Catch exceptions generated by OpenCV in cscore JNI (#2118)

Also clean up other .styleguides.

Fixes #2111.

.gitignore

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

.styleguide

@@ -9,18 +9,10 @@ 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$
-}
-
 repoRootNameOverride {
   wpilib
 }

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
   "enableCppIntellisense": true,
   "currentLanguage": "cpp",
-  "projectYear": "2019",
+  "projectYear": "Beta2020",
   "teamNumber": 0
 }

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 '0.10.0'
     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:2020.1.4"
+    implementation "edu.wpi.first:native-utils:2020.5.2"
 }

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 {

cscore/build.gradle

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

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) {
@@ -1096,10 +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
@@ -1555,11 +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;
+  }
 }
 
 /*
@@ -1571,11 +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,

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/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')
+        }
+    }
+}

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/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/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/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/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/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/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 +1,288 @@
+/*----------------------------------------------------------------------------*/
+/* 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;
+
+extern "C" {
+NiFpga_Status NiFpga_ClientFunctionCall(NiFpga_Session session, uint32_t group,
+                                        uint32_t functionId,
+                                        const void* inBuffer,
+                                        size_t inBufferSize, void* outBuffer,
+                                        size_t outBufferSize);
+}  // extern "C"
+
+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
+
+// Shim for broken ChipObject function
+static const uint32_t clientFeature_hostMemoryBuffer = 0;
+static const uint32_t hostMemoryBufferFunction_open = 2;
+
+// Input arguments for HMB open
+struct AtomicHMBOpenInputs {
+  const char* memoryName;
+};
+
+// Output arguments for HMB open
+struct AtomicHMBOpenOutputs {
+  size_t size;
+  void* virtualAddress;
+};
+
+static NiFpga_Status OpenHostMemoryBuffer(NiFpga_Session session,
+                                          const char* memoryName,
+                                          void** virtualAddress, size_t* size) {
+  struct AtomicHMBOpenOutputs outputs;
+
+  struct AtomicHMBOpenInputs inputs;
+  inputs.memoryName = memoryName;
+
+  NiFpga_Status retval = NiFpga_ClientFunctionCall(
+      session, clientFeature_hostMemoryBuffer, hostMemoryBufferFunction_open,
+      &inputs, sizeof(struct AtomicHMBOpenInputs), &outputs,
+      sizeof(struct AtomicHMBOpenOutputs));
+  if (NiFpga_IsError(retval)) {
+    return retval;
+  }
+  *virtualAddress = outputs.virtualAddress;
+  if (size != NULL) {
+    *size = outputs.size;
+  }
+  return retval;
+}
+
+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 = 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);

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/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 +1,124 @@
+/*----------------------------------------------------------------------------*/
+/* 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/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);
+}
+
+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

@@ -124,7 +124,7 @@ static int32_t HAL_GetMatchInfoInternal(HAL_MatchInfo* info) {
 
 static wpi::mutex* newDSDataAvailableMutex;
 static wpi::condition_variable* newDSDataAvailableCond;
-static int newDSDataAvailableCounter{0};
+static std::atomic_int newDSDataAvailableCounter{0};
 
 namespace hal {
 namespace init {
@@ -338,14 +338,46 @@ 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};
-  std::lock_guard lock{*newDSDataAvailableMutex};
-  int currentCount = 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;
@@ -365,9 +397,9 @@ HAL_Bool HAL_WaitForDSDataTimeout(double timeout) {
   auto timeoutTime =
       std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
 
+  int currentCount = newDSDataAvailableCounter.load();
   std::unique_lock lock{*newDSDataAvailableMutex};
-  int currentCount = newDSDataAvailableCounter;
-  while (newDSDataAvailableCounter == currentCount) {
+  while (newDSDataAvailableCounter.load() == currentCount) {
     if (timeout > 0) {
       auto timedOut = newDSDataAvailableCond->wait_until(lock, timeoutTime);
       if (timedOut == std::cv_status::timeout) {
@@ -388,7 +420,7 @@ static void newDataOccur(uint32_t refNum) {
   // to signal our threads
   if (refNum != refNumber) return;
   // Notify all threads
-  newDSDataAvailableCounter++;
+  newDSDataAvailableCounter.fetch_add(1);
   newDSDataAvailableCond->notify_all();
 }
 

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

@@ -42,6 +42,7 @@ using namespace hal;
 namespace hal {
 namespace init {
 void InitializeHAL() {
+  InitializeAddressableLED();
   InitializeAccelerometer();
   InitializeAnalogAccumulator();
   InitializeAnalogGyro();
@@ -56,6 +57,8 @@ void InitializeHAL() {
   InitializeCounter();
   InitializeDigitalInternal();
   InitializeDIO();
+  InitializeDMA();
+  InitializeDutyCycle();
   InitializeEncoder();
   InitializeFPGAEncoder();
   InitializeFRCDriverStation();
@@ -212,6 +215,10 @@ 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 +260,28 @@ 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;

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/Interrupts.cpp

@@ -64,12 +64,6 @@ 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 +71,12 @@ 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;
 

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

@@ -289,6 +289,75 @@ 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;

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/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/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/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 +24,11 @@
 #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/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>

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

@@ -0,0 +1,129 @@
+/*----------------------------------------------------------------------------*/
+/* 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/AnalogTrigger.h"
+#include "hal/Types.h"
+
+// clang-format off
+/**
+ * The DMA Read Status.
+ */
+HAL_ENUM(HAL_DMAReadStatus ) {
+  HAL_DMA_OK = 1,
+  HAL_DMA_TIMEOUT = 2,
+  HAL_DMA_ERROR = 3,
+};
+// clang-format on
+
+struct HAL_DMASample {
+  uint32_t readBuffer[74];
+  int32_t channelOffsets[22];
+  uint64_t timeStamp;
+  uint32_t captureSize;
+  uint8_t triggerChannels;
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+HAL_DMAHandle HAL_InitializeDMA(int32_t* status);
+void HAL_FreeDMA(HAL_DMAHandle handle);
+
+void HAL_SetDMAPause(HAL_DMAHandle handle, HAL_Bool pause, int32_t* status);
+void HAL_SetDMARate(HAL_DMAHandle handle, int32_t cycles, int32_t* status);
+
+void HAL_AddDMAEncoder(HAL_DMAHandle handle, HAL_EncoderHandle encoderHandle,
+                       int32_t* status);
+void HAL_AddDMAEncoderPeriod(HAL_DMAHandle handle,
+                             HAL_EncoderHandle encoderHandle, int32_t* status);
+void HAL_AddDMACounter(HAL_DMAHandle handle, HAL_CounterHandle counterHandle,
+                       int32_t* status);
+void HAL_AddDMACounterPeriod(HAL_DMAHandle handle,
+                             HAL_CounterHandle counterHandle, int32_t* status);
+void HAL_AddDMADigitalSource(HAL_DMAHandle handle,
+                             HAL_Handle digitalSourceHandle, int32_t* status);
+void HAL_AddDMAAnalogInput(HAL_DMAHandle handle,
+                           HAL_AnalogInputHandle aInHandle, int32_t* status);
+
+void HAL_AddDMAAveragedAnalogInput(HAL_DMAHandle handle,
+                                   HAL_AnalogInputHandle aInHandle,
+                                   int32_t* status);
+
+void HAL_AddDMAAnalogAccumulator(HAL_DMAHandle handle,
+                                 HAL_AnalogInputHandle aInHandle,
+                                 int32_t* status);
+
+void HAL_AddDMADutyCycle(HAL_DMAHandle handle,
+                         HAL_DutyCycleHandle dutyCycleHandle, int32_t* status);
+
+void HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
+                               HAL_Handle digitalSourceHandle,
+                               HAL_AnalogTriggerType analogTriggerType,
+                               HAL_Bool rising, HAL_Bool falling,
+                               int32_t* status);
+
+void HAL_StartDMA(HAL_DMAHandle handle, int32_t queueDepth, int32_t* status);
+void HAL_StopDMA(HAL_DMAHandle handle, int32_t* status);
+
+void* HAL_GetDMADirectPointer(HAL_DMAHandle handle);
+
+enum HAL_DMAReadStatus HAL_ReadDMADirect(void* dmaPointer,
+                                         HAL_DMASample* dmaSample,
+                                         int32_t timeoutMs,
+                                         int32_t* remainingOut,
+                                         int32_t* status);
+
+enum HAL_DMAReadStatus HAL_ReadDMA(HAL_DMAHandle handle,
+                                   HAL_DMASample* dmaSample, int32_t timeoutMs,
+                                   int32_t* remainingOut, int32_t* status);
+
+// Sampling Code
+uint64_t HAL_GetDMASampleTime(const HAL_DMASample* dmaSample, int32_t* status);
+
+int32_t HAL_GetDMASampleEncoderRaw(const HAL_DMASample* dmaSample,
+                                   HAL_EncoderHandle encoderHandle,
+                                   int32_t* status);
+
+int32_t HAL_GetDMASampleCounter(const HAL_DMASample* dmaSample,
+                                HAL_CounterHandle counterHandle,
+                                int32_t* status);
+
+int32_t HAL_GetDMASampleEncoderPeriodRaw(const HAL_DMASample* dmaSample,
+                                         HAL_EncoderHandle encoderHandle,
+                                         int32_t* status);
+
+int32_t HAL_GetDMASampleCounterPeriod(const HAL_DMASample* dmaSample,
+                                      HAL_CounterHandle counterHandle,
+                                      int32_t* status);
+HAL_Bool HAL_GetDMASampleDigitalSource(const HAL_DMASample* dmaSample,
+                                       HAL_Handle dSourceHandle,
+                                       int32_t* status);
+int32_t HAL_GetDMASampleAnalogInputRaw(const HAL_DMASample* dmaSample,
+                                       HAL_AnalogInputHandle aInHandle,
+                                       int32_t* status);
+
+int32_t HAL_GetDMASampleAveragedAnalogInputRaw(const HAL_DMASample* dmaSample,
+                                               HAL_AnalogInputHandle aInHandle,
+                                               int32_t* status);
+
+void HAL_GetDMASampleAnalogAccumulator(const HAL_DMASample* dmaSample,
+                                       HAL_AnalogInputHandle aInHandle,
+                                       int64_t* count, int64_t* value,
+                                       int32_t* status);
+
+int32_t HAL_GetDMASampleDutyCycleOutputRaw(const HAL_DMASample* dmaSample,
+                                           HAL_DutyCycleHandle dutyCycleHandle,
+                                           int32_t* status);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif

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

@@ -193,6 +193,24 @@ int32_t HAL_GetMatchInfo(HAL_MatchInfo* info);
  */
 void HAL_ReleaseDSMutex(void);
 
+/**
+ * Checks if new control data has arrived since the last
+ * HAL_WaitForCachedControlData or HAL_IsNewControlData call. If new data has
+ * not arrived, waits for new data to arrive. Otherwise, returns immediately.
+ */
+void HAL_WaitForCachedControlData(void);
+
+/**
+ * Checks if new control data has arrived since the last
+ * HAL_WaitForCachedControlData or HAL_IsNewControlData call. If new data has
+ * not arrived, waits for new data to arrive, or a timeout. Otherwise, returns
+ * immediately.
+ *
+ * @param timeout timeout in seconds
+ * @return        true for new data, false for timeout
+ */
+HAL_Bool HAL_WaitForCachedControlDataTimeout(double timeout);
+
 /**
  * Has a new control packet from the driver station arrived since the last
  * time this function was called?

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

@@ -0,0 +1,109 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "hal/AnalogTrigger.h"
+#include "hal/Types.h"
+
+/**
+ * @defgroup hal_dutycycle DutyCycle Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Initialize a DutyCycle input.
+ *
+ * @param digitalSourceHandle the digital source to use (either a
+ * HAL_DigitalHandle or a HAL_AnalogTriggerHandle)
+ * @param triggerType the analog trigger type of the source if it is
+ * an analog trigger
+ * @return thre created duty cycle handle
+ */
+HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle,
+                                            HAL_AnalogTriggerType triggerType,
+                                            int32_t* status);
+
+/**
+ * Free a DutyCycle.
+ *
+ * @param dutyCycleHandle the duty cycle handle
+ */
+void HAL_FreeDutyCycle(HAL_DutyCycleHandle dutyCycleHandle);
+
+/**
+ * Indicates the duty cycle is used by a simulated device.
+ *
+ * @param handle the duty cycle handle
+ * @param device simulated device handle
+ */
+void HAL_SetDutyCycleSimDevice(HAL_DutyCycleHandle handle,
+                               HAL_SimDeviceHandle device);
+
+/**
+ * Get the frequency of the duty cycle signal.
+ *
+ * @param dutyCycleHandle the duty cycle handle
+ * @return frequency in Hertz
+ */
+int32_t HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle,
+                                  int32_t* status);
+
+/**
+ * Get the output ratio of the duty cycle signal.
+ *
+ * <p> 0 means always low, 1 means always high.
+ *
+ * @param dutyCycleHandle the duty cycle handle
+ * @return output ratio between 0 and 1
+ */
+double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
+                              int32_t* status);
+
+/**
+ * Get the raw output ratio of the duty cycle signal.
+ *
+ * <p> 0 means always low, an output equal to
+ * GetOutputScaleFactor() means always high.
+ *
+ * @param dutyCycleHandle the duty cycle handle
+ * @return output ratio in raw units
+ */
+int32_t HAL_GetDutyCycleOutputRaw(HAL_DutyCycleHandle dutyCycleHandle,
+                                  int32_t* status);
+
+/**
+ * Get the scale factor of the output.
+ *
+ * <p> An output equal to this value is always high, and then linearly scales
+ * down to 0. Divide the result of getOutputRaw by this in order to get the
+ * percentage between 0 and 1.
+ *
+ * @param dutyCycleHandle the duty cycle handle
+ * @return the output scale factor
+ */
+int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,
+                                          int32_t* status);
+
+/**
+ * Get the FPGA index for the DutyCycle.
+ *
+ * @param dutyCycleHandle the duty cycle handle
+ * @return the FPGA index
+ */
+int32_t HAL_GetDutyCycleFPGAIndex(HAL_DutyCycleHandle dutyCycleHandle,
+                                  int32_t* status);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+/** @} */

hal/src/main/native/include/hal/Errors.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.                                                               */
@@ -94,6 +94,14 @@
 #define HAL_HANDLE_ERROR_MESSAGE \
   "HAL: A handle parameter was passed incorrectly"
 
+#define HAL_LED_CHANNEL_ERROR -1099
+#define HAL_LED_CHANNEL_ERROR_MESSAGE \
+  "HAL: Addressable LEDs only supported on PWM Headers, not MXP or DIO"
+
+#define HAL_INVALID_DMA_ADDITION -1102
+#define HAL_INVALID_DMA_ADDITION_MESSAGE \
+  "HAL_AddDMA() only works before HAL_StartDMA()"
+
 #define HAL_SERIAL_PORT_NOT_FOUND -1123
 #define HAL_SERIAL_PORT_NOT_FOUND_MESSAGE \
   "HAL: The specified serial port device was not found"
@@ -117,6 +125,13 @@
 #define HAL_CAN_TIMEOUT -1154
 #define HAL_CAN_TIMEOUT_MESSAGE "HAL: CAN Receive has Timed Out"
 
+#define HAL_SIM_NOT_SUPPORTED -1155
+#define HAL_SIM_NOT_SUPPORTED_MESSAGE "HAL: Method not supported in sim"
+
+#define HAL_CAN_BUFFER_OVERRUN -35007
+#define HAL_CAN_BUFFER_OVERRUN_MESSAGE \
+  "HAL: CAN Output Buffer Full. Ensure a device is attached"
+
 #define VI_ERROR_SYSTEM_ERROR_MESSAGE "HAL - VISA: System Error";
 #define VI_ERROR_INV_OBJECT_MESSAGE "HAL - VISA: Invalid Object"
 #define VI_ERROR_RSRC_LOCKED_MESSAGE "HAL - VISA: Resource Locked"

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

@@ -24,6 +24,7 @@
 #include "hal/DriverStation.h"
 #include "hal/Encoder.h"
 #include "hal/Errors.h"
+#include "hal/FRCUsageReporting.h"
 #include "hal/HALBase.h"
 #include "hal/I2C.h"
 #include "hal/Interrupts.h"
@@ -41,7 +42,3 @@
 #include "hal/Threads.h"
 #include "hal/Types.h"
 #include "hal/Value.h"
-
-#ifdef __cplusplus
-#include "hal/FRCUsageReporting.h"
-#endif

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

@@ -109,6 +109,20 @@ HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
  */
 uint64_t HAL_GetFPGATime(int32_t* status);
 
+/**
+ * Given an 32 bit FPGA time, expand it to the nearest likely 64 bit FPGA time.
+ *
+ * Note: This is making the assumption that the timestamp being converted is
+ * always in the past.  If you call this with a future timestamp, it probably
+ * will make it in the past.  If you wait over 70 minutes between capturing the
+ * bottom 32 bits of the timestamp and expanding it, you will be off by
+ * multiples of 1<<32 microseconds.
+ *
+ * @return The current time in microseconds according to the FPGA (since FPGA
+ * reset) as a 64 bit number.
+ */
+uint64_t HAL_ExpandFPGATime(uint32_t unexpanded_lower, int32_t* status);
+
 /**
  * Call this to start up HAL. This is required for robot programs.
  *
@@ -135,34 +149,6 @@ uint64_t HAL_GetFPGATime(int32_t* status);
  */
 HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode);
 
-// 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
 }  // extern "C"
 #endif

hal/src/main/native/include/hal/Notifier.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.                                                               */
@@ -31,6 +31,15 @@ extern "C" {
  */
 HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status);
 
+/**
+ * Sets the name of a notifier.
+ *
+ * @param notifierHandle the notifier handle
+ * @param name name
+ */
+void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,
+                         int32_t* status);
+
 /**
  * Stops a notifier from running.
  *

hal/src/main/native/include/hal/PDP.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.                                                               */
@@ -79,6 +79,17 @@ double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status);
 double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
                                 int32_t* status);
 
+/**
+ * Gets the current of all 16 channels on the PDP.
+ *
+ * The array must be large enough to hold all channels.
+ *
+ * @param handle the module handle
+ * @param current the currents (output)
+ */
+void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
+                                  int32_t* status);
+
 /**
  * Gets the total current of the PDP.
  *

hal/src/main/native/include/hal/Ports.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.                                                               */
@@ -144,6 +144,20 @@ int32_t HAL_GetNumPDPModules(void);
  * @return the number of PDP channels
  */
 int32_t HAL_GetNumPDPChannels(void);
+
+/**
+ * Gets the number of duty cycle inputs in the current system.
+ *
+ * @return the number of Duty Cycle inputs
+ */
+int32_t HAL_GetNumDutyCycles(void);
+
+/**
+ * Gets the number of addressable LED generators in the current system.
+ *
+ * @return the number of Addressable LED generators
+ */
+int32_t HAL_GetNumAddressableLEDs(void);
 #ifdef __cplusplus
 }  // extern "C"
 #endif

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

@@ -57,6 +57,12 @@ typedef HAL_Handle HAL_SimDeviceHandle;
 
 typedef HAL_Handle HAL_SimValueHandle;
 
+typedef HAL_Handle HAL_DMAHandle;
+
+typedef HAL_Handle HAL_DutyCycleHandle;
+
+typedef HAL_Handle HAL_AddressableLEDHandle;
+
 typedef HAL_CANHandle HAL_PDPHandle;
 
 typedef int32_t HAL_Bool;

hal/src/main/native/include/hal/handles/HandlesInternal.h

@@ -66,6 +66,9 @@ enum class HAL_HandleEnum {
   SimulationJni = 18,
   CAN = 19,
   SerialPort = 20,
+  DutyCycle = 21,
+  DMA = 22,
+  AddressableLED = 23,
 };
 
 /**

hal/src/main/native/include/mockdata/AddressableLEDData.h

@@ -0,0 +1,65 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "NotifyListener.h"
+#include "hal/AddressableLEDTypes.h"
+#include "hal/Types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void HALSIM_ResetAddressableLEDData(int32_t index);
+
+int32_t HALSIM_RegisterAddressableLEDInitializedCallback(
+    int32_t index, HAL_NotifyCallback callback, void* param,
+    HAL_Bool initialNotify);
+void HALSIM_CancelAddressableLEDInitializedCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetAddressableLEDInitialized(int32_t index);
+void HALSIM_SetAddressableLEDInitialized(int32_t index, HAL_Bool initialized);
+
+int32_t HALSIM_RegisterAddressableLEDOutputPortCallback(
+    int32_t index, HAL_NotifyCallback callback, void* param,
+    HAL_Bool initialNotify);
+void HALSIM_CancelAddressableLEDOutputPortCallback(int32_t index, int32_t uid);
+int32_t HALSIM_GetAddressableLEDOutputPort(int32_t index);
+void HALSIM_SetAddressableLEDOutputPort(int32_t index, int32_t outputPort);
+
+int32_t HALSIM_RegisterAddressableLEDLengthCallback(int32_t index,
+                                                    HAL_NotifyCallback callback,
+                                                    void* param,
+                                                    HAL_Bool initialNotify);
+void HALSIM_CancelAddressableLEDLengthCallback(int32_t index, int32_t uid);
+int32_t HALSIM_GetAddressableLEDLength(int32_t index);
+void HALSIM_SetAddressableLEDLength(int32_t index, int32_t length);
+
+int32_t HALSIM_RegisterAddressableLEDRunningCallback(
+    int32_t index, HAL_NotifyCallback callback, void* param,
+    HAL_Bool initialNotify);
+void HALSIM_CancelAddressableLEDRunningCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetAddressableLEDRunning(int32_t index);
+void HALSIM_SetAddressableLEDRunning(int32_t index, HAL_Bool running);
+
+int32_t HALSIM_RegisterAddressableLEDDataCallback(
+    int32_t index, HAL_ConstBufferCallback callback, void* param);
+void HALSIM_CancelAddressableLEDDataCallback(int32_t index, int32_t uid);
+int32_t HALSIM_GetAddressableLEDData(int32_t index,
+                                     struct HAL_AddressableLEDData* data);
+void HALSIM_SetAddressableLEDData(int32_t index,
+                                  const struct HAL_AddressableLEDData* data,
+                                  int32_t length);
+
+void HALSIM_RegisterAddressableLEDAllCallbacks(int32_t index,
+                                               HAL_NotifyCallback callback,
+                                               void* param,
+                                               HAL_Bool initialNotify);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif

hal/src/main/native/include/mockdata/AnalogTriggerData.h

@@ -13,6 +13,7 @@
 enum HALSIM_AnalogTriggerMode : int32_t {
   HALSIM_AnalogTriggerUnassigned,
   HALSIM_AnalogTriggerFiltered,
+  HALSIM_AnalogTriggerDutyCycle,
   HALSIM_AnalogTriggerAveraged
 };
 

hal/src/main/native/include/mockdata/DutyCycleData.h

@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "NotifyListener.h"
+#include "hal/Types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void HALSIM_ResetDutyCycleData(int32_t index);
+int32_t HALSIM_GetDutyCycleDigitalChannel(int32_t index);
+
+int32_t HALSIM_RegisterDutyCycleInitializedCallback(int32_t index,
+                                                    HAL_NotifyCallback callback,
+                                                    void* param,
+                                                    HAL_Bool initialNotify);
+void HALSIM_CancelDutyCycleInitializedCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetDutyCycleInitialized(int32_t index);
+void HALSIM_SetDutyCycleInitialized(int32_t index, HAL_Bool initialized);
+
+HAL_SimDeviceHandle HALSIM_GetDutyCycleSimDevice(int32_t index);
+
+int32_t HALSIM_RegisterDutyCycleOutputCallback(int32_t index,
+                                               HAL_NotifyCallback callback,
+                                               void* param,
+                                               HAL_Bool initialNotify);
+void HALSIM_CancelDutyCycleOutputCallback(int32_t index, int32_t uid);
+double HALSIM_GetDutyCycleOutput(int32_t index);
+void HALSIM_SetDutyCycleOutput(int32_t index, double output);
+
+int32_t HALSIM_RegisterDutyCycleFrequencyCallback(int32_t index,
+                                                  HAL_NotifyCallback callback,
+                                                  void* param,
+                                                  HAL_Bool initialNotify);
+void HALSIM_CancelDutyCycleFrequencyCallback(int32_t index, int32_t uid);
+int32_t HALSIM_GetDutyCycleFrequency(int32_t index);
+void HALSIM_SetDutyCycleFrequency(int32_t index, int32_t frequency);
+
+void HALSIM_RegisterDutyCycleAllCallbacks(int32_t index,
+                                          HAL_NotifyCallback callback,
+                                          void* param, HAL_Bool initialNotify);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif

hal/src/main/native/include/mockdata/MockHooks.h

@@ -14,6 +14,10 @@ void HALSIM_WaitForProgramStart(void);
 void HALSIM_SetProgramStarted(void);
 HAL_Bool HALSIM_GetProgramStarted(void);
 void HALSIM_RestartTiming(void);
+void HALSIM_PauseTiming(void);
+void HALSIM_ResumeTiming(void);
+HAL_Bool HALSIM_IsTimingPaused(void);
+void HALSIM_StepTiming(uint64_t delta);
 
 typedef int32_t (*HALSIM_SendErrorHandler)(
     HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode, const char* details,

hal/src/main/native/include/mockdata/NotifierData.h

@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "hal/Types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct HALSIM_NotifierInfo {
+  HAL_NotifierHandle handle;
+  char name[64];
+  uint64_t timeout;
+  HAL_Bool running;
+};
+
+uint64_t HALSIM_GetNextNotifierTimeout(void);
+
+int32_t HALSIM_GetNumNotifiers(void);
+
+/**
+ * Gets detailed information about each notifier.
+ *
+ * @param arr array of information to be filled
+ * @param size size of arr
+ * @return Number of notifiers; note: may be larger than passed-in size
+ */
+int32_t HALSIM_GetNotifierInfo(struct HALSIM_NotifierInfo* arr, int32_t size);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif

hal/src/main/native/include/mockdata/PCMData.h

@@ -74,6 +74,9 @@ void HALSIM_CancelPCMCompressorCurrentCallback(int32_t index, int32_t uid);
 double HALSIM_GetPCMCompressorCurrent(int32_t index);
 void HALSIM_SetPCMCompressorCurrent(int32_t index, double compressorCurrent);
 
+void HALSIM_GetPCMAllSolenoids(int32_t index, uint8_t* values);
+void HALSIM_SetPCMAllSolenoids(int32_t index, uint8_t values);
+
 void HALSIM_RegisterPCMAllNonSolenoidCallbacks(int32_t index,
                                                HAL_NotifyCallback callback,
                                                void* param,

hal/src/main/native/include/mockdata/PDPData.h

@@ -46,6 +46,9 @@ void HALSIM_CancelPDPCurrentCallback(int32_t index, int32_t channel,
 double HALSIM_GetPDPCurrent(int32_t index, int32_t channel);
 void HALSIM_SetPDPCurrent(int32_t index, int32_t channel, double current);
 
+void HALSIM_GetPDPAllCurrents(int32_t index, double* currents);
+void HALSIM_SetPDPAllCurrents(int32_t index, const double* currents);
+
 void HALSIM_RegisterPDPAllNonCurrentCallbacks(int32_t index, int32_t channel,
                                               HAL_NotifyCallback callback,
                                               void* param,

hal/src/main/native/include/simulation/DutyCycleSim.h

@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <utility>
+
+#include "CallbackStore.h"
+#include "mockdata/DutyCycleData.h"
+
+namespace frc {
+namespace sim {
+class DutyCycleSim {
+ public:
+  explicit DutyCycleSim(int index) { m_index = index; }
+
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+      NotifyCallback callback, bool initialNotify) {
+    auto store = std::make_unique<CallbackStore>(
+        m_index, -1, callback, &HALSIM_CancelDutyCycleInitializedCallback);
+    store->SetUid(HALSIM_RegisterDutyCycleInitializedCallback(
+        m_index, &CallbackStoreThunk, store.get(), initialNotify));
+    return store;
+  }
+
+  bool GetInitialized() const {
+    return HALSIM_GetDutyCycleInitialized(m_index);
+  }
+
+  void SetInitialized(bool initialized) {
+    HALSIM_SetDutyCycleInitialized(m_index, initialized);
+  }
+
+  std::unique_ptr<CallbackStore> RegisterFrequencyCallback(
+      NotifyCallback callback, bool initialNotify) {
+    auto store = std::make_unique<CallbackStore>(
+        m_index, -1, callback, &HALSIM_CancelDutyCycleFrequencyCallback);
+    store->SetUid(HALSIM_RegisterDutyCycleFrequencyCallback(
+        m_index, &CallbackStoreThunk, store.get(), initialNotify));
+    return store;
+  }
+
+  int GetFrequency() const { return HALSIM_GetDutyCycleFrequency(m_index); }
+
+  void SetFrequency(int count) { HALSIM_SetDutyCycleFrequency(m_index, count); }
+
+  std::unique_ptr<CallbackStore> RegisterOutputCallback(NotifyCallback callback,
+                                                        bool initialNotify) {
+    auto store = std::make_unique<CallbackStore>(
+        m_index, -1, callback, &HALSIM_CancelDutyCycleOutputCallback);
+    store->SetUid(HALSIM_RegisterDutyCycleOutputCallback(
+        m_index, &CallbackStoreThunk, store.get(), initialNotify));
+    return store;
+  }
+
+  double GetOutput() const { return HALSIM_GetDutyCycleOutput(m_index); }
+
+  void SetOutput(double period) { HALSIM_SetDutyCycleOutput(m_index, period); }
+
+  void ResetData() { HALSIM_ResetDutyCycleData(m_index); }
+
+ private:
+  int m_index;
+};
+}  // namespace sim
+}  // namespace frc

hal/src/main/native/include/simulation/PCMSim.h

@@ -138,6 +138,16 @@ class PCMSim {
     HALSIM_SetPCMCompressorCurrent(m_index, compressorCurrent);
   }
 
+  uint8_t GetAllSolenoidOutputs() {
+    uint8_t ret = 0;
+    HALSIM_GetPCMAllSolenoids(m_index, &ret);
+    return ret;
+  }
+
+  void SetAllSolenoidOutputs(uint8_t outputs) {
+    HALSIM_SetPCMAllSolenoids(m_index, outputs);
+  }
+
   void ResetData() { HALSIM_ResetPCMData(m_index); }
 
  private:

hal/src/main/native/include/simulation/PDPSim.h

@@ -79,6 +79,14 @@ class PDPSim {
     HALSIM_SetPDPCurrent(m_index, channel, current);
   }
 
+  void GetAllCurrents(double* currents) {
+    HALSIM_GetPDPAllCurrents(m_index, currents);
+  }
+
+  void SetAllCurrents(const double* currents) {
+    HALSIM_SetPDPAllCurrents(m_index, currents);
+  }
+
   void ResetData() { HALSIM_ResetPDPData(m_index); }
 
  private:

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

@@ -0,0 +1,168 @@
+/*----------------------------------------------------------------------------*/
+/* 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 "DigitalInternal.h"
+#include "HALInitializer.h"
+#include "PortsInternal.h"
+#include "hal/Errors.h"
+#include "hal/handles/HandlesInternal.h"
+#include "hal/handles/LimitedHandleResource.h"
+#include "mockdata/AddressableLEDDataInternal.h"
+
+using namespace hal;
+
+namespace {
+struct AddressableLED {
+  uint8_t index;
+};
+}  // namespace
+
+static LimitedHandleResource<HAL_AddressableLEDHandle, AddressableLED,
+                             kNumAddressableLEDs,
+                             HAL_HandleEnum::AddressableLED>* ledHandles;
+
+namespace hal {
+namespace init {
+void InitializeAddressableLED() {
+  static LimitedHandleResource<HAL_AddressableLEDHandle, AddressableLED,
+                               kNumAddressableLEDs,
+                               HAL_HandleEnum::AddressableLED>
+      dcH;
+  ledHandles = &dcH;
+}
+}  // 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;
+  }
+
+  HAL_AddressableLEDHandle handle = ledHandles->Allocate();
+  if (handle == HAL_kInvalidHandle) {
+    *status = NO_AVAILABLE_RESOURCES;
+    return HAL_kInvalidHandle;
+  }
+
+  auto led = ledHandles->Get(handle);
+  if (!led) {  // would only occur on thread issue
+    *status = HAL_HANDLE_ERROR;
+    return HAL_kInvalidHandle;
+  }
+
+  int16_t index = getHandleIndex(handle);
+  SimAddressableLEDData[index].outputPort = digitalPort->channel;
+  SimAddressableLEDData[index].length = 1;
+  SimAddressableLEDData[index].running = false;
+  SimAddressableLEDData[index].initialized = true;
+  led->index = index;
+  return handle;
+}
+
+void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle) {
+  auto led = ledHandles->Get(handle);
+  ledHandles->Free(handle);
+  if (!led) return;
+  SimAddressableLEDData[led->index].running = false;
+  SimAddressableLEDData[led->index].initialized = false;
+}
+
+void HAL_SetAddressableLEDOutputPort(HAL_AddressableLEDHandle handle,
+                                     HAL_DigitalHandle outputPort,
+                                     int32_t* status) {
+  auto led = ledHandles->Get(handle);
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  if (auto port = digitalChannelHandles->Get(outputPort, HAL_HandleEnum::PWM)) {
+    SimAddressableLEDData[led->index].outputPort = port->channel;
+  } else {
+    SimAddressableLEDData[led->index].outputPort = -1;
+  }
+}
+
+void HAL_SetAddressableLEDLength(HAL_AddressableLEDHandle handle,
+                                 int32_t length, int32_t* status) {
+  auto led = ledHandles->Get(handle);
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  if (length > HAL_kAddressableLEDMaxLength) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    return;
+  }
+  SimAddressableLEDData[led->index].length = length;
+}
+
+void HAL_WriteAddressableLEDData(HAL_AddressableLEDHandle handle,
+                                 const struct HAL_AddressableLEDData* data,
+                                 int32_t length, int32_t* status) {
+  auto led = ledHandles->Get(handle);
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  if (length > SimAddressableLEDData[led->index].length) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    return;
+  }
+  SimAddressableLEDData[led->index].SetData(data, length);
+}
+
+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) {
+  auto led = ledHandles->Get(handle);
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  SimAddressableLEDData[led->index].running = true;
+}
+
+void HAL_StopAddressableLEDOutput(HAL_AddressableLEDHandle handle,
+                                  int32_t* status) {
+  auto led = ledHandles->Get(handle);
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+  SimAddressableLEDData[led->index].running = false;
+}
+}  // extern "C"

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

@@ -165,6 +165,15 @@ double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle,
 
   return SimAnalogInData[port->channel].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) {
   auto port = analogInputHandles->Get(analogPortHandle);

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2019 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.                                                               */
@@ -63,7 +63,7 @@ int32_t hal::GetAnalogTriggerInputIndex(HAL_AnalogTriggerHandle handle,
 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);
@@ -83,7 +83,6 @@ HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
   }
   trigger->analogHandle = portHandle;
   trigger->index = static_cast<uint8_t>(getHandleIndex(handle));
-  *index = trigger->index;
 
   SimAnalogTriggerData[trigger->index].initialized = true;
 
@@ -92,6 +91,12 @@ HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
   return handle;
 }
 
+HAL_AnalogTriggerHandle HAL_InitializeAnalogTriggerDutyCycle(
+    HAL_DutyCycleHandle dutyCycleHandle, int32_t* status) {
+  *status = HAL_SIM_NOT_SUPPORTED;
+  return HAL_kInvalidHandle;
+}
+
 void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
                             int32_t* status) {
   auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
@@ -133,6 +138,13 @@ void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle,
   SimAnalogTriggerData[trigger->index].triggerUpperBound = trigUpper;
   SimAnalogTriggerData[trigger->index].triggerLowerBound = trigLower;
 }
+
+void HAL_SetAnalogTriggerLimitsDutyCycle(
+    HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
+    int32_t* status) {
+  *status = HAL_SIM_NOT_SUPPORTED;
+}
+
 void HAL_SetAnalogTriggerLimitsVoltage(
     HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper,
     int32_t* status) {
@@ -158,7 +170,7 @@ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
 
   AnalogTriggerData* triggerData = &SimAnalogTriggerData[trigger->index];
 
-  if (triggerData->triggerMode.Get() == HALSIM_AnalogTriggerFiltered) {
+  if (triggerData->triggerMode.Get() != HALSIM_AnalogTriggerUnassigned) {
     *status = INCOMPATIBLE_STATE;
     return;
   }
@@ -167,6 +179,7 @@ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle,
                                  : HALSIM_AnalogTriggerUnassigned;
   triggerData->triggerMode = setVal;
 }
+
 void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
                                   HAL_Bool useFilteredValue, int32_t* status) {
   auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
@@ -177,12 +190,12 @@ void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle,
 
   AnalogTriggerData* triggerData = &SimAnalogTriggerData[trigger->index];
 
-  if (triggerData->triggerMode.Get() == HALSIM_AnalogTriggerAveraged) {
+  if (triggerData->triggerMode.Get() != HALSIM_AnalogTriggerUnassigned) {
     *status = INCOMPATIBLE_STATE;
     return;
   }
 
-  auto setVal = useFilteredValue ? HALSIM_AnalogTriggerAveraged
+  auto setVal = useFilteredValue ? HALSIM_AnalogTriggerFiltered
                                  : HALSIM_AnalogTriggerUnassigned;
   triggerData->triggerMode = setVal;
 }
@@ -258,4 +271,15 @@ HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle,
     return false;
   }
 }
+
+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/sim/DMA.cpp

@@ -0,0 +1,124 @@
+/*----------------------------------------------------------------------------*/
+/* 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/DMA.h"
+
+extern "C" {
+HAL_DMAHandle HAL_InitializeDMA(int32_t* status) { return HAL_kInvalidHandle; }
+void HAL_FreeDMA(HAL_DMAHandle handle) {}
+
+void HAL_SetDMAPause(HAL_DMAHandle handle, HAL_Bool pause, int32_t* status) {}
+void HAL_SetDMARate(HAL_DMAHandle handle, int32_t cycles, int32_t* status) {}
+
+void HAL_AddDMAEncoder(HAL_DMAHandle handle, HAL_EncoderHandle encoderHandle,
+                       int32_t* status) {}
+void HAL_AddDMAEncoderPeriod(HAL_DMAHandle handle,
+                             HAL_EncoderHandle encoderHandle, int32_t* status) {
+}
+void HAL_AddDMACounter(HAL_DMAHandle handle, HAL_CounterHandle counterHandle,
+                       int32_t* status) {}
+void HAL_AddDMACounterPeriod(HAL_DMAHandle handle,
+                             HAL_CounterHandle counterHandle, int32_t* status) {
+}
+void HAL_AddDMADigitalSource(HAL_DMAHandle handle,
+                             HAL_Handle digitalSourceHandle, int32_t* status) {}
+void HAL_AddDMAAnalogInput(HAL_DMAHandle handle,
+                           HAL_AnalogInputHandle aInHandle, int32_t* status) {}
+
+void HAL_AddDMAAveragedAnalogInput(HAL_DMAHandle handle,
+                                   HAL_AnalogInputHandle aInHandle,
+                                   int32_t* status) {}
+
+void HAL_AddDMAAnalogAccumulator(HAL_DMAHandle handle,
+                                 HAL_AnalogInputHandle aInHandle,
+                                 int32_t* status) {}
+
+void HAL_AddDMADutyCycle(HAL_DMAHandle handle,
+                         HAL_DutyCycleHandle dutyCycleHandle, int32_t* status) {
+}
+
+void HAL_SetDMAExternalTrigger(HAL_DMAHandle handle,
+                               HAL_Handle digitalSourceHandle,
+                               HAL_AnalogTriggerType analogTriggerType,
+                               HAL_Bool rising, HAL_Bool falling,
+                               int32_t* status) {}
+
+void HAL_StartDMA(HAL_DMAHandle handle, int32_t queueDepth, int32_t* status) {}
+void HAL_StopDMA(HAL_DMAHandle handle, int32_t* status) {}
+
+void* HAL_GetDMADirectPointer(HAL_DMAHandle handle) { return nullptr; }
+
+enum HAL_DMAReadStatus HAL_ReadDMADirect(void* dmaPointer,
+                                         HAL_DMASample* dmaSample,
+                                         int32_t timeoutMs,
+                                         int32_t* remainingOut,
+                                         int32_t* status) {
+  return HAL_DMA_ERROR;
+}
+
+enum HAL_DMAReadStatus HAL_ReadDMA(HAL_DMAHandle handle,
+                                   HAL_DMASample* dmaSample, int32_t timeoutMs,
+                                   int32_t* remainingOut, int32_t* status) {
+  return HAL_DMA_ERROR;
+}
+
+// Sampling Code
+uint64_t HAL_GetDMASampleTime(const HAL_DMASample* dmaSample, int32_t* status) {
+  return 0;
+}
+
+int32_t HAL_GetDMASampleEncoderRaw(const HAL_DMASample* dmaSample,
+                                   HAL_EncoderHandle encoderHandle,
+                                   int32_t* status) {
+  return 0;
+}
+
+int32_t HAL_GetDMASampleCounter(const HAL_DMASample* dmaSample,
+                                HAL_CounterHandle counterHandle,
+                                int32_t* status) {
+  return 0;
+}
+
+int32_t HAL_GetDMASampleEncoderPeriodRaw(const HAL_DMASample* dmaSample,
+                                         HAL_EncoderHandle encoderHandle,
+                                         int32_t* status) {
+  return 0;
+}
+
+int32_t HAL_GetDMASampleCounterPeriod(const HAL_DMASample* dmaSample,
+                                      HAL_CounterHandle counterHandle,
+                                      int32_t* status) {
+  return 0;
+}
+HAL_Bool HAL_GetDMASampleDigitalSource(const HAL_DMASample* dmaSample,
+                                       HAL_Handle dSourceHandle,
+                                       int32_t* status) {
+  return 0;
+}
+int32_t HAL_GetDMASampleAnalogInputRaw(const HAL_DMASample* dmaSample,
+                                       HAL_AnalogInputHandle aInHandle,
+                                       int32_t* status) {
+  return 0;
+}
+
+int32_t HAL_GetDMASampleAveragedAnalogInputRaw(const HAL_DMASample* dmaSample,
+                                               HAL_AnalogInputHandle aInHandle,
+                                               int32_t* status) {
+  return 0;
+}
+
+void HAL_GetDMASampleAnalogAccumulator(const HAL_DMASample* dmaSample,
+                                       HAL_AnalogInputHandle aInHandle,
+                                       int64_t* count, int64_t* value,
+                                       int32_t* status) {}
+
+int32_t HAL_GetDMASampleDutyCycleOutputRaw(const HAL_DMASample* dmaSample,
+                                           HAL_DutyCycleHandle dutyCycleHandle,
+                                           int32_t* status) {
+  return 0;
+}
+}  // extern "C"

hal/src/main/native/sim/DriverStation.cpp

@@ -210,7 +210,11 @@ static void InitLastCountKey(void) {
 }
 #endif
 
-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.
 #ifdef __APPLE__
   pthread_once(&lastCountKeyOnce, InitLastCountKey);
   int* lastCountPtr = static_cast<int*>(pthread_getspecific(lastCountKey));
@@ -223,13 +227,43 @@ HAL_Bool HAL_IsNewControlData(void) {
 #else
   thread_local int lastCount{-1};
 #endif
-  // 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.
+  return lastCount;
+}
+
+HAL_Bool HAL_WaitForCachedControlDataTimeout(double timeout) {
+  int& lastCount = GetThreadLocalLastCount();
+  std::unique_lock lock(newDSDataAvailableMutex);
+  int currentCount = newDSDataAvailableCounter;
+  if (lastCount != currentCount) {
+    lastCount = currentCount;
+    return true;
+  }
+
+  if (isFinalized.load()) {
+    return false;
+  }
+
+  auto timeoutTime =
+      std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
+
+  while (newDSDataAvailableCounter == 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 = 0;
   {
-    std::unique_lock lock(newDSDataAvailableMutex);
+    std::scoped_lock lock(newDSDataAvailableMutex);
     currentCount = newDSDataAvailableCounter;
   }
   if (lastCount == currentCount) return false;

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

@@ -0,0 +1,120 @@
+/*----------------------------------------------------------------------------*/
+/* 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/DutyCycle.h"
+
+#include "HALInitializer.h"
+#include "PortsInternal.h"
+#include "hal/Errors.h"
+#include "hal/handles/HandlesInternal.h"
+#include "hal/handles/LimitedHandleResource.h"
+#include "mockdata/DutyCycleDataInternal.h"
+
+using namespace hal;
+
+namespace {
+struct DutyCycle {
+  uint8_t index;
+};
+struct Empty {};
+}  // namespace
+
+static LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
+                             HAL_HandleEnum::DutyCycle>* dutyCycleHandles;
+
+namespace hal {
+namespace init {
+void InitializeDutyCycle() {
+  static LimitedHandleResource<HAL_DutyCycleHandle, DutyCycle, kNumDutyCycles,
+                               HAL_HandleEnum::DutyCycle>
+      dcH;
+  dutyCycleHandles = &dcH;
+}
+}  // namespace init
+}  // namespace hal
+
+extern "C" {
+HAL_DutyCycleHandle HAL_InitializeDutyCycle(HAL_Handle digitalSourceHandle,
+                                            HAL_AnalogTriggerType triggerType,
+                                            int32_t* status) {
+  hal::init::CheckInit();
+
+  HAL_DutyCycleHandle handle = dutyCycleHandles->Allocate();
+  if (handle == HAL_kInvalidHandle) {
+    *status = NO_AVAILABLE_RESOURCES;
+    return HAL_kInvalidHandle;
+  }
+
+  auto dutyCycle = dutyCycleHandles->Get(handle);
+  if (dutyCycle == nullptr) {  // would only occur on thread issue
+    *status = HAL_HANDLE_ERROR;
+    return HAL_kInvalidHandle;
+  }
+
+  int16_t index = getHandleIndex(handle);
+  SimDutyCycleData[index].digitalChannel = getHandleIndex(digitalSourceHandle);
+  SimDutyCycleData[index].initialized = true;
+  SimDutyCycleData[index].simDevice = 0;
+  dutyCycle->index = index;
+  return handle;
+}
+void HAL_FreeDutyCycle(HAL_DutyCycleHandle dutyCycleHandle) {
+  auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+  dutyCycleHandles->Free(dutyCycleHandle);
+  if (dutyCycle == nullptr) return;
+  SimDutyCycleData[dutyCycle->index].initialized = false;
+}
+
+void HAL_SetDutyCycleSimDevice(HAL_EncoderHandle handle,
+                               HAL_SimDeviceHandle device) {
+  auto dutyCycle = dutyCycleHandles->Get(handle);
+  if (dutyCycle == nullptr) return;
+  SimDutyCycleData[dutyCycle->index].simDevice = device;
+}
+
+int32_t HAL_GetDutyCycleFrequency(HAL_DutyCycleHandle dutyCycleHandle,
+                                  int32_t* status) {
+  auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+  if (dutyCycle == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+  return SimDutyCycleData[dutyCycle->index].frequency;
+}
+double HAL_GetDutyCycleOutput(HAL_DutyCycleHandle dutyCycleHandle,
+                              int32_t* status) {
+  auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+  if (dutyCycle == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+  return SimDutyCycleData[dutyCycle->index].output;
+}
+int32_t HAL_GetDutyCycleOutputRaw(HAL_DutyCycleHandle dutyCycleHandle,
+                                  int32_t* status) {
+  auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+  if (dutyCycle == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+  return SimDutyCycleData[dutyCycle->index].output *
+         HAL_GetDutyCycleOutputScaleFactor(dutyCycleHandle, status);
+}
+int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,
+                                          int32_t* status) {
+  return 4e7 - 1;
+}
+int32_t HAL_GetDutyCycleFPGAIndex(HAL_DutyCycleHandle dutyCycleHandle,
+                                  int32_t* status) {
+  auto dutyCycle = dutyCycleHandles->Get(dutyCycleHandle);
+  if (dutyCycle == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return -1;
+  }
+  return dutyCycle->index;
+}
+}  // extern "C"

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

@@ -25,6 +25,7 @@ namespace hal {
 namespace init {
 void InitializeHAL() {
   InitializeAccelerometerData();
+  InitializeAddressableLEDData();
   InitializeAnalogGyroData();
   InitializeAnalogInData();
   InitializeAnalogOutData();
@@ -32,6 +33,7 @@ void InitializeHAL() {
   InitializeCanData();
   InitializeCANAPI();
   InitializeDigitalPWMData();
+  InitializeDutyCycleData();
   InitializeDIOData();
   InitializeDriverStationData();
   InitializeEncoderData();
@@ -45,6 +47,7 @@ void InitializeHAL() {
   InitializeSPIAccelerometerData();
   InitializeSPIData();
   InitializeAccelerometer();
+  InitializeAddressableLED();
   InitializeAnalogAccumulator();
   InitializeAnalogGyro();
   InitializeAnalogInput();
@@ -56,6 +59,7 @@ void InitializeHAL() {
   InitializeCounter();
   InitializeDigitalInternal();
   InitializeDIO();
+  InitializeDutyCycle();
   InitializeDriverStation();
   InitializeEncoder();
   InitializeExtensions();
@@ -199,6 +203,12 @@ const char* HAL_GetErrorMessage(int32_t code) {
       return HAL_PWM_SCALE_ERROR_MESSAGE;
     case HAL_CAN_TIMEOUT:
       return HAL_CAN_TIMEOUT_MESSAGE;
+    case HAL_SIM_NOT_SUPPORTED:
+      return HAL_SIM_NOT_SUPPORTED_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";
   }
@@ -216,6 +226,28 @@ int64_t HAL_GetFPGARevision(int32_t* status) {
 
 uint64_t HAL_GetFPGATime(int32_t* status) { return hal::GetFPGATime(); }
 
+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) {
   return SimRoboRioData[0].fpgaButton;
 }

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

@@ -19,6 +19,7 @@ static inline void CheckInit() {
 }
 
 extern void InitializeAccelerometerData();
+extern void InitializeAddressableLEDData();
 extern void InitializeAnalogGyroData();
 extern void InitializeAnalogInData();
 extern void InitializeAnalogOutData();
@@ -26,7 +27,9 @@ extern void InitializeAnalogTriggerData();
 extern void InitializeCanData();
 extern void InitializeCANAPI();
 extern void InitializeDigitalPWMData();
+extern void InitializeDutyCycleData();
 extern void InitializeDIOData();
+extern void InitializeDutyCycle();
 extern void InitializeDriverStationData();
 extern void InitializeEncoderData();
 extern void InitializeI2CData();
@@ -39,6 +42,7 @@ extern void InitializeSimDeviceData();
 extern void InitializeSPIAccelerometerData();
 extern void InitializeSPIData();
 extern void InitializeAccelerometer();
+extern void InitializeAddressableLED();
 extern void InitializeAnalogAccumulator();
 extern void InitializeAnalogGyro();
 extern void InitializeAnalogInput();

hal/src/main/native/sim/MockHooks.cpp

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2019 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.                                                               */
@@ -13,10 +13,12 @@
 #include <wpi/timestamp.h>
 
 #include "MockHooksInternal.h"
+#include "NotifierInternal.h"
 
 static std::atomic<bool> programStarted{false};
 
 static std::atomic<uint64_t> programStartTime{0};
+static std::atomic<uint64_t> programPauseTime{0};
 
 namespace hal {
 namespace init {
@@ -25,12 +27,32 @@ void InitializeMockHooks() {}
 }  // namespace hal
 
 namespace hal {
-void RestartTiming() { programStartTime = wpi::Now(); }
+void RestartTiming() {
+  programStartTime = wpi::Now();
+  if (programPauseTime != 0) programPauseTime = programStartTime.load();
+}
+
+void PauseTiming() {
+  if (programPauseTime == 0) programPauseTime = wpi::Now();
+}
+
+void ResumeTiming() {
+  if (programPauseTime != 0) {
+    programStartTime += wpi::Now() - programPauseTime;
+    programPauseTime = 0;
+  }
+}
+
+bool IsTimingPaused() { return programPauseTime != 0; }
+
+void StepTiming(uint64_t delta) {
+  if (programPauseTime != 0) programPauseTime += delta;
+}
 
 int64_t GetFPGATime() {
-  auto now = wpi::Now();
-  auto currentTime = now - programStartTime;
-  return currentTime;
+  uint64_t curTime = programPauseTime;
+  if (curTime == 0) curTime = wpi::Now();
+  return curTime - programStartTime;
 }
 
 double GetFPGATimestamp() { return GetFPGATime() * 1.0e-6; }
@@ -56,4 +78,21 @@ void HALSIM_SetProgramStarted(void) { SetProgramStarted(); }
 HAL_Bool HALSIM_GetProgramStarted(void) { return GetProgramStarted(); }
 
 void HALSIM_RestartTiming(void) { RestartTiming(); }
+
+void HALSIM_PauseTiming(void) {
+  PauseTiming();
+  PauseNotifiers();
+}
+
+void HALSIM_ResumeTiming(void) {
+  ResumeTiming();
+  ResumeNotifiers();
+}
+
+HAL_Bool HALSIM_IsTimingPaused(void) { return IsTimingPaused(); }
+
+void HALSIM_StepTiming(uint64_t delta) {
+  StepTiming(delta);
+  WakeupNotifiers();
+}
 }  // extern "C"

hal/src/main/native/sim/MockHooksInternal.h

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2019 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.                                                               */
@@ -14,6 +14,14 @@
 namespace hal {
 void RestartTiming();
 
+void PauseTiming();
+
+void ResumeTiming();
+
+bool IsTimingPaused();
+
+void StepTiming(uint64_t delta);
+
 int64_t GetFPGATime();
 
 double GetFPGATimestamp();

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

@@ -7,21 +7,27 @@
 
 #include "hal/Notifier.h"
 
+#include <atomic>
 #include <chrono>
+#include <cstdio>
+#include <cstring>
+#include <string>
 
 #include <wpi/condition_variable.h>
 #include <wpi/mutex.h>
 #include <wpi/timestamp.h>
 
 #include "HALInitializer.h"
+#include "NotifierInternal.h"
 #include "hal/HAL.h"
 #include "hal/cpp/fpga_clock.h"
 #include "hal/handles/UnlimitedHandleResource.h"
+#include "mockdata/NotifierData.h"
 
 namespace {
 struct Notifier {
+  std::string name;
   uint64_t waitTime;
-  bool updatedAlarm = false;
   bool active = true;
   bool running = false;
   wpi::mutex mutex;
@@ -48,6 +54,7 @@ class NotifierHandleContainer
 };
 
 static NotifierHandleContainer* notifierHandles;
+static std::atomic<bool> notifiersPaused{false};
 
 namespace hal {
 namespace init {
@@ -56,6 +63,19 @@ void InitializeNotifier() {
   notifierHandles = &nH;
 }
 }  // namespace init
+
+void PauseNotifiers() { notifiersPaused = true; }
+
+void ResumeNotifiers() {
+  notifiersPaused = false;
+  WakeupNotifiers();
+}
+
+void WakeupNotifiers() {
+  notifierHandles->ForEach([](HAL_NotifierHandle handle, Notifier* notifier) {
+    notifier->cond.notify_all();
+  });
+}
 }  // namespace hal
 
 extern "C" {
@@ -71,6 +91,14 @@ HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
   return handle;
 }
 
+void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,
+                         int32_t* status) {
+  auto notifier = notifierHandles->Get(notifierHandle);
+  if (!notifier) return;
+  std::scoped_lock lock(notifier->mutex);
+  notifier->name = name;
+}
+
 void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
   auto notifier = notifierHandles->Get(notifierHandle);
   if (!notifier) return;
@@ -105,7 +133,6 @@ void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifierHandle,
     std::scoped_lock lock(notifier->mutex);
     notifier->waitTime = triggerTime;
     notifier->running = true;
-    notifier->updatedAlarm = true;
   }
 
   // We wake up any waiters to change how long they're sleeping for
@@ -131,29 +158,66 @@ uint64_t HAL_WaitForNotifierAlarm(HAL_NotifierHandle notifierHandle,
   std::unique_lock lock(notifier->mutex);
   while (notifier->active) {
     double waitTime;
-    if (!notifier->running) {
+    if (!notifier->running || notifiersPaused) {
       waitTime = (HAL_GetFPGATime(status) * 1e-6) + 1000.0;
       // If not running, wait 1000 seconds
     } else {
       waitTime = notifier->waitTime * 1e-6;
     }
 
-    // Don't wait twice
-    notifier->updatedAlarm = false;
-
     auto timeoutTime =
         hal::fpga_clock::epoch() + std::chrono::duration<double>(waitTime);
     notifier->cond.wait_until(lock, timeoutTime);
-    if (notifier->updatedAlarm) {
-      notifier->updatedAlarm = false;
-      continue;
-    }
     if (!notifier->running) continue;
     if (!notifier->active) break;
+    uint64_t curTime = HAL_GetFPGATime(status);
+    if (curTime < notifier->waitTime) continue;
     notifier->running = false;
-    return HAL_GetFPGATime(status);
+    return curTime;
   }
   return 0;
 }
 
+uint64_t HALSIM_GetNextNotifierTimeout(void) {
+  uint64_t timeout = UINT64_MAX;
+  notifierHandles->ForEach([&](HAL_NotifierHandle, Notifier* notifier) {
+    std::scoped_lock lock(notifier->mutex);
+    if (notifier->active && notifier->running && timeout > notifier->waitTime)
+      timeout = notifier->waitTime;
+  });
+  return timeout;
+}
+
+int32_t HALSIM_GetNumNotifiers(void) {
+  int32_t count = 0;
+  notifierHandles->ForEach([&](HAL_NotifierHandle, Notifier* notifier) {
+    std::scoped_lock lock(notifier->mutex);
+    if (notifier->active) ++count;
+  });
+  return count;
+}
+
+int32_t HALSIM_GetNotifierInfo(struct HALSIM_NotifierInfo* arr, int32_t size) {
+  int32_t num = 0;
+  notifierHandles->ForEach([&](HAL_NotifierHandle handle, Notifier* notifier) {
+    std::scoped_lock lock(notifier->mutex);
+    if (!notifier->active) return;
+    if (num < size) {
+      arr[num].handle = handle;
+      if (notifier->name.empty()) {
+        std::snprintf(arr[num].name, sizeof(arr[num].name), "Notifier%d",
+                      static_cast<int>(getHandleIndex(handle)));
+      } else {
+        std::strncpy(arr[num].name, notifier->name.c_str(),
+                     sizeof(arr[num].name));
+        arr[num].name[sizeof(arr[num].name) - 1] = '\0';
+      }
+      arr[num].timeout = notifier->waitTime;
+      arr[num].running = notifier->running;
+    }
+    ++num;
+  });
+  return num;
+}
+
 }  // extern "C"

hal/src/main/native/sim/NotifierInternal.h

@@ -0,0 +1,14 @@
+/*----------------------------------------------------------------------------*/
+/* 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
+
+namespace hal {
+void PauseNotifiers();
+void ResumeNotifiers();
+void WakeupNotifiers();
+}  // namespace hal

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

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2019 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.                                                               */
@@ -78,6 +78,18 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
   }
   return SimPDPData[module].current[channel];
 }
+void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
+                                  int32_t* status) {
+  auto module = hal::can::GetCANModuleFromHandle(handle, status);
+  if (*status != 0) {
+    return;
+  }
+
+  auto& data = SimPDPData[module];
+  for (int i = 0; i < kNumPDPChannels; i++) {
+    currents[i] = data.current[i];
+  }
+}
 double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
   return 0.0;
 }

hal/src/main/native/sim/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.                                                               */
@@ -36,5 +36,6 @@ 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_GetNumCanTalons(void) { return kNumCanTalons; }
+int32_t HAL_GetNumDutyCycles(void) { return kNumDutyCycles; }
+int32_t HAL_GetNumAddressableLEDs(void) { return kNumAddressableLEDs; }
 }  // extern "C"

hal/src/main/native/sim/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.                                                               */
@@ -28,5 +28,6 @@ constexpr int32_t kNumPCMModules = 63;
 constexpr int32_t kNumSolenoidChannels = 8;
 constexpr int32_t kNumPDPModules = 63;
 constexpr int32_t kNumPDPChannels = 16;
-constexpr int32_t kNumCanTalons = 63;
+constexpr int32_t kNumDutyCycles = 8;
+constexpr int32_t kNumAddressableLEDs = 1;
 }  // namespace hal

hal/src/main/native/sim/Solenoid.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.                                                               */
@@ -120,6 +120,15 @@ void HAL_SetSolenoid(HAL_SolenoidHandle solenoidPortHandle, HAL_Bool value,
 
   HALSIM_SetPCMSolenoidOutput(port->module, port->channel, value);
 }
+
+void HAL_SetAllSolenoids(int32_t module, int32_t state, int32_t* status) {
+  for (int i = 0; i < kNumSolenoidChannels; i++) {
+    int set = state & 1;
+    HALSIM_SetPCMSolenoidOutput(module, i, set);
+    state >>= 1;
+  }
+}
+
 int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status) {
   return 0;
 }