_TRIGGER_LIMIT_ORDER_ERROR;
+    return;
   }
   trigger->trigger->writeLowerLimit(lower, status);
   trigger->trigger->writeUpperLimit(upper, status);
 }
 
+void HAL_SetAnalogTriggerLimitsDutyCycle(
+    HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
+    int32_t* status) {
+  auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
+  if (trigger == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  if (getHandleType(trigger->handle) != HAL_HandleEnum::DutyCycle) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  if (lower > upper) {
+    *status = ANALOG_TRIGGER_LIMIT_ORDER_ERROR;
+    return;
+  }
+
+  if (lower < 0.0 || upper > 1.0) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    return;
+  }
+
+  int32_t scaleFactor =
+      HAL_GetDutyCycleOutputScaleFactor(trigger->handle, status);
+  if (*status != 0) {
+    return;
+  }
+
+  trigger->trigger->writeLowerLimit(static_cast<int32_t>(scaleFactor * lower),
+                                    status);
+  trigger->trigger->writeUpperLimit(static_cast<int32_t>(scaleFactor * upper),
+                                    status);
+}
+
 void HAL_SetAnalogTriggerLimitsVoltage(
     HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
     int32_t* status) {
@@ -102,16 +166,22 @@ void HAL_SetAnalogTriggerLimitsVoltage(
     *status = HAL_HANDLE_ERROR;
     return;
   }
+
+  if (getHandleType(trigger->handle) != HAL_HandleEnum::AnalogInput) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
   if (lower > upper) {
     *status = ANALOG_TRIGGER_LIMIT_ORDER_ERROR;
+    return;
   }
 
   // TODO: This depends on the averaged setting.  Only raw values will work as
   // is.
   trigger->trigger->writeLowerLimit(
-      HAL_GetAnalogVoltsToValue(trigger->analogHandle, lower, status), status);
+      HAL_GetAnalogVoltsToValue(trigger->handle, lower, status), status);
   trigger->trigger->writeUpperLimit(
-      HAL_GetAnalogVoltsToValue(trigger->analogHandle, upper, status), status);
+      HAL_GetAnalogVoltsToValue(trigger->handle, upper, status), status);
 }
 
 void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
@@ -121,7 +191,8 @@ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
     *status = HAL_HANDLE_ERROR;
     return;
   }
-  if (trigger->trigger->readSourceSelect_Filter(status) != 0) {
+  if (trigger->trigger->readSourceSelect_Filter(status) != 0 ||
+      trigger->trigger->readSourceSelect_DutyCycle(status) != 0) {
     *status = INCOMPATIBLE_STATE;
     // TODO: wpi_setWPIErrorWithContext(IncompatibleMode, "Hardware does not
     // support average and filtering at the same time.");
@@ -136,7 +207,8 @@ void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
     *status = HAL_HANDLE_ERROR;
     return;
   }
-  if (trigger->trigger->readSourceSelect_Averaged(status) != 0) {
+  if (trigger->trigger->readSourceSelect_Averaged(status) != 0 ||
+      trigger->trigger->readSourceSelect_DutyCycle(status) != 0) {
     *status = INCOMPATIBLE_STATE;
     // TODO: wpi_setWPIErrorWithContext(IncompatibleMode, "Hardware does not "
     // "support average and filtering at the same time.");
@@ -177,16 +249,27 @@ HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle,
     case HAL_Trigger_kInWindow:
       result =
           trigger->trigger->readOutput_InHysteresis(trigger->index, status);
-      break;  // XXX: Backport
+      break;
     case HAL_Trigger_kState:
       result = trigger->trigger->readOutput_OverLimit(trigger->index, status);
-      break;  // XXX: Backport
+      break;
     case HAL_Trigger_kRisingPulse:
     case HAL_Trigger_kFallingPulse:
       *status = ANALOG_TRIGGER_PULSE_OUTPUT_ERROR;
       return false;
+      break;
   }
   return result;
 }
 
+int32_t HAL_GetAnalogTriggerFPGAIndex(
+    HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) {
+  auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
+  if (trigger == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return -1;
+  }
+  return trigger->index;
+}
+
 }  // extern "C"

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

@@ -385,8 +385,8 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
   }
 
   digitalSystem->writePulseLength(
-      static_cast<uint8_t>(1.0e9 * pulseLength /
-                           (pwmSystem->readLoopTiming(status) * 25)),
+      static_cast<uint16_t>(1.0e9 * pulseLength /
+                            (pwmSystem->readLoopTiming(status) * 25)),
       status);
   digitalSystem->writePulse(pulse, status);
 }

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

@@ -103,9 +103,9 @@ void initializeDigital(int32_t* status) {
                     (kSystemClockTicksPerMicrosecond * 1e3);
 
   pwmSystem->writeConfig_Period(
-      static_cast<uint16_t>(kDefaultPwmPeriod / loopTime + .5), status);
+      static_cast<uint16_t>(kDefaultPwmPeriod / loopTime + 0.5), status);
   uint16_t minHigh = static_cast<uint16_t>(
-      (kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime + .5);
+      (kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime + 0.5);
   pwmSystem->writeConfig_MinHigh(minHigh, status);
   // Ensure that PWM output values are set to OFF
   for (uint8_t pwmIndex = 0; pwmIndex < kNumPWMChannels; pwmIndex++) {

hal/src/main/native/athena/DigitalInternal.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -96,6 +96,20 @@ bool remapDigitalSource(HAL_Handle digitalSourceHandle,
                         HAL_AnalogTriggerType analogTriggerType,
                         uint8_t& channel, uint8_t& module, bool& analogTrigger);
 
+/**
+ * Remap the Digital Channel to map to the bitfield channel of the FPGA
+ */
+constexpr int32_t remapDigitalChannelToBitfieldChannel(int32_t channel) {
+  // First 10 are headers
+  if (channel < kNumDigitalHeaders) return channel;
+  // 2nd group of 16 are mxp. So if mxp port, add 6, since they start at 10
+  else if (channel < kNumDigitalMXPChannels)
+    return channel + 6;
+  // Assume SPI, so remove MXP channels
+  else
+    return channel - kNumDigitalMXPChannels;
+}
+
 /**
  * Map DIO channel numbers from their physical number (10 to 26) to their
  * position in the bit field.

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

@@ -0,0 +1,127 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019-2020 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 "hal/DutyCycle.h"
+
+#include <memory>
+
+#include "DigitalInternal.h"
+#include "DutyCycleInternal.h"
+#include "HALInitializer.h"
+#include "PortsInternal.h"
+#include "hal/ChipObject.h"
+#include "hal/Errors.h"
+#include "hal/handles/HandlesInternal.h"
+#include "hal/handles/LimitedHandleResource.h"
+
+using namespace hal;
+
+namespace hal {
+LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
+                      HAL_HandleEnum::DutyCycle>* dutyCycleHandles;
+namespace init {
+void InitializeDutyCycle() {
+  static LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
+                               HAL_HandleEnum::DutyCycle>
+      dcH;
+  dutyCycleHandles = &dcH;
+}
+}  // namespace init
+}  // namespace hal
+
+static constexpr int32_t kScaleFactor = 4e7 - 1;
+
+extern "C" {
+HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle,
+                                            HAL_AnalogTriggerType triggerType,
+                                            int32_t* status) {
+  hal::init::CheckInit();
+
+  bool routingAnalogTrigger = false;
+  uint8_t routingChannel = 0;
+  uint8_t routingModule = 0;
+  bool success =
+      remapDigitalSource(digitalSourceHandle, triggerType, routingChannel,
+                         routingModule, routingAnalogTrigger);
+
+  if (!success) {
+    *status = HAL_HANDLE_ERROR;
+    return HAL_kInvalidHandle;
+  }
+
+  HAL_DutyCycleHandle handle = dutyCycleHandles->Allocate();
+  if (handle == HAL_kInvalidHandle) {
+    *status = NO_AVAILABLE_RESOURCES;
+    return HAL_kInvalidHandle;
+  }
+
+  auto dutyCycle = dutyCycleHandles->Get(handle);
+  uint32_t index = static_cast<uint32_t>(getHandleIndex(handle));
+  dutyCycle->dutyCycle.reset(tDutyCycle::create(index, status));
+
+  dutyCycle->dutyCycle->writeSource_AnalogTrigger(routingAnalogTrigger, status);
+  dutyCycle->dutyCycle->writeSource_Channel(routingChannel, status);
+  dutyCycle->dutyCycle->writeSource_Module(routingModule, status);
+  dutyCycle->index = index;
+
+  return handle;
+}
+void HAL_FreeDutyCycle(HAL_DutyCycleHandle dutyCycleHandle) {
+  // Just free it, the unique ptr will take care of everything else
+  dutyCycleHandles->Free(dutyCycleHandle);
+}
+
+void HAL_SetDutyCycleSimDevice(HAL_EncoderHandle handle,
+                               HAL_SimDeviceHandle device) {}
+
+int32_t HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle,
+                                  int32_t* status) {
+  auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+  if (!dutyCycle) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  // TODO Handle Overflow
+  unsigned char overflow = 0;
+  return dutyCycle->dutyCycle->readFrequency(&overflow, status);
+}
+
+double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
+                              int32_t* status) {
+  return HAL_GetDutyCycleOutputRaw(dutyCycleHandle, status) /
+         static_cast<double>(kScaleFactor);
+}
+
+int32_t HAL_GetDutyCycleOutputRaw(HAL_DutyCycleHandle dutyCycleHandle,
+                                  int32_t* status) {
+  auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+  if (!dutyCycle) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  // TODO Handle Overflow
+  unsigned char overflow = 0;
+  return dutyCycle->dutyCycle->readOutput(&overflow, status);
+}
+
+int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,
+                                          int32_t* status) {
+  return kScaleFactor;
+}
+
+int32_t HAL_GetDutyCycleFPGAIndex(HAL_DutyCycleHandle dutyCycleHandle,
+                                  int32_t* status) {
+  auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+  if (!dutyCycle) {
+    *status = HAL_HANDLE_ERROR;
+    return -1;
+  }
+  return dutyCycle->index;
+}
+}  // extern "C"

hal/src/main/native/athena/DutyCycleInternal.h

@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include "hal/ChipObject.h"
+#include "hal/handles/HandlesInternal.h"
+#include "hal/handles/LimitedHandleResource.h"
+
+namespace hal {
+struct DutyCycle {
+  std::unique_ptr<tDutyCycle> dutyCycle;
+  int index;
+};
+
+extern LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
+                             HAL_HandleEnum::DutyCycle>* dutyCycleHandles;
+}  // namespace hal

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

@@ -35,7 +35,7 @@ Encoder::Encoder(HAL_Handle digitalSourceHandleA,
         return;
       }
       m_counter = HAL_kInvalidHandle;
-      SetMaxPeriod(.5, status);
+      SetMaxPeriod(0.5, status);
       break;
     }
     case HAL_Encoder_k1X:
@@ -238,6 +238,19 @@ void InitializeEncoder() {
 }  // namespace init
 }  // namespace hal
 
+namespace hal {
+bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
+                          HAL_FPGAEncoderHandle* fpgaHandle,
+                          HAL_CounterHandle* counterHandle) {
+  auto encoder = encoderHandles->Get(handle);
+  if (!handle) return false;
+
+  *fpgaHandle = encoder->m_encoder;
+  *counterHandle = encoder->m_counter;
+  return true;
+}
+}  // namespace hal
+
 extern "C" {
 HAL_EncoderHandle HAL_InitializeEncoder(
     HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,

hal/src/main/native/athena/EncoderInternal.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -13,8 +13,16 @@
 
 namespace hal {
 
+bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
+                          HAL_FPGAEncoderHandle* fpgaEncoderHandle,
+                          HAL_CounterHandle* counterHandle);
+
 class Encoder {
  public:
+  friend bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
+                                   HAL_FPGAEncoderHandle* fpgaEncoderHandle,
+                                   HAL_CounterHandle* counterHandle);
+
   Encoder(HAL_Handle digitalSourceHandleA,
           HAL_AnalogTriggerType analogTriggerTypeA,
           HAL_Handle digitalSourceHandleB,

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2020 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.                                                               */
@@ -30,64 +30,9 @@ struct HAL_JoystickAxesInt {
 
 static constexpr int kJoystickPorts = 6;
 
-// Joystick User Data
-static std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
-static std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
-static std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
-static std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
-static std::unique_ptr<HAL_MatchInfo> m_matchInfo;
-
-// Joystick Cached Data
-static std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
-static std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
-static std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
-static std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
-static std::unique_ptr<HAL_MatchInfo> m_matchInfoCache;
-
-static wpi::mutex m_cacheDataMutex;
-
-// Control word variables
-static HAL_ControlWord m_controlWordCache;
-static std::chrono::steady_clock::time_point m_lastControlWordUpdate;
-static wpi::mutex m_controlWordMutex;
-
 // Message and Data variables
 static wpi::mutex msgMutex;
 
-static void InitializeDriverStationCaches() {
-  m_joystickAxes = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
-  m_joystickPOVs = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
-  m_joystickButtons = std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
-  m_joystickDescriptor =
-      std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
-  m_matchInfo = std::make_unique<HAL_MatchInfo>();
-  m_joystickAxesCache = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
-  m_joystickPOVsCache = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
-  m_joystickButtonsCache =
-      std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
-  m_joystickDescriptorCache =
-      std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
-  m_matchInfoCache = std::make_unique<HAL_MatchInfo>();
-
-  // All joysticks should default to having zero axes, povs and buttons, so
-  // uninitialized memory doesn't get sent to speed controllers.
-  for (unsigned int i = 0; i < kJoystickPorts; i++) {
-    m_joystickAxes[i].count = 0;
-    m_joystickPOVs[i].count = 0;
-    m_joystickButtons[i].count = 0;
-    m_joystickDescriptor[i].isXbox = 0;
-    m_joystickDescriptor[i].type = -1;
-    m_joystickDescriptor[i].name[0] = '\0';
-
-    m_joystickAxesCache[i].count = 0;
-    m_joystickPOVsCache[i].count = 0;
-    m_joystickButtonsCache[i].count = 0;
-    m_joystickDescriptorCache[i].isXbox = 0;
-    m_joystickDescriptorCache[i].type = -1;
-    m_joystickDescriptorCache[i].name[0] = '\0';
-  }
-}
-
 static int32_t HAL_GetJoystickAxesInternal(int32_t joystickNum,
                                            HAL_JoystickAxes* axes) {
   HAL_JoystickAxesInt axesInt;
@@ -177,90 +122,18 @@ static int32_t HAL_GetMatchInfoInternal(HAL_MatchInfo* info) {
   return status;
 }
 
-static void UpdateDriverStationControlWord(bool force,
-                                           HAL_ControlWord& controlWord) {
-  auto now = std::chrono::steady_clock::now();
-  std::scoped_lock lock(m_controlWordMutex);
-  // Update every 50 ms or on force.
-  if ((now - m_lastControlWordUpdate > std::chrono::milliseconds(50)) ||
-      force) {
-    HAL_GetControlWordInternal(&m_controlWordCache);
-    m_lastControlWordUpdate = now;
-  }
-  controlWord = m_controlWordCache;
-}
-
-static void UpdateDriverStationDataCaches() {
-  // Get the status of all of the joysticks, and save to the cache
-  for (uint8_t stick = 0; stick < kJoystickPorts; stick++) {
-    HAL_GetJoystickAxesInternal(stick, &m_joystickAxesCache[stick]);
-    HAL_GetJoystickPOVsInternal(stick, &m_joystickPOVsCache[stick]);
-    HAL_GetJoystickButtonsInternal(stick, &m_joystickButtonsCache[stick]);
-    HAL_GetJoystickDescriptorInternal(stick, &m_joystickDescriptorCache[stick]);
-  }
-  // Grab match specific data
-  HAL_GetMatchInfoInternal(m_matchInfoCache.get());
-
-  // Force a control word update, to make sure the data is the newest.
-  HAL_ControlWord controlWord;
-  UpdateDriverStationControlWord(true, controlWord);
-
-  {
-    // Obtain a lock on the data, swap the cached data into the main data arrays
-    std::scoped_lock lock(m_cacheDataMutex);
-
-    m_joystickAxes.swap(m_joystickAxesCache);
-    m_joystickPOVs.swap(m_joystickPOVsCache);
-    m_joystickButtons.swap(m_joystickButtonsCache);
-    m_joystickDescriptor.swap(m_joystickDescriptorCache);
-    m_matchInfo.swap(m_matchInfoCache);
-  }
-}
-
-class DriverStationThread : public wpi::SafeThread {
- public:
-  void Main() {
-    std::unique_lock lock(m_mutex);
-    while (m_active) {
-      m_cond.wait(lock, [&] { return !m_active || m_notify; });
-      if (!m_active) break;
-      m_notify = false;
-
-      lock.unlock();
-      UpdateDriverStationDataCaches();
-      lock.lock();
-
-      // Notify all threads
-      newDSDataAvailableCounter++;
-      newDSDataAvailableCond.notify_all();
-    }
-
-    // Notify waiters on thread exit
-    newDSDataAvailableCounter++;
-    newDSDataAvailableCond.notify_all();
-  }
-
-  bool m_notify = false;
-  wpi::condition_variable newDSDataAvailableCond;
-  int newDSDataAvailableCounter{0};
-};
-
-class DriverStationThreadOwner
-    : public wpi::SafeThreadOwner<DriverStationThread> {
- public:
-  void Notify() {
-    auto thr = GetThread();
-    if (!thr) return;
-    thr->m_notify = true;
-    thr->m_cond.notify_one();
-  }
-};
-
-static std::unique_ptr<DriverStationThreadOwner> dsThread = nullptr;
+static wpi::mutex* newDSDataAvailableMutex;
+static wpi::condition_variable* newDSDataAvailableCond;
+static std::atomic_int newDSDataAvailableCounter{0};
 
 namespace hal {
 namespace init {
-void InitializeFRCDriverStation() {}
+void InitializeFRCDriverStation() {
+  static wpi::mutex newMutex;
+  newDSDataAvailableMutex = &newMutex;
+  static wpi::condition_variable newCond;
+  newDSDataAvailableCond = &newCond;
+}
 }  // namespace init
 }  // namespace hal
 
@@ -303,27 +176,27 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
 
     if (baseLength + detailsRef.size() + locationRef.size() +
             callStackRef.size() <=
-        65536) {
+        65535) {
       // Pass through
       retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
                                                   details, location, callStack);
-    } else if (baseLength + detailsRef.size() > 65536) {
+    } else if (baseLength + detailsRef.size() > 65535) {
       // Details too long, cut both location and stack
-      auto newLen = 65536 - baseLength;
+      auto newLen = 65535 - baseLength;
       std::string newDetails{details, newLen};
       char empty = '\0';
       retval = FRC_NetworkCommunication_sendError(
           isError, errorCode, isLVCode, newDetails.c_str(), &empty, &empty);
-    } else if (baseLength + detailsRef.size() + locationRef.size() > 65536) {
+    } else if (baseLength + detailsRef.size() + locationRef.size() > 65535) {
       // Location too long, cut stack
-      auto newLen = 65536 - baseLength - detailsRef.size();
+      auto newLen = 65535 - baseLength - detailsRef.size();
       std::string newLocation{location, newLen};
       char empty = '\0';
       retval = FRC_NetworkCommunication_sendError(
           isError, errorCode, isLVCode, details, newLocation.c_str(), &empty);
     } else {
       // Stack too long
-      auto newLen = 65536 - baseLength - detailsRef.size() - locationRef.size();
+      auto newLen = 65535 - baseLength - detailsRef.size() - locationRef.size();
       std::string newCallStack{callStack, newLen};
       retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
                                                   details, location,
@@ -356,42 +229,42 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
   return retval;
 }
 
+int32_t HAL_SendConsoleLine(const char* line) {
+  wpi::StringRef lineRef{line};
+  if (lineRef.size() <= 65535) {
+    // Send directly
+    return FRC_NetworkCommunication_sendConsoleLine(line);
+  } else {
+    // Need to truncate
+    std::string newLine{line, 65535};
+    return FRC_NetworkCommunication_sendConsoleLine(newLine.c_str());
+  }
+}
+
 int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
-  std::memset(controlWord, 0, sizeof(HAL_ControlWord));
-  UpdateDriverStationControlWord(false, *controlWord);
-  return 0;
+  return HAL_GetControlWordInternal(controlWord);
 }
 
 int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes) {
-  std::unique_lock lock(m_cacheDataMutex);
-  *axes = m_joystickAxes[joystickNum];
-  return 0;
+  return HAL_GetJoystickAxesInternal(joystickNum, axes);
 }
 
 int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs) {
-  std::unique_lock lock(m_cacheDataMutex);
-  *povs = m_joystickPOVs[joystickNum];
-  return 0;
+  return HAL_GetJoystickPOVsInternal(joystickNum, povs);
 }
 
 int32_t HAL_GetJoystickButtons(int32_t joystickNum,
                                HAL_JoystickButtons* buttons) {
-  std::unique_lock lock(m_cacheDataMutex);
-  *buttons = m_joystickButtons[joystickNum];
-  return 0;
+  return HAL_GetJoystickButtonsInternal(joystickNum, buttons);
 }
 
 int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
                                   HAL_JoystickDescriptor* desc) {
-  std::unique_lock lock(m_cacheDataMutex);
-  *desc = m_joystickDescriptor[joystickNum];
-  return 0;
+  return HAL_GetJoystickDescriptorInternal(joystickNum, desc);
 }
 
 int32_t HAL_GetMatchInfo(HAL_MatchInfo* info) {
-  std::unique_lock lock(m_cacheDataMutex);
-  *info = *m_matchInfo;
-  return 0;
+  return HAL_GetMatchInfoInternal(info);
 }
 
 HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status) {
@@ -477,16 +350,46 @@ void HAL_ObserveUserProgramTest(void) {
   FRC_NetworkCommunication_observeUserProgramTest();
 }
 
-HAL_Bool HAL_IsNewControlData(void) {
+static int& GetThreadLocalLastCount() {
   // There is a rollover error condition here. At Packet# = n * (uintmax), this
   // will return false when instead it should return true. However, this at a
   // 20ms rate occurs once every 2.7 years of DS connected runtime, so not
   // worth the cycles to check.
   thread_local int lastCount{-1};
-  if (!dsThread) return false;
-  auto thr = dsThread->GetThread();
-  if (!thr) return false;
-  int currentCount = thr->newDSDataAvailableCounter;
+  return lastCount;
+}
+
+void HAL_WaitForCachedControlData(void) {
+  HAL_WaitForCachedControlDataTimeout(0);
+}
+
+HAL_Bool HAL_WaitForCachedControlDataTimeout(double timeout) {
+  int& lastCount = GetThreadLocalLastCount();
+  int currentCount = newDSDataAvailableCounter.load();
+  if (lastCount != currentCount) {
+    lastCount = currentCount;
+    return true;
+  }
+  auto timeoutTime =
+      std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
+
+  std::unique_lock lock{*newDSDataAvailableMutex};
+  while (newDSDataAvailableCounter.load() == currentCount) {
+    if (timeout > 0) {
+      auto timedOut = newDSDataAvailableCond->wait_until(lock, timeoutTime);
+      if (timedOut == std::cv_status::timeout) {
+        return false;
+      }
+    } else {
+      newDSDataAvailableCond->wait(lock);
+    }
+  }
+  return true;
+}
+
+HAL_Bool HAL_IsNewControlData(void) {
+  int& lastCount = GetThreadLocalLastCount();
+  int currentCount = newDSDataAvailableCounter.load();
   if (lastCount == currentCount) return false;
   lastCount = currentCount;
   return true;
@@ -506,19 +409,16 @@ HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
   auto timeoutTime =
       std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
 
-  if (!dsThread) return false;
-  auto thr = dsThread->GetThread();
-  if (!thr) return false;
-  int currentCount = thr->newDSDataAvailableCounter;
-  while (thr->newDSDataAvailableCounter == currentCount) {
+  int currentCount = newDSDataAvailableCounter.load();
+  std::unique_lock lock{*newDSDataAvailableMutex};
+  while (newDSDataAvailableCounter.load() == currentCount) {
     if (timeout > 0) {
-      auto timedOut =
-          thr->newDSDataAvailableCond.wait_until(thr.GetLock(), timeoutTime);
+      auto timedOut = newDSDataAvailableCond->wait_until(lock, timeoutTime);
       if (timedOut == std::cv_status::timeout) {
         return false;
       }
     } else {
-      thr->newDSDataAvailableCond.wait(thr.GetLock());
+      newDSDataAvailableCond->wait(lock);
     }
   }
   return true;
@@ -531,7 +431,9 @@ static void newDataOccur(uint32_t refNum) {
   // Since we could get other values, require our specific handle
   // to signal our threads
   if (refNum != refNumber) return;
-  dsThread->Notify();
+  // Notify all threads
+  newDSDataAvailableCounter.fetch_add(1);
+  newDSDataAvailableCond->notify_all();
 }
 
 /*
@@ -549,11 +451,6 @@ void HAL_InitializeDriverStation(void) {
   // Second check in case another thread was waiting
   if (initialized) return;
 
-  InitializeDriverStationCaches();
-
-  dsThread = std::make_unique<DriverStationThreadOwner>();
-  dsThread->Start();
-
   // Set up the occur function internally with NetComm
   NetCommRPCProxy_SetOccurFuncPointer(newDataOccur);
   // Set up our occur reference number

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2020 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.                                                               */
@@ -24,6 +24,7 @@
 #include <wpi/timestamp.h>
 
 #include "HALInitializer.h"
+#include "HALInternal.h"
 #include "ctre/ctre.h"
 #include "hal/ChipObject.h"
 #include "hal/DriverStation.h"
@@ -42,6 +43,7 @@ using namespace hal;
 namespace hal {
 namespace init {
 void InitializeHAL() {
+  InitializeAddressableLED();
   InitializeAccelerometer();
   InitializeAnalogAccumulator();
   InitializeAnalogGyro();
@@ -56,6 +58,8 @@ void InitializeHAL() {
   InitializeCounter();
   InitializeDigitalInternal();
   InitializeDIO();
+  InitializeDMA();
+  InitializeDutyCycle();
   InitializeEncoder();
   InitializeFPGAEncoder();
   InitializeFRCDriverStation();
@@ -75,6 +79,15 @@ void InitializeHAL() {
   InitializeThreads();
 }
 }  // namespace init
+
+void ReleaseFPGAInterrupt(int32_t interruptNumber) {
+  if (!global) {
+    return;
+  }
+  int32_t status = 0;
+  global->writeInterruptForceNumber(static_cast<unsigned char>(interruptNumber),
+                                    &status);
+}
 }  // namespace hal
 
 extern "C" {
@@ -212,6 +225,10 @@ const char* HAL_GetErrorMessage(int32_t code) {
       return ERR_FRCSystem_NetCommNotResponding_MESSAGE;
     case ERR_FRCSystem_NoDSConnection:
       return ERR_FRCSystem_NoDSConnection_MESSAGE;
+    case HAL_CAN_BUFFER_OVERRUN:
+      return HAL_CAN_BUFFER_OVERRUN_MESSAGE;
+    case HAL_LED_CHANNEL_ERROR:
+      return HAL_LED_CHANNEL_ERROR_MESSAGE;
     default:
       return "Unknown error status";
   }
@@ -253,6 +270,28 @@ uint64_t HAL_GetFPGATime(int32_t* status) {
   return (upper2 << 32) + lower;
 }
 
+uint64_t HAL_ExpandFPGATime(uint32_t unexpanded_lower, int32_t* status) {
+  // Capture the current FPGA time.  This will give us the upper half of the
+  // clock.
+  uint64_t fpga_time = HAL_GetFPGATime(status);
+  if (*status != 0) return 0;
+
+  // Now, we need to detect the case where the lower bits rolled over after we
+  // sampled.  In that case, the upper bits will be 1 bigger than they should
+  // be.
+
+  // Break it into lower and upper portions.
+  uint32_t lower = fpga_time & 0xffffffffull;
+  uint64_t upper = (fpga_time >> 32) & 0xffffffff;
+
+  // The time was sampled *before* the current time, so roll it back.
+  if (lower < unexpanded_lower) {
+    --upper;
+  }
+
+  return (upper << 32) + static_cast<uint64_t>(unexpanded_lower);
+}
+
 HAL_Bool HAL_GetFPGAButton(int32_t* status) {
   if (!global) {
     *status = NiFpga_Status_ResourceNotInitialized;
@@ -277,24 +316,6 @@ HAL_Bool HAL_GetBrownedOut(int32_t* status) {
   return !(watchdog->readStatus_PowerAlive(status));
 }
 
-void HAL_BaseInitialize(int32_t* status) {
-  static std::atomic_bool initialized{false};
-  static wpi::mutex initializeMutex;
-  // Initial check, as if it's true initialization has finished
-  if (initialized) return;
-
-  std::scoped_lock lock(initializeMutex);
-  // Second check in case another thread was waiting
-  if (initialized) return;
-  // image 4; Fixes errors caused by multiple processes. Talk to NI about this
-  nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
-      nLoadOut::kTargetClass_RoboRIO;
-
-  global.reset(tGlobal::create(status));
-  watchdog.reset(tSysWatchdog::create(status));
-  initialized = true;
-}
-
 static bool killExistingProgram(int timeout, int mode) {
   // Kill any previous robot programs
   std::fstream fs;
@@ -368,8 +389,14 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
     setNewDataSem(nullptr);
   });
 
+  // image 4; Fixes errors caused by multiple processes. Talk to NI about this
+  nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
+      nLoadOut::kTargetClass_RoboRIO;
+
   int32_t status = 0;
-  HAL_BaseInitialize(&status);
+  global.reset(tGlobal::create(&status));
+  watchdog.reset(tSysWatchdog::create(&status));
+
   if (status != 0) return false;
 
   HAL_InitializeDriverStation();

hal/src/main/native/athena/HALInitializer.h

@@ -19,6 +19,7 @@ static inline void CheckInit() {
 }
 
 extern void InitializeAccelerometer();
+extern void InitializeAddressableLED();
 extern void InitializeAnalogAccumulator();
 extern void InitializeAnalogGyro();
 extern void InitializeAnalogInput();
@@ -32,6 +33,8 @@ extern void InitializeConstants();
 extern void InitializeCounter();
 extern void InitializeDigitalInternal();
 extern void InitializeDIO();
+extern void InitializeDMA();
+extern void InitializeDutyCycle();
 extern void InitializeEncoder();
 extern void InitializeFPGAEncoder();
 extern void InitializeFRCDriverStation();

hal/src/main/native/athena/HALInternal.h

@@ -0,0 +1,15 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+namespace hal {
+void ReleaseFPGAInterrupt(int32_t interruptNumber);
+
+}  // namespace hal

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2020 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.                                                               */
@@ -13,9 +13,11 @@
 
 #include "DigitalInternal.h"
 #include "HALInitializer.h"
+#include "HALInternal.h"
 #include "PortsInternal.h"
 #include "hal/ChipObject.h"
 #include "hal/Errors.h"
+#include "hal/HALBase.h"
 #include "hal/handles/HandlesInternal.h"
 #include "hal/handles/LimitedHandleResource.h"
 
@@ -64,12 +66,6 @@ class InterruptThreadOwner : public wpi::SafeThreadOwner<InterruptThread> {
   }
 };
 
-}  // namespace
-
-static void threadedInterruptHandler(uint32_t mask, void* param) {
-  static_cast<InterruptThreadOwner*>(param)->Notify(mask);
-}
-
 struct Interrupt {
   std::unique_ptr<tInterrupt> anInterrupt;
   std::unique_ptr<tInterruptManager> manager;
@@ -77,6 +73,12 @@ struct Interrupt {
   void* param = nullptr;
 };
 
+}  // namespace
+
+static void threadedInterruptHandler(uint32_t mask, void* param) {
+  static_cast<InterruptThreadOwner*>(param)->Notify(mask);
+}
+
 static LimitedHandleResource<HAL_InterruptHandle, Interrupt, kNumInterrupts,
                              HAL_HandleEnum::Interrupt>* interruptHandles;
 
@@ -118,7 +120,11 @@ void* HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle,
   if (anInterrupt == nullptr) {
     return nullptr;
   }
-  anInterrupt->manager->disable(status);
+
+  if (anInterrupt->manager->isEnabled(status)) {
+    anInterrupt->manager->disable(status);
+  }
+
   void* param = anInterrupt->param;
   return param;
 }
@@ -152,7 +158,10 @@ void HAL_EnableInterrupts(HAL_InterruptHandle interruptHandle,
     *status = HAL_HANDLE_ERROR;
     return;
   }
-  anInterrupt->manager->enable(status);
+
+  if (!anInterrupt->manager->isEnabled(status)) {
+    anInterrupt->manager->enable(status);
+  }
 }
 
 void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle,
@@ -162,7 +171,9 @@ void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle,
     *status = HAL_HANDLE_ERROR;
     return;
   }
-  anInterrupt->manager->disable(status);
+  if (anInterrupt->manager->isEnabled(status)) {
+    anInterrupt->manager->disable(status);
+  }
 }
 
 int64_t HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle,
@@ -259,4 +270,19 @@ void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interruptHandle,
   anInterrupt->anInterrupt->writeConfig_FallingEdge(fallingEdge, status);
 }
 
+void HAL_ReleaseWaitingInterrupt(HAL_InterruptHandle interruptHandle,
+                                 int32_t* status) {
+  auto anInterrupt = interruptHandles->Get(interruptHandle);
+  if (anInterrupt == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  uint32_t interruptIndex =
+      static_cast<uint32_t>(getHandleIndex(interruptHandle));
+
+  hal::ReleaseFPGAInterrupt(interruptIndex);
+  hal::ReleaseFPGAInterrupt(interruptIndex + 8);
+}
+
 }  // extern "C"

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

@@ -139,6 +139,9 @@ HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
   return handle;
 }
 
+void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,
+                         int32_t* status) {}
+
 void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
   auto notifier = notifierHandles->Get(notifierHandle);
   if (!notifier) return;

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

@@ -175,7 +175,11 @@ double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status) {
   HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
                            &receivedTimestamp, TimeoutMs, status);
 
-  return pdpStatus.bits.temp * 1.03250836957542 - 67.8564500484966;
+  if (*status != 0) {
+    return 0;
+  } else {
+    return pdpStatus.bits.temp * 1.03250836957542 - 67.8564500484966;
+  }
 }
 
 double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status) {
@@ -186,7 +190,11 @@ double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status) {
   HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
                            &receivedTimestamp, TimeoutMs, status);
 
-  return pdpStatus.bits.busVoltage * 0.05 + 4.0; /* 50mV per unit plus 4V. */
+  if (*status != 0) {
+    return 0;
+  } else {
+    return pdpStatus.bits.busVoltage * 0.05 + 4.0; /* 50mV per unit plus 4V. */
+  }
 }
 
 double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
@@ -205,6 +213,9 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
     PdpStatus1 pdpStatus;
     HAL_ReadCANPacketTimeout(handle, Status1, pdpStatus.data, &length,
                              &receivedTimestamp, TimeoutMs, status);
+    if (*status != 0) {
+      return 0;
+    }
     switch (channel) {
       case 0:
         raw = (static_cast<uint32_t>(pdpStatus.bits.chan1_h8) << 2) |
@@ -235,6 +246,9 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
     PdpStatus2 pdpStatus;
     HAL_ReadCANPacketTimeout(handle, Status2, pdpStatus.data, &length,
                              &receivedTimestamp, TimeoutMs, status);
+    if (*status != 0) {
+      return 0;
+    }
     switch (channel) {
       case 6:
         raw = (static_cast<uint32_t>(pdpStatus.bits.chan7_h8) << 2) |
@@ -265,6 +279,9 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
     PdpStatus3 pdpStatus;
     HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
                              &receivedTimestamp, TimeoutMs, status);
+    if (*status != 0) {
+      return 0;
+    }
     switch (channel) {
       case 12:
         raw = (static_cast<uint32_t>(pdpStatus.bits.chan13_h8) << 2) |
@@ -289,6 +306,75 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
   return raw * 0.125; /* 7.3 fixed pt value in Amps */
 }
 
+void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
+                                  int32_t* status) {
+  int32_t length = 0;
+  uint64_t receivedTimestamp = 0;
+  PdpStatus1 pdpStatus;
+  HAL_ReadCANPacketTimeout(handle, Status1, pdpStatus.data, &length,
+                           &receivedTimestamp, TimeoutMs, status);
+  if (*status != 0) return;
+  PdpStatus2 pdpStatus2;
+  HAL_ReadCANPacketTimeout(handle, Status2, pdpStatus2.data, &length,
+                           &receivedTimestamp, TimeoutMs, status);
+  if (*status != 0) return;
+  PdpStatus3 pdpStatus3;
+  HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus3.data, &length,
+                           &receivedTimestamp, TimeoutMs, status);
+  if (*status != 0) return;
+
+  currents[0] = ((static_cast<uint32_t>(pdpStatus.bits.chan1_h8) << 2) |
+                 pdpStatus.bits.chan1_l2) *
+                0.125;
+  currents[1] = ((static_cast<uint32_t>(pdpStatus.bits.chan2_h6) << 4) |
+                 pdpStatus.bits.chan2_l4) *
+                0.125;
+  currents[2] = ((static_cast<uint32_t>(pdpStatus.bits.chan3_h4) << 6) |
+                 pdpStatus.bits.chan3_l6) *
+                0.125;
+  currents[3] = ((static_cast<uint32_t>(pdpStatus.bits.chan4_h2) << 8) |
+                 pdpStatus.bits.chan4_l8) *
+                0.125;
+  currents[4] = ((static_cast<uint32_t>(pdpStatus.bits.chan5_h8) << 2) |
+                 pdpStatus.bits.chan5_l2) *
+                0.125;
+  currents[5] = ((static_cast<uint32_t>(pdpStatus.bits.chan6_h6) << 4) |
+                 pdpStatus.bits.chan6_l4) *
+                0.125;
+
+  currents[6] = ((static_cast<uint32_t>(pdpStatus2.bits.chan7_h8) << 2) |
+                 pdpStatus2.bits.chan7_l2) *
+                0.125;
+  currents[7] = ((static_cast<uint32_t>(pdpStatus2.bits.chan8_h6) << 4) |
+                 pdpStatus2.bits.chan8_l4) *
+                0.125;
+  currents[8] = ((static_cast<uint32_t>(pdpStatus2.bits.chan9_h4) << 6) |
+                 pdpStatus2.bits.chan9_l6) *
+                0.125;
+  currents[9] = ((static_cast<uint32_t>(pdpStatus2.bits.chan10_h2) << 8) |
+                 pdpStatus2.bits.chan10_l8) *
+                0.125;
+  currents[10] = ((static_cast<uint32_t>(pdpStatus2.bits.chan11_h8) << 2) |
+                  pdpStatus2.bits.chan11_l2) *
+                 0.125;
+  currents[11] = ((static_cast<uint32_t>(pdpStatus2.bits.chan12_h6) << 4) |
+                  pdpStatus2.bits.chan12_l4) *
+                 0.125;
+
+  currents[12] = ((static_cast<uint32_t>(pdpStatus3.bits.chan13_h8) << 2) |
+                  pdpStatus3.bits.chan13_l2) *
+                 0.125;
+  currents[13] = ((static_cast<uint32_t>(pdpStatus3.bits.chan14_h6) << 4) |
+                  pdpStatus3.bits.chan14_l4) *
+                 0.125;
+  currents[14] = ((static_cast<uint32_t>(pdpStatus3.bits.chan15_h4) << 6) |
+                  pdpStatus3.bits.chan15_l6) *
+                 0.125;
+  currents[15] = ((static_cast<uint32_t>(pdpStatus3.bits.chan16_h2) << 8) |
+                  pdpStatus3.bits.chan16_l8) *
+                 0.125;
+}
+
 double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
   PdpStatusEnergy pdpStatus;
   int32_t length = 0;
@@ -296,6 +382,9 @@ double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
 
   HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
                            &receivedTimestamp, TimeoutMs, status);
+  if (*status != 0) {
+    return 0;
+  }
 
   uint32_t raw;
   raw = pdpStatus.bits.TotalCurrent_125mAperunit_h8;
@@ -311,6 +400,9 @@ double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status) {
 
   HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
                            &receivedTimestamp, TimeoutMs, status);
+  if (*status != 0) {
+    return 0;
+  }
 
   uint32_t raw;
   raw = pdpStatus.bits.Power_125mWperunit_h4;
@@ -328,6 +420,9 @@ double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
 
   HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
                            &receivedTimestamp, TimeoutMs, status);
+  if (*status != 0) {
+    return 0;
+  }
 
   uint32_t raw;
   raw = pdpStatus.bits.Energy_125mWPerUnitXTmeas_h4;

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -37,5 +37,7 @@ int32_t HAL_GetNumPCMModules(void) { return kNumPCMModules; }
 int32_t HAL_GetNumSolenoidChannels(void) { return kNumSolenoidChannels; }
 int32_t HAL_GetNumPDPModules(void) { return kNumPDPModules; }
 int32_t HAL_GetNumPDPChannels(void) { return kNumPDPChannels; }
+int32_t HAL_GetNumDutyCycles(void) { return kNumDutyCycles; }
+int32_t HAL_GetNumAddressableLEDs(void) { return kNumAddressableLEDs; }
 
 }  // extern "C"

hal/src/main/native/athena/PortsInternal.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -35,5 +35,7 @@ constexpr int32_t kNumPCMModules = 63;
 constexpr int32_t kNumSolenoidChannels = 8;
 constexpr int32_t kNumPDPModules = 63;
 constexpr int32_t kNumPDPChannels = 16;
+constexpr int32_t kNumDutyCycles = tDutyCycle::kNumSystems;
+constexpr int32_t kNumAddressableLEDs = tLED::kNumSystems;
 
 }  // namespace hal

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

@@ -565,7 +565,7 @@ void HAL_StopSPIAuto(HAL_SPIPort port, int32_t* status) {
 void HAL_SetSPIAutoTransmitData(HAL_SPIPort port, const uint8_t* dataToSend,
                                 int32_t dataSize, int32_t zeroSize,
                                 int32_t* status) {
-  if (dataSize < 0 || dataSize > 16) {
+  if (dataSize < 0 || dataSize > 32) {
     *status = PARAMETER_OUT_OF_RANGE;
     return;
   }
@@ -589,7 +589,7 @@ void HAL_SetSPIAutoTransmitData(HAL_SPIPort port, const uint8_t* dataToSend,
   // set byte counts
   tSPI::tAutoByteCount config;
   config.ZeroByteCount = static_cast<unsigned>(zeroSize) & 0x7f;
-  config.TxByteCount = static_cast<unsigned>(dataSize) & 0xf;
+  config.TxByteCount = static_cast<unsigned>(dataSize) & 0x1f;
   spiSystem->writeAutoByteCount(config, status);
 }
 
@@ -631,4 +631,21 @@ int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status) {
   return spiSystem->readTransferSkippedFullCount(status);
 }
 
+void HAL_ConfigureSPIAutoStall(HAL_SPIPort port, int32_t csToSclkTicks,
+                               int32_t stallTicks, int32_t pow2BytesPerRead,
+                               int32_t* status) {
+  std::scoped_lock lock(spiAutoMutex);
+  // FPGA only has one auto SPI engine
+  if (port != spiAutoPort) {
+    *status = INCOMPATIBLE_STATE;
+    return;
+  }
+
+  tSPI::tStallConfig stallConfig;
+  stallConfig.CsToSclkTicks = static_cast<uint8_t>(csToSclkTicks);
+  stallConfig.StallTicks = static_cast<uint16_t>(stallTicks);
+  stallConfig.Pow2BytesPerRead = static_cast<uint8_t>(pow2BytesPerRead);
+  spiSystem->writeStallConfig(stallConfig, status);
+}
+
 }  // extern "C"

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

@@ -0,0 +1,145 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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 <jni.h>
+
+#include <wpi/jni_util.h>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_AddressableLEDJNI.h"
+#include "hal/AddressableLED.h"
+
+using namespace frc;
+using namespace wpi::java;
+
+static_assert(sizeof(jbyte) * 4 == sizeof(HAL_AddressableLEDData));
+
+extern "C" {
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    initialize
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_initialize
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto ret = HAL_InitializeAddressableLED(
+      static_cast<HAL_DigitalHandle>(handle), &status);
+  CheckStatus(env, status);
+  return ret;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    free
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_free
+  (JNIEnv* env, jclass, jint handle)
+{
+  HAL_FreeAddressableLED(static_cast<HAL_AddressableLEDHandle>(handle));
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    setLength
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_setLength
+  (JNIEnv* env, jclass, jint handle, jint length)
+{
+  int32_t status = 0;
+  HAL_SetAddressableLEDLength(static_cast<HAL_AddressableLEDHandle>(handle),
+                              length, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    setData
+ * Signature: (I[B)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_setData
+  (JNIEnv* env, jclass, jint handle, jbyteArray arr)
+{
+  int32_t status = 0;
+  JByteArrayRef jArrRef{env, arr};
+  auto arrRef = jArrRef.array();
+  HAL_WriteAddressableLEDData(
+      static_cast<HAL_AddressableLEDHandle>(handle),
+      reinterpret_cast<const HAL_AddressableLEDData*>(arrRef.data()),
+      arrRef.size() / 4, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    setBitTiming
+ * Signature: (IIIII)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_setBitTiming
+  (JNIEnv* env, jclass, jint handle, jint lowTime0, jint highTime0,
+   jint lowTime1, jint highTime1)
+{
+  int32_t status = 0;
+  HAL_SetAddressableLEDBitTiming(static_cast<HAL_AddressableLEDHandle>(handle),
+                                 lowTime0, highTime0, lowTime1, highTime1,
+                                 &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    setSyncTime
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_setSyncTime
+  (JNIEnv* env, jclass, jint handle, jint syncTime)
+{
+  int32_t status = 0;
+  HAL_SetAddressableLEDSyncTime(static_cast<HAL_AddressableLEDHandle>(handle),
+                                syncTime, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    start
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_start
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  HAL_StartAddressableLEDOutput(static_cast<HAL_AddressableLEDHandle>(handle),
+                                &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    stop
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_stop
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  HAL_StopAddressableLEDOutput(static_cast<HAL_AddressableLEDHandle>(handle),
+                               &status);
+  CheckStatus(env, status);
+}
+}  // extern "C"

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

@@ -486,18 +486,31 @@ Java_edu_wpi_first_hal_AnalogJNI_getAccumulatorOutput
 /*
  * Class:     edu_wpi_first_hal_AnalogJNI
  * Method:    initializeAnalogTrigger
- * Signature: (ILjava/lang/Object;)I
+ * Signature: (I)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_AnalogJNI_initializeAnalogTrigger
-  (JNIEnv* env, jclass, jint id, jobject index)
+  (JNIEnv* env, jclass, jint id)
 {
-  jint* indexHandle =
-      reinterpret_cast<jint*>(env->GetDirectBufferAddress(index));
   int32_t status = 0;
-  HAL_AnalogTriggerHandle analogTrigger = HAL_InitializeAnalogTrigger(
-      (HAL_AnalogInputHandle)id, reinterpret_cast<int32_t*>(indexHandle),
-      &status);
+  HAL_AnalogTriggerHandle analogTrigger =
+      HAL_InitializeAnalogTrigger((HAL_AnalogInputHandle)id, &status);
+  CheckStatus(env, status);
+  return (jint)analogTrigger;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_AnalogJNI
+ * Method:    initializeAnalogTriggerDutyCycle
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_AnalogJNI_initializeAnalogTriggerDutyCycle
+  (JNIEnv* env, jclass, jint id)
+{
+  int32_t status = 0;
+  HAL_AnalogTriggerHandle analogTrigger =
+      HAL_InitializeAnalogTriggerDutyCycle((HAL_DutyCycleHandle)id, &status);
   CheckStatus(env, status);
   return (jint)analogTrigger;
 }
@@ -531,6 +544,21 @@ Java_edu_wpi_first_hal_AnalogJNI_setAnalogTriggerLimitsRaw
   CheckStatus(env, status);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_AnalogJNI
+ * Method:    setAnalogTriggerLimitsDutyCycle
+ * Signature: (IDD)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AnalogJNI_setAnalogTriggerLimitsDutyCycle
+  (JNIEnv* env, jclass, jint id, jdouble lower, jdouble upper)
+{
+  int32_t status = 0;
+  HAL_SetAnalogTriggerLimitsDutyCycle((HAL_AnalogTriggerHandle)id, lower, upper,
+                                      &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_AnalogJNI
  * Method:    setAnalogTriggerLimitsVoltage
@@ -622,4 +650,20 @@ Java_edu_wpi_first_hal_AnalogJNI_getAnalogTriggerOutput
   return val;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_AnalogJNI
+ * Method:    getAnalogTriggerFPGAIndex
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_AnalogJNI_getAnalogTriggerFPGAIndex
+  (JNIEnv* env, jclass, jint id)
+{
+  int32_t status = 0;
+  auto val =
+      HAL_GetAnalogTriggerFPGAIndex((HAL_AnalogTriggerHandle)id, &status);
+  CheckStatus(env, status);
+  return val;
+}
+
 }  // extern "C"

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -13,6 +13,8 @@
 
 using namespace frc;
 
+extern "C" {
+
 /*
  * Class:     edu_wpi_first_hal_DigitalGlitchFilterJNI
  * Method:    setFilterSelect
@@ -76,3 +78,5 @@ Java_edu_wpi_first_hal_DigitalGlitchFilterJNI_getFilterPeriod
   CheckStatus(env, status);
   return result;
 }
+
+}  // extern "C"

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

@@ -0,0 +1,126 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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 <jni.h>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_DutyCycleJNI.h"
+#include "hal/DutyCycle.h"
+
+using namespace frc;
+
+extern "C" {
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    initialize
+ * Signature: (II)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_initialize
+  (JNIEnv* env, jclass, jint digitalSourceHandle, jint analogTriggerType)
+{
+  int32_t status = 0;
+  auto handle = HAL_InitializeDutyCycle(
+      static_cast<HAL_Handle>(digitalSourceHandle),
+      static_cast<HAL_AnalogTriggerType>(analogTriggerType), &status);
+  CheckStatus(env, status);
+  return handle;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    free
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_free
+  (JNIEnv*, jclass, jint handle)
+{
+  HAL_FreeDutyCycle(static_cast<HAL_DutyCycleHandle>(handle));
+}
+
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    getFrequency
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_getFrequency
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleFrequency(
+      static_cast<HAL_DutyCycleHandle>(handle), &status);
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    getOutput
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_getOutput
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto retVal =
+      HAL_GetDutyCycleOutput(static_cast<HAL_DutyCycleHandle>(handle), &status);
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    getOutputRaw
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_getOutputRaw
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleOutputRaw(
+      static_cast<HAL_DutyCycleHandle>(handle), &status);
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    getOutputScaleFactor
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_getOutputScaleFactor
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleOutputScaleFactor(
+      static_cast<HAL_DutyCycleHandle>(handle), &status);
+  CheckStatus(env, status);
+  return retVal;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_DutyCycleJNI
+ * Method:    getFPGAIndex
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_DutyCycleJNI_getFPGAIndex
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleFPGAIndex(
+      static_cast<HAL_DutyCycleHandle>(handle), &status);
+  CheckStatus(env, status);
+  return retVal;
+}
+
+}  // extern "C"

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2020 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.                                                               */
@@ -448,6 +448,21 @@ Java_edu_wpi_first_hal_HAL_sendError
   return returnValue;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_HAL
+ * Method:    sendConsoleLine
+ * Signature: (Ljava/lang/String;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_HAL_sendConsoleLine
+  (JNIEnv* env, jclass, jstring line)
+{
+  JStringRef lineStr{env, line};
+
+  jint returnValue = HAL_SendConsoleLine(lineStr.c_str());
+  return returnValue;
+}
+
 /*
  * Class:     edu_wpi_first_hal_HAL
  * Method:    getPortWithModule

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2020 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.                                                               */
@@ -294,4 +294,19 @@ Java_edu_wpi_first_hal_InterruptJNI_setInterruptUpSourceEdge
   CheckStatus(env, status);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_InterruptJNI
+ * Method:    releaseWaitingInterrupt
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_InterruptJNI_releaseWaitingInterrupt
+  (JNIEnv* env, jclass, jint interruptHandle)
+{
+  int32_t status = 0;
+  HAL_ReleaseWaitingInterrupt((HAL_InterruptHandle)interruptHandle, &status);
+
+  CheckStatus(env, status);
+}
+
 }  // extern "C"

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

@@ -10,6 +10,8 @@
 #include <cassert>
 #include <cstdio>
 
+#include <wpi/jni_util.h>
+
 #include "HALUtil.h"
 #include "edu_wpi_first_hal_NotifierJNI.h"
 #include "hal/Notifier.h"
@@ -37,6 +39,21 @@ Java_edu_wpi_first_hal_NotifierJNI_initializeNotifier
   return (jint)notifierHandle;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_NotifierJNI
+ * Method:    setNotifierName
+ * Signature: (ILjava/lang/String;)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_NotifierJNI_setNotifierName
+  (JNIEnv* env, jclass cls, jint notifierHandle, jstring name)
+{
+  int32_t status = 0;
+  HAL_SetNotifierName((HAL_NotifierHandle)notifierHandle,
+                      wpi::java::JStringRef{env, name}.c_str(), &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_NotifierJNI
  * Method:    stopNotifier

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -98,6 +98,25 @@ Java_edu_wpi_first_hal_PDPJNI_getPDPChannelCurrent
   return current;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_PDPJNI
+ * Method:    getPDPAllCurrents
+ * Signature: (I[D)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_PDPJNI_getPDPAllCurrents
+  (JNIEnv* env, jclass, jint handle, jdoubleArray jarr)
+{
+  double storage[16];
+  int32_t status = 0;
+  HAL_GetPDPAllChannelCurrents(handle, storage, &status);
+  if (!CheckStatus(env, status, false)) {
+    return;
+  }
+
+  env->SetDoubleArrayRegion(jarr, 0, 16, storage);
+}
+
 /*
  * Class:     edu_wpi_first_hal_PDPJNI
  * Method:    getPDPTotalCurrent

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

@@ -394,4 +394,20 @@ Java_edu_wpi_first_hal_SPIJNI_spiGetAutoDroppedCount
   return retval;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_SPIJNI
+ * Method:    spiConfigureAutoStall
+ * Signature: (IIII)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_SPIJNI_spiConfigureAutoStall
+  (JNIEnv* env, jclass, jint port, jint csToSclkTicks, jint stallTicks,
+   jint pow2BytesPerRead)
+{
+  int32_t status = 0;
+  HAL_ConfigureSPIAutoStall(static_cast<HAL_SPIPort>(port), csToSclkTicks,
+                            stallTicks, pow2BytesPerRead, &status);
+  CheckStatus(env, status);
+}
+
 }  // extern "C"

hal/src/main/native/include/hal/AddressableLED.h

@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include "hal/AddressableLEDTypes.h"
+#include "hal/Types.h"
+
+/**
+ * @defgroup hal_addressable Addressable LED Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
+    HAL_DigitalHandle outputPort, int32_t* status);
+
+void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle);
+
+void HAL_SetAddressableLEDOutputPort(HAL_AddressableLEDHandle handle,
+                                     HAL_DigitalHandle outputPort,
+                                     int32_t* status);
+
+void HAL_SetAddressableLEDLength(HAL_AddressableLEDHandle handle,
+                                 int32_t length, int32_t* status);
+
+void HAL_WriteAddressableLEDData(HAL_AddressableLEDHandle handle,
+                                 const struct HAL_AddressableLEDData* data,
+                                 int32_t length, int32_t* status);
+
+void HAL_SetAddressableLEDBitTiming(HAL_AddressableLEDHandle handle,
+                                    int32_t lowTime0NanoSeconds,
+                                    int32_t highTime0NanoSeconds,
+                                    int32_t lowTime1NanoSeconds,
+                                    int32_t highTime1NanoSeconds,
+                                    int32_t* status);
+
+void HAL_SetAddressableLEDSyncTime(HAL_AddressableLEDHandle handle,
+                                   int32_t syncTimeMicroSeconds,
+                                   int32_t* status);
+
+void HAL_StartAddressableLEDOutput(HAL_AddressableLEDHandle handle,
+                                   int32_t* status);
+
+void HAL_StopAddressableLEDOutput(HAL_AddressableLEDHandle handle,
+                                  int32_t* status);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+/** @} */

hal/src/main/native/include/hal/AddressableLEDTypes.h

@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#define HAL_kAddressableLEDMaxLength 5460
+
+struct HAL_AddressableLEDData {
+  uint8_t b;
+  uint8_t g;
+  uint8_t r;
+  uint8_t padding;
+};

hal/src/main/native/include/hal/AnalogInput.h

@@ -233,6 +233,16 @@ int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle,
  */
 int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle,
                             int32_t* status);
+
+/**
+ *  Get the analog voltage from a raw value.
+ *
+ * @param analogPortHandle  Handle to the analog port the values were read from.
+ * @param rawValue          The raw analog value
+ * @return                  The voltage relating to the value
+ */
+double HAL_GetAnalogValueToVolts(HAL_AnalogInputHandle analogPortHandle,
+                                 int32_t rawValue, int32_t* status);
 #ifdef __cplusplus
 }  // extern "C"
 #endif

hal/src/main/native/include/hal/AnalogTrigger.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 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.                                                               */
@@ -37,11 +37,17 @@ extern "C" {
  * Initializes an analog trigger.
  *
  * @param portHandle the analog input to use for triggering
- * @param index      the trigger index value (output)
  * @return           the created analog trigger handle
  */
 HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
-    HAL_AnalogInputHandle portHandle, int32_t* index, int32_t* status);
+    HAL_AnalogInputHandle portHandle, int32_t* status);
+
+/**
+ * Initializes an analog trigger with a Duty Cycle input
+ *
+ */
+HAL_AnalogTriggerHandle HAL_InitializeAnalogTriggerDutyCycle(
+    HAL_DutyCycleHandle dutyCycleHandle, int32_t* status);
 
 /**
  * Frees an analog trigger.
@@ -54,7 +60,8 @@ void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
 /**
  * Sets the raw ADC upper and lower limits of the analog trigger.
  *
- * HAL_SetAnalogTriggerLimitsVoltage is likely better in most cases.
+ * HAL_SetAnalogTriggerLimitsVoltage or HAL_SetAnalogTriggerLimitsDutyCycle
+ * is likely better in most cases.
  *
  * @param analogTriggerHandle the trigger handle
  * @param lower               the lower ADC value
@@ -77,12 +84,19 @@ void HAL_SetAnalogTriggerLimitsVoltage(
     HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
     int32_t* status);
 
+void HAL_SetAnalogTriggerLimitsDutyCycle(
+    HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
+    int32_t* status);
+
 /**
  * Configures the analog trigger to use the averaged vs. raw values.
  *
  * If the value is true, then the averaged value is selected for the analog
  * trigger, otherwise the immediate value is used.
  *
+ * This is not allowed to be used if filtered mode is set.
+ * This is not allowed to be used with Duty Cycle based inputs.
+ *
  * @param analogTriggerHandle the trigger handle
  * @param useAveragedValue    true to use averaged values, false for raw
  */
@@ -96,6 +110,8 @@ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
  * is designed to help with 360 degree pot applications for the period where the
  * pot crosses through zero.
  *
+ * This is not allowed to be used if averaged mode is set.
+ *
  * @param analogTriggerHandle the trigger handle
  * @param useFilteredValue    true to use filtered values, false for average or
  * raw
@@ -137,6 +153,15 @@ HAL_Bool HAL_GetAnalogTriggerTriggerState(
 HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle,
                                     HAL_AnalogTriggerType type,
                                     int32_t* status);
+
+/**
+ * Get the FPGA index for the AnlogTrigger.
+ *
+ * @param analogTriggerHandle the trigger handle
+ * @return the FPGA index
+ */
+int32_t HAL_GetAnalogTriggerFPGAIndex(
+    HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status);
 #ifdef __cplusplus
 }  // extern "C"
 #endif

hal/src/main/native/include/hal/CANAPITypes.h

@@ -55,7 +55,8 @@ HAL_ENUM(HAL_CANManufacturer) {
   HAL_CAN_Man_kTeamUse = 8,
   HAL_CAN_Man_kKauaiLabs = 9,
   HAL_CAN_Man_kCopperforge = 10,
-  HAL_CAN_Man_kPWF = 11
+  HAL_CAN_Man_kPWF = 11,
+  HAL_CAN_Man_kStudica = 12
 };
 // clang-format on
 /** @} */

hal/src/main/native/include/hal/ChipObject.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2019 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.                                                               */
@@ -24,9 +24,12 @@
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h>
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h>
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h>
+#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDutyCycle.h>
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h>
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h>
+#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tHMB.h>
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h>
+#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tLED.h>
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h>
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h>
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h>