[ci] Update testbench pool image to ubuntu-latest (#3643)

This fixes documentation for SpeedController and SpeedControllerGroup

.clang-format

@@ -157,7 +157,7 @@ SpacesInCStyleCastParentheses: false
 SpacesInParentheses: false
 SpacesInSquareBrackets: false
 SpaceBeforeSquareBrackets: false
-Standard:        Auto
+Standard:        c++17
 StatementMacros:
   - Q_UNUSED
   - QT_REQUIRE_VERSION

.github/ISSUE_TEMPLATE/bug_report.md

@@ -22,7 +22,8 @@ A clear and concise description of what you expected to happen.
 If applicable, add screenshots to help explain your problem.
 
 **Desktop (please complete the following information):**
- - OS: [e.g. Windows]
+ - WPILib Version: [e.g. 2021.3.1]
+ - OS: [e.g. Windows 11]
  - Java version [e.g. 1.10.2]
  - C++ version [e.g. 17]
 

.github/workflows/cmake.yml

@@ -10,7 +10,7 @@ jobs:
         include:
           - os: ubuntu-latest
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2021-18.04
+            container: wpilib/roborio-cross-ubuntu:2022-20.04
             flags: ""
           - os: macos-latest
             name: macOS
@@ -26,14 +26,20 @@ jobs:
           if [ "$RUNNER_OS" == "macOS" ]; then
             brew install opencv
           fi
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install jinja
+        run: python -m pip install jinja2
       - name: configure
         run: mkdir build && cd build && cmake ${{ matrix.flags }} ..
       - name: build
         working-directory: build
-        run: make -j3
+        run: cmake --build . -j$(nproc)
       - name: test
         working-directory: build
-        run: make test
+        run: ctest --output-on-failure
 
   build-vcpkg:
     name: "Build - Windows"
@@ -41,19 +47,19 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - name: Prepare vcpkg
-        uses: lukka/run-vcpkg@v4
+        uses: lukka/run-vcpkg@v7
         with:
           vcpkgArguments: opencv
-          vcpkgDirectory: ${{ runner.workspace }}/vcpkg/
-          vcpkgGitCommitId: 544f8e4593764f78faa94bac2adb81cca5232943
+          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
           vcpkgTriplet: x64-windows
+          vcpkgGitCommitId: d781bd9ca77ac3dc2f13d88169021d48459c665f # HEAD on 2021-07-25
       - name: Configure & Build
         uses: lukka/run-cmake@v3
         with:
-          buildDirectory: ${{ runner.workspace }}/build/
+          buildDirectory: ${{ runner.workspace }}/build
           cmakeAppendedArgs: -DWITH_JAVA=OFF
           cmakeListsOrSettingsJson: CMakeListsTxtAdvanced
           useVcpkgToolchainFile: true
       - name: Run Tests
-        run: ctest -C "Debug"
-        working-directory: ${{ runner.workspace }}/build/
+        run: ctest -C "Debug" --output-on-failure
+        working-directory: ${{ runner.workspace }}/build

.github/workflows/documentation.yml

@@ -18,6 +18,8 @@ jobs:
       - uses: actions/setup-java@v1
         with:
           java-version: 13
+      - name: Install libclang-9
+        run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
       - name: Set environment variables (Development)
         run: |
           echo "TARGET_FOLDER=$BASE_PATH/development" >> $GITHUB_ENV

.github/workflows/gazebo.yml

@@ -12,4 +12,4 @@ jobs:
         with:
           fetch-depth: 0
       - name: Build with Gradle
-        run: ./gradlew build -PbuildServer -PmakeSim -Dorg.gradle.jvmargs=-Xmx2g
+        run: ./gradlew simulation:frc_gazebo_plugins:build simulation:halsim_gazebo:build -PbuildServer -PforceGazebo

.github/workflows/gradle.yml

@@ -8,7 +8,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2021-18.04
+          - container: wpilib/roborio-cross-ubuntu:2022-18.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
           - container: wpilib/raspbian-cross-ubuntu:10-18.04
@@ -31,7 +31,7 @@ jobs:
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v')
       - name: Build with Gradle
-        run: ./gradlew build -PbuildServer ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
       - uses: actions/upload-artifact@v2
         with:
           name: ${{ matrix.artifact-name }}
@@ -82,9 +82,9 @@ jobs:
         shell: bash
         if: startsWith(github.ref, 'refs/tags/v')
       - name: Build with Gradle
-        run: ./gradlew build -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew build -PbuildServer -PskipJavaFormat ${{ env.EXTRA_GRADLE_ARGS }}
       - name: Sign Libraries with Developer ID
-        run: ./gradlew build -PbuildServer -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew build -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ env.EXTRA_GRADLE_ARGS }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
@@ -103,6 +103,8 @@ jobs:
       - uses: actions/setup-java@v1
         with:
           java-version: 13
+      - name: Install libclang-9
+        run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v')

.github/workflows/lint-format.yml

@@ -10,7 +10,7 @@ jobs:
   wpiformat:
     name: "wpiformat"
     runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2021-20.04
+    container: wpilib/roborio-cross-ubuntu:2022-20.04
     steps:
       - uses: actions/checkout@v2
       - name: Fetch all history and metadata
@@ -31,12 +31,20 @@ jobs:
         run: pip3 install wpiformat
       - name: Run
         run: wpiformat -clang 12
-      - name: Check Output
+      - name: Check output
         run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > wpiformat-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v2
+        with:
+          name: wpiformat fixes
+          path: wpiformat-fixes.patch
+        if: ${{ failure() }}
   tidy:
     name: "clang-tidy"
     runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2021-20.04
+    container: wpilib/roborio-cross-ubuntu:2022-20.04
     steps:
       - uses: actions/checkout@v2
       - name: Fetch all history and metadata
@@ -56,8 +64,37 @@ jobs:
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Create compile_commands.json
-        run: mkdir build-cmake && cd build-cmake && cmake -DWITH_OLD_COMMANDS=ON -DWITH_EXAMPLES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=YES ..
+        run: ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
       - name: List changed files
         run: wpiformat -list-changed-files
       - name: Run clang-tidy
-        run: wpiformat -clang 12 -no-format -tidy-changed -compile-commands=build-cmake
+        run: wpiformat -clang 12 -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
+  javaformat:
+    name: "Java format"
+    runs-on: ubuntu-latest
+    container: wpilib/ubuntu-base:18.04
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+      - name: Run Java format
+        run: ./gradlew javaFormat spotbugsMain spotbugsTest spotbugsDev
+      - name: Check output
+        run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > javaformat-fixes.patch
+        if: ${{ failure() }}
+  documentation:
+    name: "Documentation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 13
+      - name: Install libclang-9
+        run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
+      - name: Build with Gradle
+        run: ./gradlew docs:zipDocs -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}

.github/workflows/sanitizers.yml

@@ -0,0 +1,49 @@
+name: Sanitizers
+
+on: [pull_request, push]
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - name: asan
+            cmake-flags: "-DCMAKE_BUILD_TYPE=Asan"
+            ctest-env: ""
+            ctest-flags: "-E 'wpiutil|ntcore|wpilibc'"
+          - name: tsan
+            cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
+            ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1"
+            ctest-flags: "-E 'ntcore|cscore|cameraserver|wpilibc|wpilibNewCommands'"
+          - name: ubsan
+            cmake-flags: "-DCMAKE_BUILD_TYPE=Ubsan"
+            ctest-env: ""
+            ctest-flags: ""
+    name: "${{ matrix.name }}"
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2022-20.04
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install Dependencies
+        run: |
+          sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+          sudo apt install -y gcc-11 g++-11
+          sudo update-alternatives \
+            --install /usr/bin/gcc gcc /usr/bin/gcc-11 11 \
+            --slave /usr/bin/g++ g++ /usr/bin/g++-11
+          sudo update-alternatives --set gcc /usr/bin/gcc-11
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install jinja
+        run: python -m pip install jinja2
+      - name: configure
+        run: mkdir build && cd build && cmake ${{ matrix.cmake-flags }} ..
+      - name: build
+        working-directory: build
+        run: cmake --build . -j$(nproc)
+      - name: test
+        working-directory: build
+        run: ${{ matrix.ctest-env }} ctest --output-on-failure ${{ matrix.ctest-flags }}

.gitignore

@@ -225,3 +225,9 @@ compile_commands.json
 .cache/
 
 imgui.ini
+
+# Bazel
+/.ijwb/
+/bazel-*
+user.bazelrc
+coverage_report/

.styleguide

@@ -9,6 +9,10 @@ cppSrcFileInclude {
   \.cpp$
 }
 
+modifiableFileExclude {
+  \.patch$
+}
+
 generatedFileExclude {
   FRCNetComm\.java$
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$

CMakeLists.txt

@@ -119,13 +119,6 @@ FATAL: Cannot build wpilib without wpimath.
 ")
 endif()
 
-if (NOT WITH_OLD_COMMANDS AND WITH_EXAMPLES)
-    message(FATAL_ERROR "
-FATAL: Cannot build examples with old commands disabled.
-       Enable old commands by setting WITH_OLD_COMMANDS=ON
-")
-endif()
-
 set( wpilib_dest wpilib)
 set( include_dest wpilib/include )
 set( main_lib_dest wpilib/lib )
@@ -171,6 +164,75 @@ endif()
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
 set(SELF_DIR "$\{SELF_DIR\}")
 
+get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
+
+if(isMultiConfig)
+    if(NOT "Asan" IN_LIST CMAKE_CONFIGURATION_TYPES)
+        list(APPEND CMAKE_CONFIGURATION_TYPES Asan)
+    endif()
+    if(NOT "Tsan" IN_LIST CMAKE_CONFIGURATION_TYPES)
+        list(APPEND CMAKE_CONFIGURATION_TYPES Tsan)
+    endif()
+    if(NOT "Ubsan" IN_LIST CMAKE_CONFIGURATION_TYPES)
+        list(APPEND CMAKE_CONFIGURATION_TYPES Ubsan)
+    endif()
+else()
+    set(allowedBuildTypes Asan Tsan Ubsan Debug Release RelWithDebInfo MinSizeRel)
+    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "${allowedBuildTypes}")
+
+    if(CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE IN_LIST allowedBuildTypes)
+        message(FATAL_ERROR "Invalid build type: ${CMAKE_BUILD_TYPE}")
+    endif()
+endif()
+
+set(CMAKE_C_FLAGS_ASAN
+    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
+    "Flags used by the C compiler for Asan build type or configuration." FORCE)
+
+set(CMAKE_CXX_FLAGS_ASAN
+    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
+    "Flags used by the C++ compiler for Asan build type or configuration." FORCE)
+
+set(CMAKE_EXE_LINKER_FLAGS_ASAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address" CACHE STRING
+    "Linker flags to be used to create executables for Asan build type." FORCE)
+
+set(CMAKE_SHARED_LINKER_FLAGS_ASAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address" CACHE STRING
+    "Linker lags to be used to create shared libraries for Asan build type." FORCE)
+
+set(CMAKE_C_FLAGS_TSAN
+    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer" CACHE STRING
+    "Flags used by the C compiler for Tsan build type or configuration." FORCE)
+
+set(CMAKE_CXX_FLAGS_TSAN
+    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer" CACHE STRING
+    "Flags used by the C++ compiler for Tsan build type or configuration." FORCE)
+
+set(CMAKE_EXE_LINKER_FLAGS_TSAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread" CACHE STRING
+    "Linker flags to be used to create executables for Tsan build type." FORCE)
+
+set(CMAKE_SHARED_LINKER_FLAGS_TSAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread" CACHE STRING
+    "Linker lags to be used to create shared libraries for Tsan build type." FORCE)
+
+set(CMAKE_C_FLAGS_UBSAN
+    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer" CACHE STRING
+    "Flags used by the C compiler for Ubsan build type or configuration." FORCE)
+
+set(CMAKE_CXX_FLAGS_UBSAN
+    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer" CACHE STRING
+    "Flags used by the C++ compiler for Ubsan build type or configuration." FORCE)
+
+set(CMAKE_EXE_LINKER_FLAGS_UBSAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all" CACHE STRING
+    "Linker flags to be used to create executables for Ubsan build type." FORCE)
+
+set(CMAKE_SHARED_LINKER_FLAGS_UBSAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined" CACHE STRING
+    "Linker lags to be used to create shared libraries for Ubsan build type." FORCE)
+
 if (WITH_TESTS)
     enable_testing()
     add_subdirectory(googletest)
@@ -201,19 +263,20 @@ if (WITH_CSCORE)
     set(CAMERASERVER_DEP_REPLACE ${CAMERASERVER_DEP_REPLACE_IMPL})
     add_subdirectory(cscore)
     add_subdirectory(cameraserver)
-    if (WITH_WPILIB)
-        set(WPILIBC_DEP_REPLACE ${WPILIBC_DEP_REPLACE_IMPL})
-        add_subdirectory(wpilibj)
-        add_subdirectory(wpilibc)
-        add_subdirectory(wpilibNewCommands)
-        if (WITH_OLD_COMMANDS)
-            add_subdirectory(wpilibOldCommands)
-        endif()
-        if (WITH_EXAMPLES)
-            add_subdirectory(wpilibcExamples)
-        endif()
-        add_subdirectory(myRobot)
+endif()
+
+if (WITH_WPILIB)
+    set(WPILIBC_DEP_REPLACE ${WPILIBC_DEP_REPLACE_IMPL})
+    add_subdirectory(wpilibj)
+    add_subdirectory(wpilibc)
+    add_subdirectory(wpilibNewCommands)
+    if (WITH_OLD_COMMANDS)
+        add_subdirectory(wpilibOldCommands)
     endif()
+    if (WITH_EXAMPLES)
+        add_subdirectory(wpilibcExamples)
+    endif()
+    add_subdirectory(myRobot)
 endif()
 
 if (WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)

CONTRIBUTING.md

@@ -41,6 +41,8 @@ WPILib uses modified Google style guides for both C++ and Java, which can be fou
 
 While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
 
+When writing math expressions in documentation, use https://www.unicodeit.net/ to convert LaTeX to a Unicode equivalent that's easier to read. Not all expressions will translate (e.g., superscripts of superscripts) so focus on making it readable by someone who isn't familiar with LaTeX. If content on multiple lines needs to be aligned in Doxygen/Javadoc comments (e.g., integration/summation limits, matrices packed with square brackets and superscripts for them), put them in @verbatim/@endverbatim blocks in Doxygen or `<pre>` tags in Javadoc so they render with monospace font.
+
 ## Submitting Changes
 
 ### Pull Request Format

OtherVersions.md

@@ -12,8 +12,8 @@ In order to build a project using a development build, find the build.gradle fil
 
 ```groovy
 wpi.maven.useDevelopment = true
-wpi.wpilibVersion = 'YEAR.+'
-wpi.wpimathVersion = 'YEAR.+
+wpi.versions.wpilibVersion = 'YEAR.+'
+wpi.versions.wpimathVersion = 'YEAR.+
 ```
 
 The top of your ``build.gradle`` file should now look similar to the code below. Ignore any differences in versions.
@@ -22,12 +22,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+  id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
+wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.wpilibVersion = '2021.+'
-wpi.wpimathVersion = '2021.+'
+wpi.versions.wpilibVersion = '2022.+'
+wpi.versions.wpimathVersion = '2022.+'
 ```
 
 C++
@@ -35,12 +36,13 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+  id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
+wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.wpilibVersion = '2021.+'
-wpi.wpimathVersion = '2021.+'
+wpi.versions.wpilibVersion = '2022.+'
+wpi.versions.wpimathVersion = '2022.+'
 ```
 
 ## Local Build
@@ -51,12 +53,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+  id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
+wpi.maven.useLocal = false
 wpi.maven.useFrcMavenLocalDevelopment = true
-wpi.wpilibVersion = 'YEAR.424242.+'
-wpi.wpimathVersion = 'YEAR.424242.+'
+wpi.versions.wpilibVersion = 'YEAR.424242.+'
+wpi.versions.wpimathVersion = 'YEAR.424242.+'
 ```
 
 C++
@@ -64,10 +67,26 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+  id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
+wpi.maven.useLocal = false
 wpi.maven.useFrcMavenLocalDevelopment = true
-wpi.wpilibVersion = 'YEAR.424242.+'
-wpi.wpimathVersion = 'YEAR.424242.+'
+wpi.versions.wpilibVersion = 'YEAR.424242.+'
+wpi.versions.wpimathVersion = 'YEAR.424242.+'
 ```
+
+# roboRIO Development
+
+This repo contains a myRobot project built in way to do full project development without needing to do a full publish into GradleRIO. These also only require building the minimum amount of binaries for the roboRIO, so the builds are much faster as well.
+
+The setup only works if the roboRIO is USB connected. If an alternate IP address is preferred, the `address` block in myRobot\build.gradle can be changed to point to another address.
+
+The following 3 tasks can be used for deployment:
+* `:myRobot:deployShared` deploys the C++ project using shared dependencies. Prefer this one for most C++ development.
+* `:myRobot:deployStatic` deploys the C++ project with all dependencies statically linked.
+* `:myRobot:deployJava` deploys the Java project and all required dependencies. Also installs the JRE if not currently installed.
+
+Deploying any of these to the roboRIO will disable the current startup project until it is redeployed.
+
+From here, ssh into the roboRIO using the `admin` account (`lvuser` will fail to run in many cases). In the admin home directory, a file for each deploy type will exist (`myRobotCpp`, `myRobotCppStatic` and `myRobotJavaRun`). These can be run to start up the corresponding project.

README.md

@@ -38,7 +38,7 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
     - On Windows, install the JDK 11 .msi from the link above
     - On macOS, install the JDK 11 .pkg from the link above
 - C++ compiler
-    - On Linux, install GCC 7 or greater
+    - On Linux, install GCC 8 or greater
     - On Windows, install [Visual Studio Community 2019](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio 2019)
     - On macOS, install the Xcode command-line build tools via `xcode-select --install`
 - ARM compiler toolchain
@@ -95,10 +95,10 @@ If you have installed the FRC Toolchain to a directory other than the default, o
 
 ### Gazebo simulation
 
-If you also want simulation to be built, add -PmakeSim. This requires gazebo_transport. We have tested on 14.04 and 15.05, but any correct install of Gazebo should work, even on Windows if you build Gazebo from source. Correct means CMake needs to be able to find gazebo-config.cmake. See [The Gazebo website](https://gazebosim.org/) for installation instructions.
+If you also want to force building Gazebo simulation support, add -PforceGazebo. This requires gazebo_transport. We have tested on 14.04 and 15.05, but any correct install of Gazebo should work, even on Windows if you build Gazebo from source. Correct means CMake needs to be able to find gazebo-config.cmake. See [The Gazebo website](https://gazebosim.org/) for installation instructions.
 
 ```bash
-./gradlew build -PmakeSim
+./gradlew build -PforceGazebo
 ```
 
 If you prefer to use CMake directly, the you can still do so.
@@ -120,7 +120,9 @@ wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on
 
 #### Java Code Quality Tools
 
-The Java code quality tools (checkstyle, pmd, etc.) can be run with the `./gradlew javaFormat` task.
+The Java code quality tools Checkstyle, PMD, and Spotless can be run via `./gradlew javaFormat`. SpotBugs can be run via the `spotbugsMain`, `spotbugsTest`, and `spotbugsDev` tasks. These tools will all be run automatically by the `build` task. To disable this behavior, pass the `-PskipJavaFormat` flag.
+
+If you only want to run the Java autoformatter, run `./gradlew spotlessApply`.
 
 ### CMake
 
@@ -147,6 +149,8 @@ The integration test directories for C++ and Java contain test code that runs on
 
 The hal directory contains more C++ code meant to run on the roboRIO. HAL is an acronym for "Hardware Abstraction Layer", and it interfaces with the NI Libraries. The NI Libraries contain the low-level code for controlling devices on your robot. The NI Libraries are found in the ni-libraries folder.
 
+The upstream_utils directory contains scripts for updating copies of thirdparty code in the repository.
+
 The [styleguide repository](https://github.com/wpilibsuite/styleguide) contains our style guides for C++ and Java code. Anything submitted to the WPILib project needs to follow the code style guides outlined in there. For details about the style, please see the contributors document [here](CONTRIBUTING.md#coding-guidelines).
 
 # Contributing to WPILib

azure-pipelines-testbench.yaml

@@ -12,10 +12,10 @@ stages:
       - job: IntegrationTests
         displayName: Integration Tests
         pool:
-          vmImage: "Ubuntu 16.04"
+          vmImage: 'ubuntu-latest'
 
         container:
-          image: wpilib/roborio-cross-ubuntu:2021-18.04
+          image: wpilib/roborio-cross-ubuntu:2022-18.04
 
         timeoutInMinutes: 0
 
@@ -29,7 +29,7 @@ stages:
               publishJUnitResults: false
               testResultsFiles: "**/TEST-*.xml"
               tasks: "copyWpilibJIntegrationTestJarToOutput copyWpilibCTestLibrariesToOutput"
-              options: "-Ponlylinuxathena -PbuildServer"
+              options: "-Ponlylinuxathena -PbuildServer -PskipJavaFormat"
 
           - task: PublishPipelineArtifact@0
             inputs:

build.gradle

@@ -1,17 +1,27 @@
 import edu.wpi.first.toolchain.*
 
+buildscript {
+    repositories {
+        mavenCentral()
+    }
+    dependencies {
+        classpath 'com.hubspot.jinjava:jinjava:2.5.8'
+    }
+}
+
 plugins {
     id 'base'
     id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '4.1.0'
     id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
     id 'edu.wpi.first.NativeUtils' apply false
-    id 'edu.wpi.first.GradleJni' version '0.10.1'
-    id 'edu.wpi.first.GradleVsCode' version '0.11.0'
+    id 'edu.wpi.first.GradleJni' version '1.0.0'
+    id 'edu.wpi.first.GradleVsCode' version '1.0.0'
     id 'idea'
     id 'visual-studio'
     id 'net.ltgt.errorprone' version '1.1.1' apply false
     id 'com.github.johnrengelman.shadow' version '5.2.0' apply false
-    id 'com.diffplug.spotless' version '5.5.0'
+    id 'com.diffplug.spotless' version '5.5.0' apply false
+    id 'com.github.spotbugs' version '5.0.0-beta.1' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -100,6 +110,13 @@ subprojects {
         }
     }
 
+    // Enables UTF-8 support in Javadoc
+    tasks.withType(Javadoc) {
+        options.addStringOption("charset", "utf-8")
+        options.addStringOption("docencoding", "utf-8")
+        options.addStringOption("encoding", "utf-8")
+    }
+
     // Sign outputs with Developer ID
     if (project.hasProperty("developerID")) {
         tasks.withType(AbstractLinkTask) { task ->
@@ -129,49 +146,6 @@ ext.getCurrentArch = {
     return NativePlatforms.desktop
 }
 
-spotless {
-    java {
-        target fileTree('.') {
-            include '**/*.java'
-            exclude '**/build/**', '**/build-*/**'
-        }
-        toggleOffOn()
-        googleJavaFormat()
-        removeUnusedImports()
-        trimTrailingWhitespace()
-        endWithNewline()
-    }
-    groovyGradle {
-        target fileTree('.') {
-            include '**/*.gradle'
-            exclude '**/build/**', '**/build-*/**'
-        }
-        greclipse()
-        indentWithSpaces(4)
-        trimTrailingWhitespace()
-        endWithNewline()
-    }
-    format 'xml', {
-        target fileTree('.') {
-            include '**/*.xml'
-            exclude '**/build/**', '**/build-*/**'
-        }
-        eclipseWtp('xml')
-        trimTrailingWhitespace()
-        indentWithSpaces(2)
-        endWithNewline()
-    }
-    format 'misc', {
-        target fileTree('.') {
-            include '**/*.md', '**/.gitignore'
-            exclude '**/build/**', '**/build-*/**'
-        }
-        trimTrailingWhitespace()
-        indentWithSpaces(2)
-        endWithNewline()
-    }
-}
-
 wrapper {
-    gradleVersion = '6.0.1'
+    gradleVersion = '7.1.1'
 }

buildSrc/build.gradle

@@ -5,5 +5,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2022.0.2"
+    implementation "edu.wpi.first:native-utils:2022.3.1"
 }

buildSrc/src/main/groovy/JREArtifact.groovy

@@ -1,48 +0,0 @@
-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")
-    }
-}

buildSrc/src/main/groovy/SingleNativeBuild.groovy

@@ -46,7 +46,7 @@ import org.gradle.platform.base.ComponentType;
 import org.gradle.platform.base.TypeBuilder;
 import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
 import groovy.transform.CompileStatic;
-import edu.wpi.first.nativeutils.tasks.ExportsGenerationTask
+import edu.wpi.first.nativeutils.exports.ExportsGenerationTask
 
 @CompileStatic
 class SingleNativeBuild implements Plugin<Project> {

buildSrc/src/main/groovy/WPIJREArtifact.groovy

@@ -0,0 +1,48 @@
+import groovy.transform.CompileStatic
+import javax.inject.Inject
+import edu.wpi.first.deployutils.deploy.artifact.MavenArtifact
+import edu.wpi.first.deployutils.deploy.context.DeployContext
+import org.gradle.api.Project
+import edu.wpi.first.deployutils.ActionWrapper
+import edu.wpi.first.deployutils.deploy.target.RemoteTarget
+import edu.wpi.first.deployutils.PredicateWrapper
+
+import java.util.function.Function
+
+@CompileStatic
+public class WPIJREArtifact extends MavenArtifact {
+    private final String configName;
+
+    public String getConfigName() {
+        return configName;
+    }
+
+    @Inject
+    public WPIJREArtifact(String name, RemoteTarget target) {
+        super(name, target);
+        String configName = name + "frcjre";
+        this.configName = configName;
+        Project project = target.getProject();
+        getConfiguration().set(project.getConfigurations().create(configName));
+        getDependency().set(project.getDependencies().add(configName, "edu.wpi.first.jdk:roborio-2022:11.0.9u12-1"));
+
+        setOnlyIf(new PredicateWrapper({ DeployContext ctx ->
+            return jreMissing(ctx) || project.hasProperty("force-redeploy-jre");
+        }));
+
+        getDirectory().set("/tmp");
+        getFilename().set("frcjre.ipk");
+
+        getPostdeploy().add(new ActionWrapper({ DeployContext ctx ->
+            ctx.getLogger().log("Installing JRE...");
+            ctx.execute("opkg remove frc2022-openjdk*; opkg install /tmp/frcjre.ipk; rm /tmp/frcjre.ipk");
+            ctx.getLogger().log("JRE Deployed!");
+        }));
+    }
+
+    private boolean jreMissing(DeployContext ctx) {
+        return ctx.execute("if [[ -f \"/usr/local/frc/JRE/bin/java\" ]]; then echo OK; else echo MISSING; fi").getResult().contains("MISSING");
+    }
+
+
+}

cameraserver/CMakeLists.txt

@@ -9,7 +9,7 @@ find_package( OpenCV REQUIRED )
 if (WITH_JAVA)
     find_package(Java REQUIRED)
     include(UseJava)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
 
     #find java files, copy them locally
 

cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java

@@ -56,9 +56,9 @@ public final class Main {
     public JsonObject config;
   }
 
-  public static int team;
-  public static boolean server;
-  public static List<CameraConfig> cameras = new ArrayList<>();
+  static int team;
+  static boolean server;
+  static List<CameraConfig> cameras = new ArrayList<>();
 
   private Main() {}
 

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

@@ -47,6 +47,7 @@ public final class CameraServer {
   /**
    * Get the CameraServer instance.
    *
+   * @return The CameraServer instance.
    * @deprecated Use the static methods
    */
   @Deprecated

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

@@ -18,7 +18,6 @@ public final class CameraServerSharedStore {
     if (cameraServerShared == null) {
       cameraServerShared =
           new CameraServerShared() {
-
             @Override
             public void reportVideoServer(int id) {}
 

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

@@ -229,6 +229,7 @@ class CameraServer {
    * Adds a MJPEG server.
    *
    * @param name Server name
+   * @param port Port number
    */
   static cs::MjpegServer AddServer(std::string_view name, int port);
 

cameraserver/src/main/native/include/vision/VisionRunner.h

@@ -44,7 +44,7 @@ class VisionRunnerBase {
    *
    * <p>This method is exposed to allow teams to add additional functionality or
    * have their own ways to run the pipeline. Most teams, however, should just
-   * use {@link #runForever} in its own thread using a std::thread.</p>
+   * use RunForever() in its own thread using a std::thread.</p>
    */
   void RunOnce();
 

cmake/modules/AddTest.cmake

@@ -8,7 +8,7 @@ macro(wpilib_add_test name srcdir)
         target_compile_definitions(${name}_test PRIVATE -DGTEST_LINKED_AS_SHARED_LIBRARY)
     endif()
     if (MSVC)
-        target_compile_options(${name}_test PRIVATE /wd4251 /wd4101)
+        target_compile_options(${name}_test PRIVATE /wd4101 /wd4251)
     endif()
     add_test(NAME ${name} COMMAND ${name}_test)
 endmacro()

cmake/modules/CompileWarnings.cmake

@@ -2,6 +2,6 @@ macro(wpilib_target_warnings target)
     if(NOT MSVC)
         target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter -Wno-error=deprecated-declarations)
     else()
-        target_compile_options(${target} PRIVATE /wd4244 /wd4267 /wd4146 /WX /wd4996)
+        target_compile_options(${target} PRIVATE /wd4146 /wd4244 /wd4251 /wd4267 /wd4996 /WX)
     endif()
 endmacro()

cmake/toolchains/arm-frc-gnueabi.toolchain.cmake

@@ -1,4 +1,4 @@
 set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
-set(GNU_MACHINE "arm-frc2021-linux-gnueabi" CACHE STRING "GNU compiler triple")
+set(GNU_MACHINE "arm-frc2022-linux-gnueabi" CACHE STRING "GNU compiler triple")
 set(SOFTFP yes)
 include("${CMAKE_CURRENT_LIST_DIR}/arm.toolchain.cmake")

crossConnIntegrationTests/build.gradle

@@ -1,6 +1,7 @@
 import org.gradle.language.base.internal.ProjectLayout
-import jaci.gradle.toolchains.*
-import jaci.gradle.nativedeps.*
+import edu.wpi.first.deployutils.deploy.target.RemoteTarget
+import edu.wpi.first.deployutils.deploy.target.location.SshDeployLocation
+import edu.wpi.first.deployutils.deploy.artifact.*
 import org.gradle.internal.os.OperatingSystem
 
 apply plugin: 'cpp'
@@ -8,8 +9,7 @@ apply plugin: 'visual-studio'
 apply plugin: 'edu.wpi.first.NativeUtils'
 apply plugin: ExtraTasks
 
-apply plugin: 'edu.wpi.first.NativeUtils'
-apply plugin: 'jaci.gradle.EmbeddedTools'
+apply plugin: 'edu.wpi.first.DeployUtils'
 
 apply from: '../shared/config.gradle'
 
@@ -25,6 +25,42 @@ apply from: "${rootDir}/shared/opencv.gradle"
 
 apply from: "${rootDir}/shared/googletest.gradle"
 
+deploy {
+    targets {
+        roborio(RemoteTarget) {
+            directory = '/home/admin'
+            maxChannels = 4
+            locations {
+                ssh(SshDeployLocation) {
+                    address = "172.22.11.2"
+                    user = 'admin'
+                    password = ''
+                    ipv6 = false
+                }
+            }
+
+            artifacts {
+                all {
+                    predeploy << { ctx ->
+                        ctx.execute('/usr/local/frc/bin/frcKillRobot.sh -t')
+                    }
+                    postdeploy << { ctx ->
+                        ctx.execute("sync")
+                        ctx.execute("ldconfig")
+                    }
+                }
+
+                crossConnIntegrationTests(NativeExecutableArtifact) {
+                    libraryDirectory = '/usr/local/frc/third-party/lib'
+                    postdeploy << { ctx ->
+                        ctx.execute('chmod +x crossConnIntegrationTests')
+                    }
+                }
+            }
+        }
+    }
+}
+
 model {
     components {
         crossConnIntegrationTests(NativeExecutableSpec) {
@@ -32,6 +68,10 @@ model {
             nativeUtils.useRequiredLibrary(it, 'googletest_static')
             binaries.all { binary ->
                 if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                    if (binary.buildType.name == 'debug') {
+                        deploy.targets.roborio.artifacts.crossConnIntegrationTests.binary = binary
+                    }
+
                     binary.sources {
                         athenaCpp(CppSourceSet) {
                             source {
@@ -53,7 +93,7 @@ model {
                     project(':hal').addHalJniDependency(binary)
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                     if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                        nativeUtils.useRequiredLibrary(binary, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
+                        nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
                     }
                 } else {
                     binary.sources {
@@ -70,45 +110,6 @@ model {
     }
 }
 
-deploy {
-    targets {
-        target('roborio') {
-            directory = '/home/admin'
-            maxChannels = 4
-            locations {
-                ssh {
-                    address = "172.22.11.2"
-                    user = 'admin'
-                    password = ''
-                    ipv6 = false
-                }
-            }
-        }
-    }
-    artifacts {
-        all {
-            targets << 'roborio'
-            predeploy << { ctx ->
-                ctx.execute('/usr/local/frc/bin/frcKillRobot.sh -t')
-            }
-            postdeploy << { ctx ->
-                ctx.execute("sync")
-                ctx.execute("ldconfig")
-            }
-        }
-
-        nativeArtifact('crossConnIntegrationTests') {
-            component = 'crossConnIntegrationTests'
-            targetPlatform = nativeUtils.wpi.platforms.roborio
-            libraryDirectory = '/usr/local/frc/third-party/lib'
-            buildType = 'debug'
-            postdeploy << { ctx ->
-                ctx.execute('chmod +x crossConnIntegrationTests')
-            }
-        }
-    }
-}
-
 tasks.register('deployTests') {
     try {
         dependsOn tasks.named('deployCrossConnIntegrationTestsLibrariesRoborio')

crossConnIntegrationTests/src/main/native/cpp/AnalogTest.cpp

@@ -1,112 +1,112 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <hal/AnalogInput.h>
-#include <hal/AnalogOutput.h>
-#include <wpi/SmallVector.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
-
-using namespace hlt;
-
-class AnalogCrossTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(AnalogCrossTest, TestAnalogCross) {
-  auto param = GetParam();
-
-  int32_t status = 0;
-  AnalogInputHandle input{param.first, &status};
-  ASSERT_EQ(0, status);
-  AnalogOutputHandle output{param.second, &status};
-  ASSERT_EQ(0, status);
-
-  for (double i = 0; i < 5; i += 0.1) {
-    HAL_SetAnalogOutput(output, i, &status);
-    ASSERT_EQ(0, status);
-    usleep(1000);
-    ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
-    ASSERT_EQ(0, status);
-  }
-
-  for (double i = 5; i > 0; i -= 0.1) {
-    HAL_SetAnalogOutput(output, i, &status);
-    ASSERT_EQ(0, status);
-    usleep(1000);
-    ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
-    ASSERT_EQ(0, status);
-  }
-}
-
-TEST(AnalogInputTest, TestAllocateAll) {
-  wpi::SmallVector<AnalogInputHandle, 21> analogHandles;
-  for (int i = 0; i < HAL_GetNumAnalogInputs(); i++) {
-    int32_t status = 0;
-    analogHandles.emplace_back(AnalogInputHandle(i, &status));
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(AnalogInputTest, TestMultipleAllocateFails) {
-  int32_t status = 0;
-  AnalogInputHandle handle(0, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  AnalogInputHandle handle2(0, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(AnalogInputTest, TestOverAllocateFails) {
-  int32_t status = 0;
-  AnalogInputHandle handle(HAL_GetNumAnalogInputs(), &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(AnalogInputTest, TestUnderAllocateFails) {
-  int32_t status = 0;
-  AnalogInputHandle handle(-1, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(AnalogOutputTest, TestAllocateAll) {
-  wpi::SmallVector<AnalogOutputHandle, 21> analogHandles;
-  for (int i = 0; i < HAL_GetNumAnalogOutputs(); i++) {
-    int32_t status = 0;
-    analogHandles.emplace_back(AnalogOutputHandle(i, &status));
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(AnalogOutputTest, TestMultipleAllocateFails) {
-  int32_t status = 0;
-  AnalogOutputHandle handle(0, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  AnalogOutputHandle handle2(0, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(AnalogOutputTest, TestOverAllocateFails) {
-  int32_t status = 0;
-  AnalogOutputHandle handle(HAL_GetNumAnalogOutputs(), &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(AnalogOutputTest, TestUnderAllocateFails) {
-  int32_t status = 0;
-  AnalogOutputHandle handle(-1, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-INSTANTIATE_TEST_SUITE_P(AnalogCrossConnectsTest, AnalogCrossTest,
-                         ::testing::ValuesIn(AnalogCrossConnects));
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <hal/AnalogInput.h>
+#include <hal/AnalogOutput.h>
+#include <wpi/SmallVector.h>
+
+#include "CrossConnects.h"
+#include "LifetimeWrappers.h"
+#include "gtest/gtest.h"
+
+using namespace hlt;
+
+class AnalogCrossTest : public ::testing::TestWithParam<std::pair<int, int>> {};
+
+TEST_P(AnalogCrossTest, AnalogCross) {
+  auto param = GetParam();
+
+  int32_t status = 0;
+  AnalogInputHandle input{param.first, &status};
+  ASSERT_EQ(0, status);
+  AnalogOutputHandle output{param.second, &status};
+  ASSERT_EQ(0, status);
+
+  for (double i = 0; i < 5; i += 0.1) {
+    HAL_SetAnalogOutput(output, i, &status);
+    ASSERT_EQ(0, status);
+    usleep(1000);
+    ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
+    ASSERT_EQ(0, status);
+  }
+
+  for (double i = 5; i > 0; i -= 0.1) {
+    HAL_SetAnalogOutput(output, i, &status);
+    ASSERT_EQ(0, status);
+    usleep(1000);
+    ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
+    ASSERT_EQ(0, status);
+  }
+}
+
+TEST(AnalogInputTest, AllocateAll) {
+  wpi::SmallVector<AnalogInputHandle, 21> analogHandles;
+  for (int i = 0; i < HAL_GetNumAnalogInputs(); i++) {
+    int32_t status = 0;
+    analogHandles.emplace_back(AnalogInputHandle(i, &status));
+    ASSERT_EQ(status, 0);
+  }
+}
+
+TEST(AnalogInputTest, MultipleAllocateFails) {
+  int32_t status = 0;
+  AnalogInputHandle handle(0, &status);
+  ASSERT_NE(handle, HAL_kInvalidHandle);
+  ASSERT_EQ(status, 0);
+
+  AnalogInputHandle handle2(0, &status);
+  ASSERT_EQ(handle2, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
+}
+
+TEST(AnalogInputTest, OverAllocateFails) {
+  int32_t status = 0;
+  AnalogInputHandle handle(HAL_GetNumAnalogInputs(), &status);
+  ASSERT_EQ(handle, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(AnalogInputTest, UnderAllocateFails) {
+  int32_t status = 0;
+  AnalogInputHandle handle(-1, &status);
+  ASSERT_EQ(handle, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(AnalogOutputTest, AllocateAll) {
+  wpi::SmallVector<AnalogOutputHandle, 21> analogHandles;
+  for (int i = 0; i < HAL_GetNumAnalogOutputs(); i++) {
+    int32_t status = 0;
+    analogHandles.emplace_back(AnalogOutputHandle(i, &status));
+    ASSERT_EQ(status, 0);
+  }
+}
+
+TEST(AnalogOutputTest, MultipleAllocateFails) {
+  int32_t status = 0;
+  AnalogOutputHandle handle(0, &status);
+  ASSERT_NE(handle, HAL_kInvalidHandle);
+  ASSERT_EQ(status, 0);
+
+  AnalogOutputHandle handle2(0, &status);
+  ASSERT_EQ(handle2, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
+}
+
+TEST(AnalogOutputTest, OverAllocateFails) {
+  int32_t status = 0;
+  AnalogOutputHandle handle(HAL_GetNumAnalogOutputs(), &status);
+  ASSERT_EQ(handle, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(AnalogOutputTest, UnderAllocateFails) {
+  int32_t status = 0;
+  AnalogOutputHandle handle(-1, &status);
+  ASSERT_EQ(handle, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+INSTANTIATE_TEST_SUITE_P(AnalogCrossConnectsTests, AnalogCrossTest,
+                         ::testing::ValuesIn(AnalogCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/DIOTest.cpp

@@ -13,7 +13,7 @@ using namespace hlt;
 
 class DIOTest : public ::testing::TestWithParam<std::pair<int, int>> {};
 
-TEST_P(DIOTest, TestDIOCross) {
+TEST_P(DIOTest, DIOCross) {
   auto param = GetParam();
   int32_t status = 0;
   DIOHandle first{param.first, false, &status};
@@ -53,7 +53,7 @@ TEST_P(DIOTest, TestDIOCross) {
   ASSERT_EQ(0, status);
 }
 
-TEST(DIOTest, TestAllocateAll) {
+TEST(DIOTest, AllocateAll) {
   wpi::SmallVector<DIOHandle, 32> dioHandles;
   for (int i = 0; i < HAL_GetNumDigitalChannels(); i++) {
     int32_t status = 0;
@@ -62,7 +62,7 @@ TEST(DIOTest, TestAllocateAll) {
   }
 }
 
-TEST(DIOTest, TestMultipleAllocateFails) {
+TEST(DIOTest, MultipleAllocateFails) {
   int32_t status = 0;
   DIOHandle handle(0, true, &status);
   ASSERT_NE(handle, HAL_kInvalidHandle);
@@ -73,21 +73,21 @@ TEST(DIOTest, TestMultipleAllocateFails) {
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
 }
 
-TEST(DIOTest, TestOverAllocateFails) {
+TEST(DIOTest, OverAllocateFails) {
   int32_t status = 0;
   DIOHandle handle(HAL_GetNumDigitalChannels(), true, &status);
   ASSERT_EQ(handle, HAL_kInvalidHandle);
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
 }
 
-TEST(DIOTest, TestUnderAllocateFails) {
+TEST(DIOTest, UnderAllocateFails) {
   int32_t status = 0;
   DIOHandle handle(-1, true, &status);
   ASSERT_EQ(handle, HAL_kInvalidHandle);
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
 }
 
-TEST(DIOTest, TestCrossAllocationFails) {
+TEST(DIOTest, CrossAllocationFails) {
   int32_t status = 0;
   PWMHandle pwmHandle(10, &status);
   ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
@@ -97,5 +97,5 @@ TEST(DIOTest, TestCrossAllocationFails) {
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
 }
 
-INSTANTIATE_TEST_SUITE_P(DIOCrossConnectsTest, DIOTest,
+INSTANTIATE_TEST_SUITE_P(DIOCrossConnectsTests, DIOTest,
                          ::testing::ValuesIn(DIOCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/DutyCycleTest.cpp

@@ -1,51 +1,51 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <hal/HAL.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
-
-using namespace hlt;
-
-class DutyCycleTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(DutyCycleTest, TestDutyCycle) {
-  auto param = GetParam();
-
-  int32_t status = 0;
-  PWMHandle pwmHandle(param.first, &status);
-  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
-  ASSERT_EQ(0, status);
-
-  // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMRaw(pwmHandle, 0, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
-  HAL_SetPWMConfig(pwmHandle, 5.05, 2.525, 2.525, 2.525, 0, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetPWMPeriodScale(pwmHandle, 0, &status);
-  ASSERT_EQ(0, status);
-
-  DIOHandle dioHandle{param.second, true, &status};
-  ASSERT_EQ(0, status);
-
-  DutyCycleHandle dutyCycle{dioHandle, &status};
-  ASSERT_EQ(0, status);
-
-  HAL_SetPWMSpeed(pwmHandle, 0.5, &status);
-  ASSERT_EQ(0, status);
-
-  // Sleep enough time for the frequency to converge
-  usleep(3500000);
-
-  ASSERT_NEAR(1000 / 5.05,
-              (double)HAL_GetDutyCycleFrequency(dutyCycle, &status), 1);
-
-  // TODO measure output
-}
-
-INSTANTIATE_TEST_SUITE_P(DutyCycleCrossConnTest, DutyCycleTest,
-                         ::testing::ValuesIn(PWMCrossConnects));
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <hal/HAL.h>
+
+#include "CrossConnects.h"
+#include "LifetimeWrappers.h"
+#include "gtest/gtest.h"
+
+using namespace hlt;
+
+class DutyCycleTest : public ::testing::TestWithParam<std::pair<int, int>> {};
+
+TEST_P(DutyCycleTest, DutyCycle) {
+  auto param = GetParam();
+
+  int32_t status = 0;
+  PWMHandle pwmHandle(param.first, &status);
+  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
+  ASSERT_EQ(0, status);
+
+  // Ensure our PWM is disabled, and set up properly
+  HAL_SetPWMRaw(pwmHandle, 0, &status);
+  ASSERT_EQ(0, status);
+  HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
+  HAL_SetPWMConfig(pwmHandle, 5.05, 2.525, 2.525, 2.525, 0, &status);
+  ASSERT_EQ(0, status);
+  HAL_SetPWMPeriodScale(pwmHandle, 0, &status);
+  ASSERT_EQ(0, status);
+
+  DIOHandle dioHandle{param.second, true, &status};
+  ASSERT_EQ(0, status);
+
+  DutyCycleHandle dutyCycle{dioHandle, &status};
+  ASSERT_EQ(0, status);
+
+  HAL_SetPWMSpeed(pwmHandle, 0.5, &status);
+  ASSERT_EQ(0, status);
+
+  // Sleep enough time for the frequency to converge
+  usleep(3500000);
+
+  ASSERT_NEAR(1000 / 5.05,
+              (double)HAL_GetDutyCycleFrequency(dutyCycle, &status), 1);
+
+  // TODO measure output
+}
+
+INSTANTIATE_TEST_SUITE_P(DutyCycleCrossConnTests, DutyCycleTest,
+                         ::testing::ValuesIn(PWMCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/PWMTest.cpp

@@ -279,37 +279,37 @@ void TestTiming(int squelch, std::pair<int, int> param) {
   }
 }
 
-TEST_P(PWMTest, TestTiming4x) {
+TEST_P(PWMTest, Timing4x) {
   auto param = GetParam();
   TestTiming(3, param);
 }
 
-TEST_P(PWMTest, TestTiming2x) {
+TEST_P(PWMTest, Timing2x) {
   auto param = GetParam();
   TestTiming(1, param);
 }
 
-TEST_P(PWMTest, TestTiming1x) {
+TEST_P(PWMTest, Timing1x) {
   auto param = GetParam();
   TestTiming(0, param);
 }
 
-TEST_P(PWMTest, TestTimingDMA4x) {
+TEST_P(PWMTest, TimingDMA4x) {
   auto param = GetParam();
   TestTimingDMA(3, param);
 }
 
-TEST_P(PWMTest, TestTimingDMA2x) {
+TEST_P(PWMTest, TimingDMA2x) {
   auto param = GetParam();
   TestTimingDMA(1, param);
 }
 
-TEST_P(PWMTest, TestTimingDMA1x) {
+TEST_P(PWMTest, TimingDMA1x) {
   auto param = GetParam();
   TestTimingDMA(0, param);
 }
 
-TEST(PWMTest, TestAllocateAll) {
+TEST(PWMTest, AllocateAll) {
   wpi::SmallVector<PWMHandle, 21> pwmHandles;
   for (int i = 0; i < HAL_GetNumPWMChannels(); i++) {
     int32_t status = 0;
@@ -318,7 +318,7 @@ TEST(PWMTest, TestAllocateAll) {
   }
 }
 
-TEST(PWMTest, TestMultipleAllocateFails) {
+TEST(PWMTest, MultipleAllocateFails) {
   int32_t status = 0;
   PWMHandle handle(0, &status);
   ASSERT_NE(handle, HAL_kInvalidHandle);
@@ -329,21 +329,21 @@ TEST(PWMTest, TestMultipleAllocateFails) {
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
 }
 
-TEST(PWMTest, TestOverAllocateFails) {
+TEST(PWMTest, OverAllocateFails) {
   int32_t status = 0;
   PWMHandle handle(HAL_GetNumPWMChannels(), &status);
   ASSERT_EQ(handle, HAL_kInvalidHandle);
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
 }
 
-TEST(PWMTest, TestUnderAllocateFails) {
+TEST(PWMTest, UnderAllocateFails) {
   int32_t status = 0;
   PWMHandle handle(-1, &status);
   ASSERT_EQ(handle, HAL_kInvalidHandle);
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
 }
 
-TEST(PWMTest, TestCrossAllocationFails) {
+TEST(PWMTest, CrossAllocationFails) {
   int32_t status = 0;
   DIOHandle dioHandle(10, true, &status);
   ASSERT_NE(dioHandle, HAL_kInvalidHandle);

crossConnIntegrationTests/src/main/native/cpp/RelayAnalogTest.cpp

@@ -1,50 +1,50 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <hal/AnalogInput.h>
-#include <hal/Relay.h>
-#include <wpi/SmallVector.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
-
-using namespace hlt;
-
-class RelayAnalogTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(RelayAnalogTest, TestRelayAnalogCross) {
-  auto param = GetParam();
-
-  int32_t status = 0;
-  RelayHandle relay{param.first, true, &status};
-  ASSERT_EQ(0, status);
-  AnalogInputHandle analog{param.second, &status};
-  ASSERT_EQ(0, status);
-  AnalogTriggerHandle trigger{analog, &status};
-  ASSERT_EQ(0, status);
-  HAL_SetAnalogTriggerLimitsVoltage(trigger, 1.5, 3.0, &status);
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(relay, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(relay, true, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_TRUE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(relay, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
-  ASSERT_EQ(0, status);
-}
-
-INSTANTIATE_TEST_SUITE_P(RelayAnalogCrossConnectsTest, RelayAnalogTest,
-                         ::testing::ValuesIn(RelayAnalogCrossConnects));
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <hal/AnalogInput.h>
+#include <hal/Relay.h>
+#include <wpi/SmallVector.h>
+
+#include "CrossConnects.h"
+#include "LifetimeWrappers.h"
+#include "gtest/gtest.h"
+
+using namespace hlt;
+
+class RelayAnalogTest : public ::testing::TestWithParam<std::pair<int, int>> {};
+
+TEST_P(RelayAnalogTest, RelayAnalogCross) {
+  auto param = GetParam();
+
+  int32_t status = 0;
+  RelayHandle relay{param.first, true, &status};
+  ASSERT_EQ(0, status);
+  AnalogInputHandle analog{param.second, &status};
+  ASSERT_EQ(0, status);
+  AnalogTriggerHandle trigger{analog, &status};
+  ASSERT_EQ(0, status);
+  HAL_SetAnalogTriggerLimitsVoltage(trigger, 1.5, 3.0, &status);
+  ASSERT_EQ(0, status);
+
+  HAL_SetRelay(relay, false, &status);
+  ASSERT_EQ(0, status);
+  usleep(1000);
+  ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
+  ASSERT_EQ(0, status);
+
+  HAL_SetRelay(relay, true, &status);
+  ASSERT_EQ(0, status);
+  usleep(1000);
+  ASSERT_TRUE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
+  ASSERT_EQ(0, status);
+
+  HAL_SetRelay(relay, false, &status);
+  ASSERT_EQ(0, status);
+  usleep(1000);
+  ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
+  ASSERT_EQ(0, status);
+}
+
+INSTANTIATE_TEST_SUITE_P(RelayAnalogCrossConnectsTests, RelayAnalogTest,
+                         ::testing::ValuesIn(RelayAnalogCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/RelayDigitalTest.cpp

@@ -13,7 +13,7 @@ using namespace hlt;
 
 class RelayDigitalTest : public ::testing::TestWithParam<RelayCross> {};
 
-TEST_P(RelayDigitalTest, TestRelayCross) {
+TEST_P(RelayDigitalTest, RelayCross) {
   auto param = GetParam();
   int32_t status = 0;
   RelayHandle fwd{param.Relay, true, &status};
@@ -66,7 +66,7 @@ TEST_P(RelayDigitalTest, TestRelayCross) {
   ASSERT_EQ(0, status);
 }
 
-TEST(RelayDigitalTest, TestAllocateAll) {
+TEST(RelayDigitalTest, AllocateAll) {
   wpi::SmallVector<RelayHandle, 32> relayHandles;
   for (int i = 0; i < HAL_GetNumRelayChannels(); i++) {
     int32_t status = 0;
@@ -75,7 +75,7 @@ TEST(RelayDigitalTest, TestAllocateAll) {
   }
 }
 
-TEST(RelayDigitalTest, TestMultipleAllocateFails) {
+TEST(RelayDigitalTest, MultipleAllocateFails) {
   int32_t status = 0;
   RelayHandle handle(0, true, &status);
   ASSERT_NE(handle, HAL_kInvalidHandle);
@@ -86,19 +86,19 @@ TEST(RelayDigitalTest, TestMultipleAllocateFails) {
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
 }
 
-TEST(RelayDigitalTest, TestOverAllocateFails) {
+TEST(RelayDigitalTest, OverAllocateFails) {
   int32_t status = 0;
   RelayHandle handle(HAL_GetNumRelayChannels(), true, &status);
   ASSERT_EQ(handle, HAL_kInvalidHandle);
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
 }
 
-TEST(RelayDigitalTest, TestUnderAllocateFails) {
+TEST(RelayDigitalTest, UnderAllocateFails) {
   int32_t status = 0;
   RelayHandle handle(-1, true, &status);
   ASSERT_EQ(handle, HAL_kInvalidHandle);
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
 }
 
-INSTANTIATE_TEST_SUITE_P(RelayDigitalCrossConnectsTest, RelayDigitalTest,
+INSTANTIATE_TEST_SUITE_P(RelayDigitalCrossConnectsTests, RelayDigitalTest,
                          ::testing::ValuesIn(RelayCrossConnects));

cscore/CMakeLists.txt

@@ -79,7 +79,7 @@ if (WITH_JAVA)
     find_package(Java REQUIRED)
     find_package(JNI REQUIRED)
     include(UseJava)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
 
     #find java files, copy them locally
 

cscore/build.gradle

@@ -138,6 +138,10 @@ examplesTree.list(new FilenameFilter() {
 
 apply from: "${rootDir}/shared/opencv.gradle"
 
+Action<List<String>> symbolFilter = { symbols ->
+    symbols.removeIf({ !it.startsWith('CS_') })
+} as Action<List<String>>;
+
 nativeUtils.exportsConfigs {
     cscore {
         x86ExcludeSymbols = [
@@ -168,20 +172,12 @@ nativeUtils.exportsConfigs {
         ]
     }
     cscoreJNI {
-        x86SymbolFilter = { symbols ->
-            symbols.removeIf({ !it.startsWith('CS_') })
-        }
-        x64SymbolFilter = { symbols ->
-            symbols.removeIf({ !it.startsWith('CS_') })
-        }
+        x86SymbolFilter = symbolFilter
+        x64SymbolFilter = symbolFilter
     }
     cscoreJNICvStatic {
-        x86SymbolFilter = { symbols ->
-            symbols.removeIf({ !it.startsWith('CS_') })
-        }
-        x64SymbolFilter = { symbols ->
-            symbols.removeIf({ !it.startsWith('CS_') })
-        }
+        x86SymbolFilter = symbolFilter
+        x64SymbolFilter = symbolFilter
     }
 }
 

cscore/examples/httpcvstream/httpcvstream.cpp

@@ -3,8 +3,8 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <cstdio>
-#include <iostream>
 
+#include <fmt/core.h>
 #include <opencv2/core/core.hpp>
 
 #include "cscore.h"
@@ -24,11 +24,11 @@ int main() {
   for (;;) {
     uint64_t time = cvsink.GrabFrame(test);
     if (time == 0) {
-      std::cout << "error: " << cvsink.GetError() << std::endl;
+      fmt::print("error: {}\n", cvsink.GetError());
       continue;
     }
-    std::cout << "got frame at time " << time << " size " << test.size()
-              << std::endl;
+    fmt::print("got frame at time {} size ({}, {})\n", time, test.size().width,
+               test.size().height);
     cv::flip(test, flip, 0);
     cvsource.PutFrame(flip);
   }

cscore/examples/usbcvstream/usbcvstream.cpp

@@ -2,9 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <cstdio>
-#include <iostream>
-
+#include <fmt/core.h>
 #include <opencv2/core/core.hpp>
 
 #include "cscore.h"
@@ -26,11 +24,11 @@ int main() {
   for (;;) {
     uint64_t time = cvsink.GrabFrame(test);
     if (time == 0) {
-      std::cout << "error: " << cvsink.GetError() << std::endl;
+      fmt::print("error: {}\n", cvsink.GetError());
       continue;
     }
-    std::cout << "got frame at time " << time << " size " << test.size()
-              << std::endl;
+    fmt::print("got frame at time {} size ({}, {})\n", time, test.size().width,
+               test.size().height);
     cv::flip(test, flip, 0);
     cvsource.PutFrame(flip);
   }

cscore/src/dev/native/cpp/main.cpp

@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <iostream>
+#include <fmt/core.h>
 
 #include "cscore.h"
 
 int main() {
-  std::cout << cs::GetHostname() << std::endl;
+  fmt::print("{}\n", cs::GetHostname());
 }

cscore/src/main/java/edu/wpi/first/cscore/ImageSource.java

@@ -133,17 +133,4 @@ public abstract class ImageSource extends VideoSource {
   public void setEnumPropertyChoices(VideoProperty property, String[] choices) {
     CameraServerJNI.setSourceEnumPropertyChoices(m_handle, property.m_handle, choices);
   }
-
-  /**
-   * Configure enum property choices.
-   *
-   * @param property Property
-   * @param choices Choices
-   * @deprecated Use {@code setEnumPropertyChoices} instead.
-   */
-  @Deprecated
-  @SuppressWarnings("MethodName")
-  public void SetEnumPropertyChoices(VideoProperty property, String[] choices) {
-    setEnumPropertyChoices(property, choices);
-  }
 }

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

@@ -35,8 +35,11 @@ struct ListenerData : public wpi::CallbackListenerData<
 class NotifierThread
     : public wpi::CallbackThread<NotifierThread, RawEvent, ListenerData> {
  public:
-  bool Matches(const ListenerData& /*listener*/, const RawEvent& /*data*/) {
-    return true;
+  NotifierThread(std::function<void()> on_start, std::function<void()> on_exit)
+      : CallbackThread(std::move(on_start), std::move(on_exit)) {}
+
+  bool Matches(const ListenerData& listener, const RawEvent& data) {
+    return (data.kind & listener.eventMask) != 0;
   }
 
   void SetListener(RawEvent* data, unsigned int listener_uid) {

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

@@ -708,9 +708,13 @@ void ReleaseSink(CS_Sink sink, CS_Status* status) {
 // Listener Functions
 //
 
-void SetListenerOnStart(std::function<void()> onStart) {}
+void SetListenerOnStart(std::function<void()> onStart) {
+  Instance::GetInstance().notifier.SetOnStart(onStart);
+}
 
-void SetListenerOnExit(std::function<void()> onExit) {}
+void SetListenerOnExit(std::function<void()> onExit) {
+  Instance::GetInstance().notifier.SetOnExit(onExit);
+}
 
 static void StartBackground(int eventMask, bool immediateNotify) {
   auto& inst = Instance::GetInstance();

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

@@ -152,7 +152,8 @@ class CvSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225) const;
+  [[nodiscard]] uint64_t GrabFrame(cv::Mat& image,
+                                   double timeout = 0.225) const;
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -162,7 +163,7 @@ class CvSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
+  [[nodiscard]] uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
 };
 
 inline CvSource::CvSource(std::string_view name, const VideoMode& mode) {

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

@@ -570,7 +570,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @param kind Camera kind (e.g. kAxis)
    */
   AxisCamera(std::string_view name, std::string_view host);
 
@@ -579,7 +578,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @param kind Camera kind (e.g. kAxis)
    */
   AxisCamera(std::string_view name, const char* host);
 
@@ -588,7 +586,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @param kind Camera kind (e.g. kAxis)
    */
   AxisCamera(std::string_view name, const std::string& host);
 
@@ -597,7 +594,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param hosts Array of Camera host IPs/DNS names
-   * @param kind Camera kind (e.g. kAxis)
    */
   AxisCamera(std::string_view name, wpi::span<const std::string> hosts);
 
@@ -606,7 +602,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param hosts Array of Camera host IPs/DNS names
-   * @param kind Camera kind (e.g. kAxis)
    */
   template <typename T>
   AxisCamera(std::string_view name, std::initializer_list<T> hosts);
@@ -623,6 +618,8 @@ class ImageSource : public VideoSource {
   /**
    * Signal sinks that an error has occurred.  This should be called instead
    * of NotifyFrame when an error occurs.
+   *
+   * @param msg Notification message.
    */
   void NotifyError(std::string_view msg);
 
@@ -686,7 +683,6 @@ class ImageSource : public VideoSource {
    * Create a string property.
    *
    * @param name Property name
-   * @param defaultValue Default value
    * @param value Current value
    * @return Property
    */

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

@@ -174,7 +174,8 @@ class RawSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrame(RawFrame& image, double timeout = 0.225) const;
+  [[nodiscard]] uint64_t GrabFrame(RawFrame& image,
+                                   double timeout = 0.225) const;
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -184,7 +185,7 @@ class RawSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrameNoTimeout(RawFrame& image) const;
+  [[nodiscard]] uint64_t GrabFrameNoTimeout(RawFrame& image) const;
 };
 
 inline RawSource::RawSource(std::string_view name, const VideoMode& mode) {

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

@@ -111,7 +111,7 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225);
+  [[nodiscard]] uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225);
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -121,7 +121,7 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrameNoTimeout(cv::Mat& image);
+  [[nodiscard]] uint64_t GrabFrameNoTimeout(cv::Mat& image);
 
   /**
    * Wait for the next frame and get the image.
@@ -132,7 +132,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrameDirect(cv::Mat& image, double timeout = 0.225);
+  [[nodiscard]] uint64_t GrabFrameDirect(cv::Mat& image,
+                                         double timeout = 0.225);
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -142,7 +143,7 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrameNoTimeoutDirect(cv::Mat& image);
+  [[nodiscard]] uint64_t GrabFrameNoTimeoutDirect(cv::Mat& image);
 
  private:
   RawFrame rawFrame;

cscore/src/test/java/edu/wpi/first/cscore/UsbCameraTest.java

@@ -21,7 +21,7 @@ import org.junit.jupiter.api.condition.OS;
 class UsbCameraTest {
   @Nested
   @EnabledOnOs(OS.LINUX)
-  class ConnectVerbose {
+  static class ConnectVerbose {
     @Test
     void setConnectVerboseEnabledTest() {
       try (UsbCamera camera = new UsbCamera("Nonexistant Camera", getNonexistentCameraDev())) {

cscore/src/test/native/cpp/CameraSourceTest.cpp

@@ -14,6 +14,7 @@ class CameraSourceTest : public ::testing::Test {
 
 TEST_F(CameraSourceTest, HTTPCamera) {
   auto source = HttpCamera("axis", "http://localhost:8000");
+  cs::Shutdown();
 }
 
 }  // namespace cs

docs/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id 'java'
-    id "org.ysb33r.doxygen" version "0.5"
+    id "org.ysb33r.doxygen" version "0.7.0"
 }
 
 evaluationDependsOn(':wpiutil')
@@ -39,13 +39,14 @@ cppProjectZips.add(project(':wpilibNewCommands').cppHeadersZip)
 
 doxygen {
     executables {
-        doxygen version : '1.8.18',
+        doxygen version : '1.9.2',
         baseURI : 'https://frcmaven.wpi.edu/artifactory/generic-release-mirror/doxygen'
     }
 }
 
 doxygen {
     generate_html true
+    html_extra_stylesheet 'theme.css'
 
     cppProjectZips.each {
         dependsOn it
@@ -55,28 +56,105 @@ doxygen {
         }
     }
 
-    exclude 'Eigen/**'
-    exclude 'unsupported/**'
-    exclude 'units/**'
-    exclude 'uv.h'
-    exclude 'uv/**'
+    if (project.hasProperty('docWarningsAsErrors')) {
+        // C++20 shims
+        exclude 'wpi/ghc/filesystem.hpp'
+        exclude 'wpi/span.h'
 
+        // Drake
+        exclude 'drake/common/**'
+
+        // Eigen
+        exclude 'Eigen/**'
+        exclude 'unsupported/**'
+
+        // LLVM
+        exclude 'wpi/AlignOf.h'
+        exclude 'wpi/Chrono.h'
+        exclude 'wpi/Compiler.h'
+        exclude 'wpi/ConvertUTF.h'
+        exclude 'wpi/DenseMap.h'
+        exclude 'wpi/DenseMapInfo.h'
+        exclude 'wpi/Endian.h'
+        exclude 'wpi/EpochTracker.h'
+        exclude 'wpi/Errc.h'
+        exclude 'wpi/Errno.h'
+        exclude 'wpi/ErrorHandling.h'
+        exclude 'wpi/fs.h'
+        exclude 'wpi/FunctionExtras.h'
+        exclude 'wpi/function_ref.h'
+        exclude 'wpi/Hashing.h'
+        exclude 'wpi/IntrusiveRefCntPtr.h'
+        exclude 'wpi/iterator.h'
+        exclude 'wpi/iterator_range.h'
+        exclude 'wpi/ManagedStatic.h'
+        exclude 'wpi/MapVector.h'
+        exclude 'wpi/MathExtras.h'
+        exclude 'wpi/MemAlloc.h'
+        exclude 'wpi/PointerIntPair.h'
+        exclude 'wpi/PointerLikeTypeTraits.h'
+        exclude 'wpi/PointerUnion.h'
+        exclude 'wpi/raw_os_ostream.h'
+        exclude 'wpi/raw_ostream.h'
+        exclude 'wpi/SmallPtrSet.h'
+        exclude 'wpi/SmallSet.h'
+        exclude 'wpi/SmallString.h'
+        exclude 'wpi/SmallVector.h'
+        exclude 'wpi/StringExtras.h'
+        exclude 'wpi/StringMap.h'
+        exclude 'wpi/SwapByteOrder.h'
+        exclude 'wpi/type_traits.h'
+        exclude 'wpi/VersionTuple.h'
+        exclude 'wpi/WindowsError.h'
+
+        // fmtlib
+        exclude 'fmt/**'
+
+        // libuv
+        exclude 'uv.h'
+        exclude 'uv/**'
+        exclude 'wpi/uv/**'
+
+        // json
+        exclude 'wpi/json.h'
+
+        // units
+        exclude 'units/**'
+    }
+
+    case_sense_names false
     extension_mapping 'inc=C++'
-    project_name 'WPILibC++'
-    project_number wpilibVersioning.version.get()
-    javadoc_autobrief true
-    recursive true
-    quiet true
-    warnings false
-    warn_if_undocumented false
-    generate_latex false
-    use_mathjax true
-    html_timestamp true
-    generate_treeview true
     extract_static true
     full_path_names true
+    generate_html true
+    generate_latex false
+    generate_treeview true
+    html_extra_stylesheet 'theme.css'
+    html_timestamp true
+    javadoc_autobrief true
+    project_name 'WPILibC++'
+    project_logo '../wpiutil/src/main/native/resources/wpilib-128.png'
+    project_number wpilibVersioning.version.get()
+    quiet true
+    recursive true
+    strip_code_comments false
     strip_from_inc_path cppIncludeRoots as String[]
     strip_from_path cppIncludeRoots as String[]
+    use_mathjax true
+    warnings false
+    warn_if_incomplete_doc true
+    warn_if_undocumented false
+    warn_no_paramdoc true
+
+    //enable doxygen preprocessor expansion of WPI_DEPRECATED to fix SpeedController docs
+    enable_preprocessing true
+    macro_expansion true
+    expand_only_predef true
+    predefined "WPI_DEPRECATED(x)=[[deprecated(x)]]"
+
+    if (project.hasProperty('docWarningsAsErrors')) {
+        warn_as_error 'FAIL_ON_WARNINGS'
+    }
 }
 
 tasks.register("zipCppDocs", Zip) {
@@ -108,9 +186,10 @@ apply from: "${rootDir}/shared/opencv.gradle"
 task generateJavaDocs(type: Javadoc) {
     classpath += project(":wpimath").sourceSets.main.compileClasspath
     options.links("https://docs.oracle.com/en/java/javase/11/docs/api/")
-    options.addStringOption "tag", "pre:a:Pre-Condition"
-    options.addBooleanOption "Xdoclint:html,missing,reference,syntax", true
+    options.addStringOption("tag", "pre:a:Pre-Condition")
+    options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
     options.addBooleanOption('html5', true)
+    options.linkSource(true)
     dependsOn project(':wpilibj').generateJavaVersion
     dependsOn project(':hal').generateUsageReporting
     dependsOn project(':wpimath').generateNat
@@ -126,11 +205,23 @@ task generateJavaDocs(type: Javadoc) {
     source configurations.javaSource.collect { zipTree(it) }
     include '**/*.java'
     failOnError = true
-    options.encoding = 'UTF-8'
 
     title = "WPILib API ${wpilibVersioning.version.get()}"
     ext.entryPoint = "$destinationDir/index.html"
 
+    if (JavaVersion.current().isJava8Compatible() && project.hasProperty('docWarningsAsErrors')) {
+        // Treat javadoc warnings as errors.
+        //
+        // The second argument '-quiet' is a hack. The one paramater
+        // addStringOption() doesn't work, so we add '-quiet', which is added
+        // anyway by gradle. See https://github.com/gradle/gradle/issues/2354.
+        //
+        // See JDK-8200363 (https://bugs.openjdk.java.net/browse/JDK-8200363)
+        // for information about the nonstandard -Xwerror option. JDK 15+ has
+        // -Werror.
+        options.addStringOption('Xwerror', '-quiet')
+    }
+
     if (JavaVersion.current().isJava11Compatible()) {
         if (!JavaVersion.current().isJava12Compatible()) {
             options.addBooleanOption('-no-module-directories', true)

glass/src/lib/native/cpp/hardware/PowerDistribution.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/PDP.h"
+#include "glass/hardware/PowerDistribution.h"
 
 #include <algorithm>
 #include <cstdio>
@@ -15,7 +15,7 @@
 
 using namespace glass;
 
-static float DisplayChannel(PDPModel& pdp, int channel) {
+static float DisplayChannel(PowerDistributionModel& pdp, int channel) {
   float width = 0;
   if (auto currentData = pdp.GetCurrentData(channel)) {
     ImGui::PushID(channel);
@@ -34,9 +34,9 @@ static float DisplayChannel(PDPModel& pdp, int channel) {
   return width;
 }
 
-void glass::DisplayPDP(PDPModel* model, int index) {
+void glass::DisplayPowerDistribution(PowerDistributionModel* model, int index) {
   char name[128];
-  std::snprintf(name, sizeof(name), "PDP[%d]", index);
+  std::snprintf(name, sizeof(name), "PowerDistribution[%d]", index);
   if (CollapsingHeader(name)) {
     // temperature
     if (auto tempData = model->GetTemperatureData()) {
@@ -56,7 +56,7 @@ void glass::DisplayPDP(PDPModel* model, int index) {
       }
     }
 
-    // channel currents; show as two columns laid out like PDP
+    // channel currents; show as two columns laid out like PowerDistribution
     const int numChannels = model->GetNumChannels();
     ImGui::Text("Channel Current (A)");
     ImGui::Columns(2, "channels", false);
@@ -79,12 +79,13 @@ void glass::DisplayPDP(PDPModel* model, int index) {
   }
 }
 
-void glass::DisplayPDPs(PDPsModel* model, std::string_view noneMsg) {
+void glass::DisplayPowerDistributions(PowerDistributionsModel* model,
+                                      std::string_view noneMsg) {
   bool hasAny = false;
-  model->ForEachPDP([&](PDPModel& pdp, int i) {
+  model->ForEachPowerDistribution([&](PowerDistributionModel& pdp, int i) {
     hasAny = true;
     PushID(i);
-    DisplayPDP(&pdp, i);
+    DisplayPowerDistribution(&pdp, i);
     PopID();
   });
   if (!hasAny && !noneMsg.empty()) {

glass/src/lib/native/include/glass/hardware/PowerDistribution.h

@@ -14,7 +14,7 @@ namespace glass {
 
 class DataSource;
 
-class PDPModel : public Model {
+class PowerDistributionModel : public Model {
  public:
   virtual int GetNumChannels() const = 0;
 
@@ -27,13 +27,16 @@ class PDPModel : public Model {
   virtual void SetCurrent(int channel, double val) = 0;
 };
 
-class PDPsModel : public Model {
+class PowerDistributionsModel : public Model {
  public:
-  virtual void ForEachPDP(
-      wpi::function_ref<void(PDPModel& model, int index)> func) = 0;
+  virtual void ForEachPowerDistribution(
+      wpi::function_ref<void(PowerDistributionModel& model, int index)>
+          func) = 0;
 };
 
-void DisplayPDP(PDPModel* model, int index);
-void DisplayPDPs(PDPsModel* model, std::string_view noneMsg = "No PDPs");
+void DisplayPowerDistribution(PowerDistributionModel* model, int index);
+void DisplayPowerDistributions(
+    PowerDistributionsModel* model,
+    std::string_view noneMsg = "No Power Distributions");
 
 }  // namespace glass

glass/src/lib/native/include/glass/hardware/RoboRio.h

@@ -32,10 +32,12 @@ class RoboRioModel : public Model {
   virtual DataSource* GetUserButton() = 0;
   virtual DataSource* GetVInVoltageData() = 0;
   virtual DataSource* GetVInCurrentData() = 0;
+  virtual DataSource* GetBrownoutVoltage() = 0;
 
   virtual void SetUserButton(bool val) = 0;
   virtual void SetVInVoltage(double val) = 0;
   virtual void SetVInCurrent(double val) = 0;
+  virtual void SetBrownoutVoltage(double val) = 0;
 };
 
 void DisplayRoboRio(RoboRioModel* model);

glass/src/libnt/native/cpp/NTSpeedController.cpp

@@ -17,7 +17,7 @@ NTSpeedControllerModel::NTSpeedControllerModel(NT_Inst instance,
     : m_nt(instance),
       m_value(m_nt.GetEntry(fmt::format("{}/Value", path))),
       m_name(m_nt.GetEntry(fmt::format("{}/.name", path))),
-      m_controllable(m_nt.GetEntry(fmt::format("{}/.controllable"))),
+      m_controllable(m_nt.GetEntry(fmt::format("{}/.controllable", path))),
       m_valueData(fmt::format("NT_SpdCtrl:{}", path)),
       m_nameValue(wpi::rsplit(path, '/').second) {
   m_nt.AddListener(m_value);

googletest/CMakeLists.txt

@@ -22,3 +22,6 @@ set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
 add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/googletest-src
                  ${CMAKE_CURRENT_BINARY_DIR}/googletest-build
                  EXCLUDE_FROM_ALL)
+
+target_compile_features(gtest PUBLIC cxx_std_17)
+target_compile_features(gtest_main PUBLIC cxx_std_17)

googletest/CMakeLists.txt.in

@@ -5,7 +5,7 @@ project(googletest-download NONE)
 include(ExternalProject)
 ExternalProject_Add(googletest
   GIT_REPOSITORY    https://github.com/google/googletest.git
-  GIT_TAG           b4676595c03a26bb84f68542c8b74d3d89b38b68
+  GIT_TAG           e2239ee6043f73722e7aa812a459f54a28552929 # 1.11.0
   SOURCE_DIR        "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
   BINARY_DIR        "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
   CONFIGURE_COMMAND ""

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.1.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

gradlew

@@ -72,7 +72,7 @@ case "`uname`" in
   Darwin* )
     darwin=true
     ;;
-  MINGW* )
+  MSYS* | MINGW* )
     msys=true
     ;;
   NONSTOP* )
@@ -82,6 +82,7 @@ esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
+
 # Determine the Java command to use to start the JVM.
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
@@ -129,6 +130,7 @@ fi
 if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
     APP_HOME=`cygpath --path --mixed "$APP_HOME"`
     CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+
     JAVACMD=`cygpath --unix "$JAVACMD"`
 
     # We build the pattern for arguments to be converted via cygpath

gradlew.bat

@@ -29,6 +29,9 @@ if "%DIRNAME%" == "" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
 
@@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
+if "%ERRORLEVEL%" == "0" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -51,7 +54,7 @@ goto fail
 set JAVA_HOME=%JAVA_HOME:"=%
 set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
-if exist "%JAVA_EXE%" goto init
+if exist "%JAVA_EXE%" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
@@ -61,28 +64,14 @@ echo location of your Java installation.
 
 goto fail
 
-:init
-@rem Get command-line arguments, handling Windows variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-
 :execute
 @rem Setup the command line
 
 set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
+
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
 
 :end
 @rem End local scope for the variables with windows NT shell

hal/.styleguide

@@ -10,6 +10,7 @@ cppSrcFileInclude {
 
 generatedFileExclude {
   hal/src/main/native/athena/ctre/
+  hal/src/main/native/athena/rev/
   hal/src/main/native/athena/frccansae/
   hal/src/main/native/athena/visa/
   hal/src/main/native/include/ctre/

hal/CMakeLists.txt

@@ -74,7 +74,7 @@ if (WITH_JAVA)
     find_package(Java REQUIRED)
     find_package(JNI REQUIRED)
     include(UseJava)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
 
     configure_file(src/generate/FRCNetComm.java.in FRCNetComm.java)
 

hal/build.gradle

@@ -127,6 +127,10 @@ cppHeadersZip {
     }
 }
 
+Action<List<String>> symbolFilter = { symbols ->
+    symbols.removeIf({ !it.startsWith('HAL_') && !it.startsWith('HALSIM_') })
+} as Action<List<String>>;
+
 nativeUtils.exportsConfigs {
     hal {
         x86ExcludeSymbols = [
@@ -157,22 +161,21 @@ nativeUtils.exportsConfigs {
         ]
     }
     halJNI {
-        x86SymbolFilter = { symbols ->
-            symbols.removeIf({ !it.startsWith('HAL_') && !it.startsWith('HALSIM_') })
-        }
-        x64SymbolFilter = { symbols ->
-            symbols.removeIf({ !it.startsWith('HAL_') && !it.startsWith('HALSIM_') })
-        }
+        x86SymbolFilter = symbolFilter
+        x64SymbolFilter = symbolFilter
     }
 }
 
 model {
     binaries {
         all {
+            it.tasks.withType(AbstractNativeSourceCompileTask) {
+                it.dependsOn generateUsageReporting
+            }
             if (!(it instanceof NativeBinarySpec)) return
                 if (it.component.name != 'hal' && it.component.name != 'halBase') return
                 if (it.targetPlatform.name != nativeUtils.wpi.platforms.roborio) return
-                nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared', 'visa_shared')
+                nativeUtils.useRequiredLibrary(it, 'ni_link_libraries')
         }
     }
 }

hal/src/dev/native/cpp/main.cpp

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <iostream>
+#include <fmt/core.h>
 
 #include "hal/HAL.h"
 
 int main() {
-  std::cout << "Hello World" << std::endl;
-  std::cout << HAL_GetRuntimeType() << std::endl;
+  fmt::print("Hello World\n");
+  fmt::print("{}\n", HAL_GetRuntimeType());
 }

hal/src/generate/ResourceType.txt

@@ -92,3 +92,4 @@ kResourceType_TrapezoidProfile = 90
 kResourceType_DutyCycle = 91
 kResourceType_AddressableLEDs = 92
 kResourceType_FusionVenom = 93
+kResourceType_PS4Controller = 94

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

@@ -14,8 +14,7 @@ public class DIOJNI extends JNIWrapper {
 
   public static native void setDIOSimDevice(int handle, int device);
 
-  // TODO(Thad): Switch this to use boolean
-  public static native void setDIO(int dioPortHandle, short value);
+  public static native void setDIO(int dioPortHandle, boolean value);
 
   public static native void setDIODirection(int dioPortHandle, boolean input);
 

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

@@ -15,6 +15,10 @@ public final class HALUtil extends JNIWrapper {
   public static final int NO_AVAILABLE_RESOURCES = -104;
   public static final int PARAMETER_OUT_OF_RANGE = -1028;
 
+  public static final int RUNTIME_ROBORIO = 0;
+  public static final int RUNTIME_ROBORIO2 = 1;
+  public static final int RUNTIME_SIMULATION = 2;
+
   public static native short getFPGAVersion();
 
   public static native int getFPGARevision();

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

@@ -147,15 +147,15 @@ public final class HALValue {
    */
   public static HALValue fromNative(int type, long value1, double value2) {
     switch (type) {
-      case 0x01:
+      case kBoolean:
         return makeBoolean(value1 != 0);
-      case 0x02:
+      case kDouble:
         return makeDouble(value2);
-      case 0x16:
+      case kEnum:
         return makeEnum((int) value1);
-      case 0x32:
+      case kInt:
         return makeInt((int) value1);
-      case 0x64:
+      case kLong:
         return makeLong(value1);
       default:
         return makeUnassigned();

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

@@ -1,32 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.hal;
-
-@SuppressWarnings("AbbreviationAsWordInName")
-public class PDPJNI extends JNIWrapper {
-  public static native int initializePDP(int module);
-
-  public static native boolean checkPDPModule(int module);
-
-  public static native boolean checkPDPChannel(int channel);
-
-  public static native double getPDPTemperature(int handle);
-
-  public static native double getPDPVoltage(int handle);
-
-  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);
-
-  public static native double getPDPTotalEnergy(int handle);
-
-  public static native void resetPDPTotalEnergy(int handle);
-
-  public static native void clearPDPStickyFaults(int handle);
-}

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

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.hal;
 
+@SuppressWarnings("AbbreviationAsWordInName")
 public class PortsJNI extends JNIWrapper {
   public static native int getNumAccumulators();
 
@@ -33,11 +34,19 @@ public class PortsJNI extends JNIWrapper {
 
   public static native int getNumRelayHeaders();
 
-  public static native int getNumPCMModules();
+  public static native int getNumCTREPCMModules();
 
-  public static native int getNumSolenoidChannels();
+  public static native int getNumCTRESolenoidChannels();
 
-  public static native int getNumPDPModules();
+  public static native int getNumCTREPDPModules();
 
-  public static native int getNumPDPChannels();
+  public static native int getNumCTREPDPChannels();
+
+  public static native int getNumREVPDHModules();
+
+  public static native int getNumREVPDHChannels();
+
+  public static native int getNumREVPHModules();
+
+  public static native int getNumREVPHChannels();
 }

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

@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.hal;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class PowerDistributionJNI extends JNIWrapper {
+  public static final int AUTOMATIC_TYPE = 0;
+  public static final int CTRE_TYPE = 1;
+  public static final int REV_TYPE = 2;
+  public static final int DEFAULT_MODULE = -1;
+
+  public static native int initialize(int module, int type);
+
+  public static native void free(int handle);
+
+  public static native int getModuleNumber(int handle);
+
+  public static native boolean checkModule(int module, int type);
+
+  public static native boolean checkChannel(int handle, int channel);
+
+  public static native int getType(int handle);
+
+  public static native int getNumChannels(int handle);
+
+  public static native double getTemperature(int handle);
+
+  public static native double getVoltage(int handle);
+
+  public static native double getChannelCurrent(int handle, int channel);
+
+  public static native void getAllCurrents(int handle, double[] currents);
+
+  public static native double getTotalCurrent(int handle);
+
+  public static native double getTotalPower(int handle);
+
+  public static native double getTotalEnergy(int handle);
+
+  public static native void resetTotalEnergy(int handle);
+
+  public static native void clearStickyFaults(int handle);
+
+  public static native boolean getSwitchableChannel(int handle);
+
+  public static native void setSwitchableChannel(int handle, boolean enabled);
+}

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

@@ -32,4 +32,8 @@ public class PowerJNI extends JNIWrapper {
   public static native boolean getUserActive3V3();
 
   public static native int getUserCurrentFaults3V3();
+
+  public static native void setBrownoutVoltage(double voltage);
+
+  public static native double getBrownoutVoltage();
 }

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

@@ -0,0 +1,32 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.hal;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class REVPHJNI extends JNIWrapper {
+  public static native int initialize(int module);
+
+  public static native void free(int handle);
+
+  public static native boolean checkSolenoidChannel(int channel);
+
+  public static native boolean getCompressor(int handle);
+
+  public static native void setClosedLoopControl(int handle, boolean enabled);
+
+  public static native boolean getClosedLoopControl(int handle);
+
+  public static native boolean getPressureSwitch(int handle);
+
+  public static native double getAnalogPressure(int handle, int channel);
+
+  public static native double getCompressorCurrent(int handle);
+
+  public static native int getSolenoids(int handle);
+
+  public static native void setSolenoids(int handle, int mask, int values);
+
+  public static native void fireOneShot(int handle, int index, int durMs);
+}

hal/src/main/java/edu/wpi/first/hal/can/CANJNI.java

@@ -26,5 +26,5 @@ public class CANJNI extends JNIWrapper {
       IntBuffer messageID, int messageIDMask, ByteBuffer timeStamp);
 
   @SuppressWarnings("MethodName")
-  public static native void GetCANStatus(CANStatus status);
+  public static native void getCANStatus(CANStatus status);
 }

hal/src/main/java/edu/wpi/first/hal/simulation/PowerDistributionDataJNI.java

@@ -6,7 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
-public class PDPDataJNI extends JNIWrapper {
+public class PowerDistributionDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
 

hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java

@@ -0,0 +1,72 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.hal.simulation;
+
+import edu.wpi.first.hal.JNIWrapper;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public class REVPHDataJNI 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 registerSolenoidOutputCallback(
+      int index, int channel, NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelSolenoidOutputCallback(int index, int channel, int uid);
+
+  public static native boolean getSolenoidOutput(int index, int channel);
+
+  public static native void setSolenoidOutput(int index, int channel, boolean solenoidOutput);
+
+  public static native int registerCompressorOnCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelCompressorOnCallback(int index, int uid);
+
+  public static native boolean getCompressorOn(int index);
+
+  public static native void setCompressorOn(int index, boolean compressorOn);
+
+  public static native int registerClosedLoopEnabledCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelClosedLoopEnabledCallback(int index, int uid);
+
+  public static native boolean getClosedLoopEnabled(int index);
+
+  public static native void setClosedLoopEnabled(int index, boolean closeLoopEnabled);
+
+  public static native int registerPressureSwitchCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelPressureSwitchCallback(int index, int uid);
+
+  public static native boolean getPressureSwitch(int index);
+
+  public static native void setPressureSwitch(int index, boolean pressureSwitch);
+
+  public static native int registerCompressorCurrentCallback(
+      int index, NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelCompressorCurrentCallback(int index, int uid);
+
+  public static native double getCompressorCurrent(int index);
+
+  public static native void setCompressorCurrent(int index, double compressorCurrent);
+
+  public static native void registerAllNonSolenoidCallbacks(
+      int index, NotifyCallback callback, boolean initialNotify);
+
+  public static native void registerAllSolenoidCallbacks(
+      int index, int channel, NotifyCallback callback, boolean initialNotify);
+
+  public static native void resetData(int index);
+}

hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java

@@ -146,5 +146,14 @@ public class RoboRioDataJNI extends JNIWrapper {
 
   public static native void setUserFaults3V3(int userFaults3V3);
 
+  public static native int registerBrownoutVoltageCallback(
+      NotifyCallback callback, boolean initialNotify);
+
+  public static native void cancelBrownoutVoltageCallback(int uid);
+
+  public static native double getBrownoutVoltage();
+
+  public static native void setBrownoutVoltage(double brownoutVoltage);
+
   public static native void resetData();
 }

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

@@ -183,7 +183,7 @@ HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t module,
                                            pcm->previousAllocation);
     } else {
       hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PCM", 0,
-                                       kNumAccumulators, module);
+                                       kNumCTREPCMModules, module);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
   }

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

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "hal/PDP.h"
+#include "CTREPDP.h"
 
 #include <fmt/format.h>
 #include <wpi/mutex.h>
@@ -12,6 +12,7 @@
 #include "PortsInternal.h"
 #include "hal/CANAPI.h"
 #include "hal/Errors.h"
+#include "hal/handles/IndexedHandleResource.h"
 
 using namespace hal;
 
@@ -102,20 +103,29 @@ union PdpStatusEnergy {
   } bits;
 };
 
-static wpi::mutex pdpHandleMutex;
-static HAL_PDPHandle pdpHandles[kNumPDPModules];
+namespace {
+struct PDP {
+  HAL_CANHandle canHandle;
+  std::string previousAllocation;
+};
+}  // namespace
+
+static IndexedHandleResource<HAL_PDPHandle, PDP, kNumCTREPDPModules,
+                             HAL_HandleEnum::CTREPDP>* pdpHandles;
 
 namespace hal::init {
-void InitializePDP() {
-  for (int i = 0; i < kNumPDPModules; i++) {
-    pdpHandles[i] = HAL_kInvalidHandle;
-  }
+void InitializeCTREPDP() {
+  static IndexedHandleResource<HAL_PDPHandle, PDP, kNumCTREPDPModules,
+                               HAL_HandleEnum::CTREPDP>
+      pH;
+  pdpHandles = &pH;
 }
 }  // namespace hal::init
 
 extern "C" {
 
-HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status) {
+HAL_PDPHandle HAL_InitializePDP(int32_t module, const char* allocationLocation,
+                                int32_t* status) {
   hal::init::CheckInit();
   if (!HAL_CheckPDPModule(module)) {
     *status = PARAMETER_OUT_OF_RANGE;
@@ -123,50 +133,63 @@ HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status) {
     return HAL_kInvalidHandle;
   }
 
-  std::scoped_lock lock(pdpHandleMutex);
-
-  if (pdpHandles[module] != HAL_kInvalidHandle) {
-    *status = 0;
-    return pdpHandles[module];
-  }
-
-  auto handle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
+  HAL_PDPHandle handle;
+  auto pdp = pdpHandles->Allocate(module, &handle, status);
 
   if (*status != 0) {
-    HAL_CleanCAN(handle);
+    if (pdp) {
+      hal::SetLastErrorPreviouslyAllocated(status, "CTRE PDP", module,
+                                           pdp->previousAllocation);
+    } else {
+      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
+                                       kNumCTREPDPModules, module);
+    }
+    return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
+  }
+
+  pdp->canHandle = HAL_InitializeCAN(manufacturer, module, deviceType, status);
+  if (*status != 0) {
+    pdpHandles->Free(handle);
     return HAL_kInvalidHandle;
   }
 
-  pdpHandles[module] = handle;
+  pdp->previousAllocation = allocationLocation ? allocationLocation : "";
 
   return handle;
 }
 
 void HAL_CleanPDP(HAL_PDPHandle handle) {
-  HAL_CleanCAN(handle);
-
-  for (int i = 0; i < kNumPDPModules; i++) {
-    if (pdpHandles[i] == handle) {
-      pdpHandles[i] = HAL_kInvalidHandle;
-      return;
-    }
+  auto pdp = pdpHandles->Get(handle);
+  if (pdp) {
+    HAL_CleanCAN(pdp->canHandle);
   }
+  pdpHandles->Free(handle);
+}
+
+int32_t HAL_GetPDPModuleNumber(HAL_PDPHandle handle, int32_t* status) {
+  return hal::getHandleIndex(handle);
 }
 
 HAL_Bool HAL_CheckPDPModule(int32_t module) {
-  return module < kNumPDPModules && module >= 0;
+  return module < kNumCTREPDPModules && module >= 0;
 }
 
 HAL_Bool HAL_CheckPDPChannel(int32_t channel) {
-  return channel < kNumPDPChannels && channel >= 0;
+  return channel < kNumCTREPDPChannels && channel >= 0;
 }
 
 double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status) {
+  auto pdp = pdpHandles->Get(handle);
+  if (pdp == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
   PdpStatus3 pdpStatus;
   int32_t length = 0;
   uint64_t receivedTimestamp = 0;
 
-  HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
+  HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, pdpStatus.data, &length,
                            &receivedTimestamp, TimeoutMs, status);
 
   if (*status != 0) {
@@ -177,11 +200,17 @@ double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status) {
 }
 
 double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status) {
+  auto pdp = pdpHandles->Get(handle);
+  if (pdp == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
   PdpStatus3 pdpStatus;
   int32_t length = 0;
   uint64_t receivedTimestamp = 0;
 
-  HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
+  HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, pdpStatus.data, &length,
                            &receivedTimestamp, TimeoutMs, status);
 
   if (*status != 0) {
@@ -199,6 +228,12 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
     return 0;
   }
 
+  auto pdp = pdpHandles->Get(handle);
+  if (pdp == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
   int32_t length = 0;
   uint64_t receivedTimestamp = 0;
 
@@ -206,7 +241,7 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
 
   if (channel <= 5) {
     PdpStatus1 pdpStatus;
-    HAL_ReadCANPacketTimeout(handle, Status1, pdpStatus.data, &length,
+    HAL_ReadCANPacketTimeout(pdp->canHandle, Status1, pdpStatus.data, &length,
                              &receivedTimestamp, TimeoutMs, status);
     if (*status != 0) {
       return 0;
@@ -239,7 +274,7 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
     }
   } else if (channel <= 11) {
     PdpStatus2 pdpStatus;
-    HAL_ReadCANPacketTimeout(handle, Status2, pdpStatus.data, &length,
+    HAL_ReadCANPacketTimeout(pdp->canHandle, Status2, pdpStatus.data, &length,
                              &receivedTimestamp, TimeoutMs, status);
     if (*status != 0) {
       return 0;
@@ -272,7 +307,7 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
     }
   } else {
     PdpStatus3 pdpStatus;
-    HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
+    HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, pdpStatus.data, &length,
                              &receivedTimestamp, TimeoutMs, status);
     if (*status != 0) {
       return 0;
@@ -303,22 +338,28 @@ double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
 
 void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
                                   int32_t* status) {
+  auto pdp = pdpHandles->Get(handle);
+  if (pdp == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
   int32_t length = 0;
   uint64_t receivedTimestamp = 0;
   PdpStatus1 pdpStatus;
-  HAL_ReadCANPacketTimeout(handle, Status1, pdpStatus.data, &length,
+  HAL_ReadCANPacketTimeout(pdp->canHandle, Status1, pdpStatus.data, &length,
                            &receivedTimestamp, TimeoutMs, status);
   if (*status != 0) {
     return;
   }
   PdpStatus2 pdpStatus2;
-  HAL_ReadCANPacketTimeout(handle, Status2, pdpStatus2.data, &length,
+  HAL_ReadCANPacketTimeout(pdp->canHandle, Status2, pdpStatus2.data, &length,
                            &receivedTimestamp, TimeoutMs, status);
   if (*status != 0) {
     return;
   }
   PdpStatus3 pdpStatus3;
-  HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus3.data, &length,
+  HAL_ReadCANPacketTimeout(pdp->canHandle, Status3, pdpStatus3.data, &length,
                            &receivedTimestamp, TimeoutMs, status);
   if (*status != 0) {
     return;
@@ -377,12 +418,18 @@ void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
 }
 
 double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
+  auto pdp = pdpHandles->Get(handle);
+  if (pdp == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
   PdpStatusEnergy pdpStatus;
   int32_t length = 0;
   uint64_t receivedTimestamp = 0;
 
-  HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
-                           &receivedTimestamp, TimeoutMs, status);
+  HAL_ReadCANPacketTimeout(pdp->canHandle, StatusEnergy, pdpStatus.data,
+                           &length, &receivedTimestamp, TimeoutMs, status);
   if (*status != 0) {
     return 0;
   }
@@ -395,12 +442,18 @@ double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status) {
 }
 
 double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status) {
+  auto pdp = pdpHandles->Get(handle);
+  if (pdp == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
   PdpStatusEnergy pdpStatus;
   int32_t length = 0;
   uint64_t receivedTimestamp = 0;
 
-  HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
-                           &receivedTimestamp, TimeoutMs, status);
+  HAL_ReadCANPacketTimeout(pdp->canHandle, StatusEnergy, pdpStatus.data,
+                           &length, &receivedTimestamp, TimeoutMs, status);
   if (*status != 0) {
     return 0;
   }
@@ -415,12 +468,18 @@ double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status) {
 }
 
 double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
+  auto pdp = pdpHandles->Get(handle);
+  if (pdp == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
   PdpStatusEnergy pdpStatus;
   int32_t length = 0;
   uint64_t receivedTimestamp = 0;
 
-  HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
-                           &receivedTimestamp, TimeoutMs, status);
+  HAL_ReadCANPacketTimeout(pdp->canHandle, StatusEnergy, pdpStatus.data,
+                           &length, &receivedTimestamp, TimeoutMs, status);
   if (*status != 0) {
     return 0;
   }
@@ -443,13 +502,25 @@ double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
 }
 
 void HAL_ResetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status) {
+  auto pdp = pdpHandles->Get(handle);
+  if (pdp == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
   uint8_t pdpControl[] = {0x40}; /* only bit set is ResetEnergy */
-  HAL_WriteCANPacket(handle, pdpControl, 1, Control1, status);
+  HAL_WriteCANPacket(pdp->canHandle, pdpControl, 1, Control1, status);
 }
 
 void HAL_ClearPDPStickyFaults(HAL_PDPHandle handle, int32_t* status) {
+  auto pdp = pdpHandles->Get(handle);
+  if (pdp == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
   uint8_t pdpControl[] = {0x80}; /* only bit set is ClearStickyFaults */
-  HAL_WriteCANPacket(handle, pdpControl, 1, Control1, status);
+  HAL_WriteCANPacket(pdp->canHandle, pdpControl, 1, Control1, status);
 }
 
 }  // extern "C"

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

@@ -25,7 +25,8 @@ extern "C" {
  * @param  module the module number to initialize
  * @return the created PDP
  */
-HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status);
+HAL_PDPHandle HAL_InitializePDP(int32_t module, const char* allocationLocation,
+                                int32_t* status);
 
 /**
  * Cleans a PDP module.
@@ -34,11 +35,16 @@ HAL_PDPHandle HAL_InitializePDP(int32_t module, int32_t* status);
  */
 void HAL_CleanPDP(HAL_PDPHandle handle);
 
+/**
+ * Gets the module number for a pdp.
+ */
+int32_t HAL_GetPDPModuleNumber(HAL_PDPHandle handle, int32_t* status);
+
 /**
  * Checks if a PDP channel is valid.
  *
  * @param channel the channel to check
- * @return        true if the channel is valid, otherwise false
+ * @return true if the channel is valid, otherwise false
  */
 HAL_Bool HAL_CheckPDPChannel(int32_t channel);
 
@@ -46,7 +52,7 @@ HAL_Bool HAL_CheckPDPChannel(int32_t channel);
  * Checks if a PDP module is valid.
  *
  * @param channel the module to check
- * @return        true if the module is valid, otherwise false
+ * @return true if the module is valid, otherwise false
  */
 HAL_Bool HAL_CheckPDPModule(int32_t module);
 
@@ -54,7 +60,7 @@ HAL_Bool HAL_CheckPDPModule(int32_t module);
  * Gets the temperature of the PDP.
  *
  * @param handle the module handle
- * @return       the module temperature (celsius)
+ * @return the module temperature (celsius)
  */
 double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status);
 
@@ -62,7 +68,7 @@ double HAL_GetPDPTemperature(HAL_PDPHandle handle, int32_t* status);
  * Gets the PDP input voltage.
  *
  * @param handle the module handle
- * @return       the input voltage (volts)
+ * @return the input voltage (volts)
  */
 double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status);
 
@@ -71,7 +77,7 @@ double HAL_GetPDPVoltage(HAL_PDPHandle handle, int32_t* status);
  *
  * @param module  the module
  * @param channel the channel
- * @return        the channel current (amps)
+ * @return the channel current (amps)
  */
 double HAL_GetPDPChannelCurrent(HAL_PDPHandle handle, int32_t channel,
                                 int32_t* status);
@@ -91,7 +97,7 @@ void HAL_GetPDPAllChannelCurrents(HAL_PDPHandle handle, double* currents,
  * Gets the total current of the PDP.
  *
  * @param handle the module handle
- * @return       the total current (amps)
+ * @return the total current (amps)
  */
 double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status);
 
@@ -99,7 +105,7 @@ double HAL_GetPDPTotalCurrent(HAL_PDPHandle handle, int32_t* status);
  * Gets the total power of the PDP.
  *
  * @param handle the module handle
- * @return       the total power (watts)
+ * @return the total power (watts)
  */
 double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status);
 
@@ -107,7 +113,7 @@ double HAL_GetPDPTotalPower(HAL_PDPHandle handle, int32_t* status);
  * Gets the total energy of the PDP.
  *
  * @param handle the module handle
- * @return       the total energy (joules)
+ * @return the total energy (joules)
  */
 double HAL_GetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status);
 

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

@@ -69,15 +69,15 @@ static int32_t HAL_GetJoystickButtonsInternal(int32_t joystickNum,
       joystickNum, &buttons->buttons, &buttons->count);
 }
 /**
- * Retrieve the Joystick Descriptor for particular slot
- * @param desc [out] descriptor (data transfer object) to fill in.  desc is
- * filled in regardless of success. In other words, if descriptor is not
- * available, desc is filled in with default values matching the init-values in
- * Java and C++ Driverstation for when caller requests a too-large joystick
- * index.
+ * Retrieve the Joystick Descriptor for particular slot.
  *
+ * @param[out] desc descriptor (data transfer object) to fill in. desc is filled
+ *                  in regardless of success. In other words, if descriptor is
+ *                  not available, desc is filled in with default values
+ *                  matching the init-values in Java and C++ Driverstation for
+ *                  when caller requests a too-large joystick index.
  * @return error code reported from Network Comm back-end.  Zero is good,
- * nonzero is bad.
+ *         nonzero is bad.
  */
 static int32_t HAL_GetJoystickDescriptorInternal(int32_t joystickNum,
                                                  HAL_JoystickDescriptor* desc) {
@@ -300,10 +300,9 @@ char* HAL_GetJoystickName(int32_t joystickNum) {
     name[0] = '\0';
     return name;
   } else {
-    size_t len = std::strlen(joystickDesc.name);
-    char* name = static_cast<char*>(std::malloc(len + 1));
-    std::strncpy(name, joystickDesc.name, len);
-    name[len] = '\0';
+    const size_t len = std::strlen(joystickDesc.name) + 1;
+    char* name = static_cast<char*>(std::malloc(len));
+    std::memcpy(name, joystickDesc.name, len);
     return name;
   }
 }

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

@@ -41,6 +41,7 @@ namespace hal {
 namespace init {
 void InitializeHAL() {
   InitializeCTREPCM();
+  InitializeREVPH();
   InitializeAddressableLED();
   InitializeAccelerometer();
   InitializeAnalogAccumulator();
@@ -64,7 +65,8 @@ void InitializeHAL() {
   InitializeInterrupts();
   InitializeMain();
   InitializeNotifier();
-  InitializePDP();
+  InitializeCTREPDP();
+  InitializeREVPDH();
   InitializePorts();
   InitializePower();
   InitializePWM();
@@ -225,13 +227,19 @@ const char* HAL_GetErrorMessage(int32_t code) {
       return HAL_INVALID_DMA_ADDITION_MESSAGE;
     case HAL_USE_LAST_ERROR:
       return HAL_USE_LAST_ERROR_MESSAGE;
+    case HAL_CONSOLE_OUT_ENABLED_ERROR:
+      return HAL_CONSOLE_OUT_ENABLED_ERROR_MESSAGE;
     default:
       return "Unknown error status";
   }
 }
 
 HAL_RuntimeType HAL_GetRuntimeType(void) {
-  return HAL_Athena;
+  nLoadOut::tTargetClass targetClass = nLoadOut::getTargetClass();
+  if (targetClass == nLoadOut::kTargetClass_RoboRIO2) {
+    return HAL_Runtime_RoboRIO2;
+  }
+  return HAL_Runtime_RoboRIO;
 }
 
 int32_t HAL_GetFPGAVersion(int32_t* status) {
@@ -272,10 +280,10 @@ uint64_t HAL_GetFPGATime(int32_t* status) {
   return (upper2 << 32) + lower;
 }
 
-uint64_t HAL_ExpandFPGATime(uint32_t unexpanded_lower, int32_t* status) {
+uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, 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);
+  uint64_t fpgaTime = HAL_GetFPGATime(status);
   if (*status != 0) {
     return 0;
   }
@@ -285,15 +293,15 @@ uint64_t HAL_ExpandFPGATime(uint32_t unexpanded_lower, int32_t* status) {
   // be.
 
   // Break it into lower and upper portions.
-  uint32_t lower = fpga_time & 0xffffffffull;
-  uint64_t upper = (fpga_time >> 32) & 0xffffffff;
+  uint32_t lower = fpgaTime & 0xffffffffull;
+  uint64_t upper = (fpgaTime >> 32) & 0xffffffff;
 
   // The time was sampled *before* the current time, so roll it back.
-  if (lower < unexpanded_lower) {
+  if (lower < unexpandedLower) {
     --upper;
   }
 
-  return (upper << 32) + static_cast<uint64_t>(unexpanded_lower);
+  return (upper << 32) + static_cast<uint64_t>(unexpandedLower);
 }
 
 HAL_Bool HAL_GetFPGAButton(int32_t* status) {
@@ -447,10 +455,4 @@ int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
       resource, instanceNumber, context, feature);
 }
 
-// TODO: HACKS
-// No need for header definitions, as we should not run from user code.
-void NumericArrayResize(void) {}
-void RTSetCleanupProc(void) {}
-void EDVR_CreateReference(void) {}
-
 }  // extern "C"

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

@@ -17,6 +17,7 @@ inline void CheckInit() {
 }
 
 extern void InitializeCTREPCM();
+extern void InitializeREVPH();
 extern void InitializeAccelerometer();
 extern void InitializeAddressableLED();
 extern void InitializeAnalogAccumulator();
@@ -41,7 +42,8 @@ extern void InitializeI2C();
 extern void InitializeInterrupts();
 extern void InitializeMain();
 extern void InitializeNotifier();
-extern void InitializePDP();
+extern void InitializeCTREPDP();
+extern void InitializeREVPDH();
 extern void InitializePorts();
 extern void InitializePower();
 extern void InitializePWM();

hal/src/main/native/athena/I2C.cpp

@@ -16,6 +16,7 @@
 
 #include "DigitalInternal.h"
 #include "HALInitializer.h"
+#include "HALInternal.h"
 #include "hal/DIO.h"
 #include "hal/HAL.h"
 
@@ -46,7 +47,9 @@ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
   }
 
   if (port < 0 || port > 1) {
-    // Set port out of range error here
+    *status = RESOURCE_OUT_OF_RANGE;
+    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for I2C", 0, 1,
+                                     port);
     return;
   }
 
@@ -92,7 +95,9 @@ int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
                            const uint8_t* dataToSend, int32_t sendSize,
                            uint8_t* dataReceived, int32_t receiveSize) {
   if (port < 0 || port > 1) {
-    // Set port out of range error here
+    int32_t status = 0;
+    hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
+                                     port);
     return -1;
   }
 
@@ -122,7 +127,9 @@ int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress,
 int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
                      const uint8_t* dataToSend, int32_t sendSize) {
   if (port < 0 || port > 1) {
-    // Set port out of range error here
+    int32_t status = 0;
+    hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
+                                     port);
     return -1;
   }
 
@@ -148,7 +155,9 @@ int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress,
 int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
                     int32_t count) {
   if (port < 0 || port > 1) {
-    // Set port out of range error here
+    int32_t status = 0;
+    hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
+                                     port);
     return -1;
   }
 
@@ -173,7 +182,9 @@ int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer,
 
 void HAL_CloseI2C(HAL_I2CPort port) {
   if (port < 0 || port > 1) {
-    // Set port out of range error here
+    int32_t status = 0;
+    hal::SetLastErrorIndexOutOfRange(&status, "Invalid Index for I2C", 0, 1,
+                                     port);
     return;
   }
 

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

@@ -9,6 +9,7 @@
 #include <memory>
 #include <thread>
 
+#include <fmt/core.h>
 #include <wpi/condition_variable.h>
 #include <wpi/mutex.h>
 
@@ -27,6 +28,8 @@ static constexpr int32_t kTimerInterruptNumber = 28;
 static wpi::mutex notifierMutex;
 static std::unique_ptr<tAlarm> notifierAlarm;
 static std::thread notifierThread;
+static HAL_Bool notifierThreadRealTime = false;
+static int32_t notifierThreadPriority = 0;
 static uint64_t closestTrigger{UINT64_MAX};
 
 namespace {
@@ -147,6 +150,21 @@ HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
     std::scoped_lock lock(notifierMutex);
     notifierRunning = true;
     notifierThread = std::thread(notifierThreadMain);
+
+    auto native = notifierThread.native_handle();
+    HAL_SetThreadPriority(&native, notifierThreadRealTime,
+                          notifierThreadPriority, status);
+    if (*status == HAL_THREAD_PRIORITY_ERROR) {
+      *status = 0;
+      fmt::print("{}: HAL Notifier thread\n",
+                 HAL_THREAD_PRIORITY_ERROR_MESSAGE);
+    }
+    if (*status == HAL_THREAD_PRIORITY_RANGE_ERROR) {
+      *status = 0;
+      fmt::print("{}: HAL Notifier thread\n",
+                 HAL_THREAD_PRIORITY_RANGE_ERROR_MESSAGE);
+    }
+
     notifierAlarm.reset(tAlarm::create(status));
   }
 
@@ -161,8 +179,15 @@ HAL_NotifierHandle HAL_InitializeNotifier(int32_t* status) {
 
 HAL_Bool HAL_SetNotifierThreadPriority(HAL_Bool realTime, int32_t priority,
                                        int32_t* status) {
-  auto native = notifierThread.native_handle();
-  return HAL_SetThreadPriority(&native, realTime, priority, status);
+  std::scoped_lock lock(notifierMutex);
+  notifierThreadRealTime = realTime;
+  notifierThreadPriority = priority;
+  if (notifierThread.joinable()) {
+    auto native = notifierThread.native_handle();
+    return HAL_SetThreadPriority(&native, realTime, priority, status);
+  } else {
+    return true;
+  }
 }
 
 void HAL_SetNotifierName(HAL_NotifierHandle notifierHandle, const char* name,

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

@@ -98,11 +98,11 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
 
   if (*status != 0) {
     if (port) {
-      hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", channel,
+      hal::SetLastErrorPreviouslyAllocated(status, "PWM or DIO", origChannel,
                                            port->previousAllocation);
     } else {
       hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for PWM", 0,
-                                       kNumPWMChannels, channel);
+                                       kNumPWMChannels, origChannel);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
   }

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

@@ -59,14 +59,26 @@ int32_t HAL_GetNumRelayHeaders(void) {
 int32_t HAL_GetNumCTREPCMModules(void) {
   return kNumCTREPCMModules;
 }
-int32_t HAL_GetNumSolenoidChannels(void) {
+int32_t HAL_GetNumCTRESolenoidChannels(void) {
   return kNumCTRESolenoidChannels;
 }
-int32_t HAL_GetNumPDPModules(void) {
-  return kNumPDPModules;
+int32_t HAL_GetNumCTREPDPModules(void) {
+  return kNumCTREPDPModules;
 }
-int32_t HAL_GetNumPDPChannels(void) {
-  return kNumPDPChannels;
+int32_t HAL_GetNumCTREPDPChannels(void) {
+  return kNumCTREPDPChannels;
+}
+int32_t HAL_GetNumREVPDHModules(void) {
+  return kNumREVPDHModules;
+}
+int32_t HAL_GetNumREVPDHChannels(void) {
+  return kNumREVPDHChannels;
+}
+int32_t HAL_GetNumREVPHModules(void) {
+  return kNumREVPHModules;
+}
+int32_t HAL_GetNumREVPHChannels(void) {
+  return kNumREVPHChannels;
 }
 int32_t HAL_GetNumDutyCycles(void) {
   return kNumDutyCycles;

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

@@ -30,9 +30,13 @@ constexpr int32_t kNumRelayChannels = 8;
 constexpr int32_t kNumRelayHeaders = kNumRelayChannels / 2;
 constexpr int32_t kNumCTREPCMModules = 63;
 constexpr int32_t kNumCTRESolenoidChannels = 8;
-constexpr int32_t kNumPDPModules = 63;
-constexpr int32_t kNumPDPChannels = 16;
+constexpr int32_t kNumCTREPDPModules = 63;
+constexpr int32_t kNumCTREPDPChannels = 16;
+constexpr int32_t kNumREVPDHModules = 63;
+constexpr int32_t kNumREVPDHChannels = 24;
 constexpr int32_t kNumDutyCycles = tDutyCycle::kNumSystems;
 constexpr int32_t kNumAddressableLEDs = tLED::kNumSystems;
+constexpr int32_t kNumREVPHModules = 63;
+constexpr int32_t kNumREVPHChannels = 16;
 
 }  // namespace hal

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

@@ -103,4 +103,22 @@ int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) {
       power->readFaultCounts_OverCurrentFaultCount3V3(status));
 }
 
+void HAL_SetBrownoutVoltage(double voltage, int32_t* status) {
+  initializePower(status);
+  if (voltage < 0) {
+    voltage = 0;
+  }
+  if (voltage > 50) {
+    voltage = 50;
+  }
+  power->writeBrownoutVoltage250mV(static_cast<unsigned char>(voltage * 4),
+                                   status);
+}
+
+double HAL_GetBrownoutVoltage(int32_t* status) {
+  initializePower(status);
+  auto brownout = power->readBrownoutVoltage250mV(status);
+  return brownout / 4.0;
+}
+
 }  // extern "C"

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

@@ -0,0 +1,208 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "hal/PowerDistribution.h"
+
+#include "CTREPDP.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "REVPDH.h"
+#include "hal/Errors.h"
+#include "hal/handles/HandlesInternal.h"
+
+using namespace hal;
+
+extern "C" {
+
+HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
+    int32_t moduleNumber, HAL_PowerDistributionType type,
+    const char* allocationLocation, int32_t* status) {
+  if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kAutomatic) {
+    type = HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE;
+  }
+
+  if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
+    if (moduleNumber == HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
+      moduleNumber = 0;
+    }
+    return static_cast<HAL_PowerDistributionHandle>(
+        HAL_InitializePDP(moduleNumber, allocationLocation, status));  // TODO
+  } else {
+    if (moduleNumber == HAL_DEFAULT_POWER_DISTRIBUTION_MODULE) {
+      moduleNumber = 1;
+    }
+    return static_cast<HAL_PowerDistributionHandle>(
+        HAL_REV_InitializePDH(moduleNumber, allocationLocation, status));
+  }
+}
+
+#define IsCtre(handle) ::hal::isHandleType(handle, HAL_HandleEnum::CTREPDP)
+
+void HAL_CleanPowerDistribution(HAL_PowerDistributionHandle handle) {
+  if (IsCtre(handle)) {
+    HAL_CleanPDP(handle);
+  } else {
+    HAL_REV_FreePDH(handle);
+  }
+}
+
+int32_t HAL_GetPowerDistributionModuleNumber(HAL_PowerDistributionHandle handle,
+                                             int32_t* status) {
+  if (IsCtre(handle)) {
+    return HAL_GetPDPModuleNumber(handle, status);
+  } else {
+    return HAL_REV_GetPDHModuleNumber(handle, status);
+  }
+}
+
+HAL_Bool HAL_CheckPowerDistributionChannel(HAL_PowerDistributionHandle handle,
+                                           int32_t channel) {
+  if (IsCtre(handle)) {
+    return HAL_CheckPDPChannel(channel);
+  } else {
+    return HAL_REV_CheckPDHChannelNumber(channel);
+  }
+}
+
+HAL_Bool HAL_CheckPowerDistributionModule(int32_t module,
+                                          HAL_PowerDistributionType type) {
+  if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
+    return HAL_CheckPDPModule(module);
+  } else {
+    return HAL_REV_CheckPDHModuleNumber(module);
+  }
+}
+
+HAL_PowerDistributionType HAL_GetPowerDistributionType(
+    HAL_PowerDistributionHandle handle, int32_t* status) {
+  return IsCtre(handle)
+             ? HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE
+             : HAL_PowerDistributionType::HAL_PowerDistributionType_kRev;
+}
+
+int32_t HAL_GetPowerDistributionNumChannels(HAL_PowerDistributionHandle handle,
+                                            int32_t* status) {
+  if (IsCtre(handle)) {
+    return kNumCTREPDPChannels;
+  } else {
+    return kNumREVPDHChannels;
+  }
+}
+
+double HAL_GetPowerDistributionTemperature(HAL_PowerDistributionHandle handle,
+                                           int32_t* status) {
+  if (IsCtre(handle)) {
+    return HAL_GetPDPTemperature(handle, status);
+  } else {
+    // Not supported
+    return 0;
+  }
+}
+
+double HAL_GetPowerDistributionVoltage(HAL_PowerDistributionHandle handle,
+                                       int32_t* status) {
+  if (IsCtre(handle)) {
+    return HAL_GetPDPVoltage(handle, status);
+  } else {
+    return HAL_REV_GetPDHSupplyVoltage(handle, status);
+  }
+}
+
+double HAL_GetPowerDistributionChannelCurrent(
+    HAL_PowerDistributionHandle handle, int32_t channel, int32_t* status) {
+  if (IsCtre(handle)) {
+    return HAL_GetPDPChannelCurrent(handle, channel, status);
+  } else {
+    return HAL_REV_GetPDHChannelCurrent(handle, channel, status);
+  }
+}
+
+void HAL_GetPowerDistributionAllChannelCurrents(
+    HAL_PowerDistributionHandle handle, double* currents,
+    int32_t currentsLength, int32_t* status) {
+  if (IsCtre(handle)) {
+    if (currentsLength < kNumCTREPDPChannels) {
+      *status = PARAMETER_OUT_OF_RANGE;
+      SetLastError(status, "Output array not large enough");
+      return;
+    }
+    return HAL_GetPDPAllChannelCurrents(handle, currents, status);
+  } else {
+    if (currentsLength < kNumREVPDHChannels) {
+      *status = PARAMETER_OUT_OF_RANGE;
+      SetLastError(status, "Output array not large enough");
+      return;
+    }
+    return HAL_REV_GetPDHAllChannelCurrents(handle, currents, status);
+  }
+}
+
+double HAL_GetPowerDistributionTotalCurrent(HAL_PowerDistributionHandle handle,
+                                            int32_t* status) {
+  if (IsCtre(handle)) {
+    return HAL_GetPDPTotalCurrent(handle, status);
+  } else {
+    return HAL_REV_GetPDHTotalCurrent(handle, status);
+  }
+}
+
+double HAL_GetPowerDistributionTotalPower(HAL_PowerDistributionHandle handle,
+                                          int32_t* status) {
+  if (IsCtre(handle)) {
+    return HAL_GetPDPTotalPower(handle, status);
+  } else {
+    // Not currently supported
+    return 0;
+  }
+}
+
+double HAL_GetPowerDistributionTotalEnergy(HAL_PowerDistributionHandle handle,
+                                           int32_t* status) {
+  if (IsCtre(handle)) {
+    return HAL_GetPDPTotalEnergy(handle, status);
+  } else {
+    // Not currently supported
+    return 0;
+  }
+}
+
+void HAL_ResetPowerDistributionTotalEnergy(HAL_PowerDistributionHandle handle,
+                                           int32_t* status) {
+  if (IsCtre(handle)) {
+    HAL_ResetPDPTotalEnergy(handle, status);
+  } else {
+    // Not supported
+  }
+}
+
+void HAL_ClearPowerDistributionStickyFaults(HAL_PowerDistributionHandle handle,
+                                            int32_t* status) {
+  if (IsCtre(handle)) {
+    HAL_ClearPDPStickyFaults(handle, status);
+  } else {
+    HAL_REV_ClearPDHFaults(handle, status);
+  }
+}
+
+void HAL_SetPowerDistributionSwitchableChannel(
+    HAL_PowerDistributionHandle handle, HAL_Bool enabled, int32_t* status) {
+  if (IsCtre(handle)) {
+    // No-op on CTRE
+    return;
+  } else {
+    HAL_REV_SetPDHSwitchableChannel(handle, enabled, status);
+  }
+}
+
+HAL_Bool HAL_GetPowerDistributionSwitchableChannel(
+    HAL_PowerDistributionHandle handle, int32_t* status) {
+  if (IsCtre(handle)) {
+    // No-op on CTRE
+    return false;
+  } else {
+    return HAL_REV_GetPDHSwitchableChannelState(handle, status);
+  }
+}
+
+}  // extern "C"

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

@@ -0,0 +1,798 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "REVPDH.h"
+
+#include <hal/CANAPI.h>
+#include <hal/CANAPITypes.h>
+#include <hal/Errors.h>
+#include <hal/handles/HandlesInternal.h>
+#include <hal/handles/IndexedHandleResource.h>
+
+#include <cstring>
+
+#include <fmt/format.h>
+
+#include "HALInitializer.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "rev/PDHFrames.h"
+
+using namespace hal;
+
+static constexpr HAL_CANManufacturer manufacturer =
+    HAL_CANManufacturer::HAL_CAN_Man_kREV;
+
+static constexpr HAL_CANDeviceType deviceType =
+    HAL_CANDeviceType::HAL_CAN_Dev_kPowerDistribution;
+
+static constexpr int32_t kDefaultControlPeriod = 50;
+
+namespace {
+
+struct REV_PDHObj {
+  int32_t controlPeriod;
+  HAL_CANHandle hcan;
+  std::string previousAllocation;
+};
+
+}  // namespace
+
+static constexpr uint32_t APIFromExtId(uint32_t extId) {
+  return (extId >> 6) & 0x3FF;
+}
+
+static constexpr uint32_t PDH_SWITCH_CHANNEL_SET_FRAME_API =
+    APIFromExtId(PDH_SWITCH_CHANNEL_SET_FRAME_ID);
+
+static constexpr uint32_t PDH_STATUS0_FRAME_API =
+    APIFromExtId(PDH_STATUS0_FRAME_ID);
+static constexpr uint32_t PDH_STATUS1_FRAME_API =
+    APIFromExtId(PDH_STATUS1_FRAME_ID);
+static constexpr uint32_t PDH_STATUS2_FRAME_API =
+    APIFromExtId(PDH_STATUS2_FRAME_ID);
+static constexpr uint32_t PDH_STATUS3_FRAME_API =
+    APIFromExtId(PDH_STATUS3_FRAME_ID);
+static constexpr uint32_t PDH_STATUS4_FRAME_API =
+    APIFromExtId(PDH_STATUS4_FRAME_ID);
+
+static constexpr uint32_t PDH_CLEAR_FAULTS_FRAME_API =
+    APIFromExtId(PDH_CLEAR_FAULTS_FRAME_ID);
+
+static constexpr uint32_t PDH_IDENTIFY_FRAME_API =
+    APIFromExtId(PDH_IDENTIFY_FRAME_ID);
+
+static constexpr uint32_t PDH_VERSION_FRAME_API =
+    APIFromExtId(PDH_VERSION_FRAME_ID);
+
+static constexpr uint32_t PDH_CONFIGURE_HR_CHANNEL_FRAME_API =
+    APIFromExtId(PDH_CONFIGURE_HR_CHANNEL_FRAME_ID);
+
+static constexpr int32_t kPDHFrameStatus0Timeout = 20;
+static constexpr int32_t kPDHFrameStatus1Timeout = 20;
+static constexpr int32_t kPDHFrameStatus2Timeout = 20;
+static constexpr int32_t kPDHFrameStatus3Timeout = 20;
+static constexpr int32_t kPDHFrameStatus4Timeout = 20;
+
+static IndexedHandleResource<HAL_REVPDHHandle, REV_PDHObj, kNumREVPDHModules,
+                             HAL_HandleEnum::REVPDH>* REVPDHHandles;
+
+namespace hal::init {
+void InitializeREVPDH() {
+  static IndexedHandleResource<HAL_REVPDHHandle, REV_PDHObj, kNumREVPDHModules,
+                               HAL_HandleEnum::REVPDH>
+      rH;
+  REVPDHHandles = &rH;
+}
+}  // namespace hal::init
+
+extern "C" {
+
+static PDH_status0_t HAL_REV_ReadPDHStatus0(HAL_CANHandle hcan,
+                                            int32_t* status) {
+  uint8_t packedData[8] = {0};
+  int32_t length = 0;
+  uint64_t timestamp = 0;
+  PDH_status0_t result = {};
+
+  HAL_ReadCANPacketTimeout(hcan, PDH_STATUS0_FRAME_API, packedData, &length,
+                           &timestamp, kPDHFrameStatus0Timeout * 2, status);
+
+  if (*status != 0) {
+    return result;
+  }
+
+  PDH_status0_unpack(&result, packedData, PDH_STATUS0_LENGTH);
+
+  return result;
+}
+
+static PDH_status1_t HAL_REV_ReadPDHStatus1(HAL_CANHandle hcan,
+                                            int32_t* status) {
+  uint8_t packedData[8] = {0};
+  int32_t length = 0;
+  uint64_t timestamp = 0;
+  PDH_status1_t result = {};
+
+  HAL_ReadCANPacketTimeout(hcan, PDH_STATUS1_FRAME_API, packedData, &length,
+                           &timestamp, kPDHFrameStatus1Timeout * 2, status);
+
+  if (*status != 0) {
+    return result;
+  }
+
+  PDH_status1_unpack(&result, packedData, PDH_STATUS1_LENGTH);
+
+  return result;
+}
+
+static PDH_status2_t HAL_REV_ReadPDHStatus2(HAL_CANHandle hcan,
+                                            int32_t* status) {
+  uint8_t packedData[8] = {0};
+  int32_t length = 0;
+  uint64_t timestamp = 0;
+  PDH_status2_t result = {};
+
+  HAL_ReadCANPacketTimeout(hcan, PDH_STATUS2_FRAME_API, packedData, &length,
+                           &timestamp, kPDHFrameStatus2Timeout * 2, status);
+
+  if (*status != 0) {
+    return result;
+  }
+
+  PDH_status2_unpack(&result, packedData, PDH_STATUS2_LENGTH);
+
+  return result;
+}
+
+static PDH_status3_t HAL_REV_ReadPDHStatus3(HAL_CANHandle hcan,
+                                            int32_t* status) {
+  uint8_t packedData[8] = {0};
+  int32_t length = 0;
+  uint64_t timestamp = 0;
+  PDH_status3_t result = {};
+
+  HAL_ReadCANPacketTimeout(hcan, PDH_STATUS3_FRAME_API, packedData, &length,
+                           &timestamp, kPDHFrameStatus3Timeout * 2, status);
+
+  if (*status != 0) {
+    return result;
+  }
+
+  PDH_status3_unpack(&result, packedData, PDH_STATUS3_LENGTH);
+
+  return result;
+}
+
+static PDH_status4_t HAL_REV_ReadPDHStatus4(HAL_CANHandle hcan,
+                                            int32_t* status) {
+  uint8_t packedData[8] = {0};
+  int32_t length = 0;
+  uint64_t timestamp = 0;
+  PDH_status4_t result = {};
+
+  HAL_ReadCANPacketTimeout(hcan, PDH_STATUS4_FRAME_API, packedData, &length,
+                           &timestamp, kPDHFrameStatus4Timeout * 2, status);
+
+  if (*status != 0) {
+    return result;
+  }
+
+  PDH_status4_unpack(&result, packedData, PDH_STATUS4_LENGTH);
+
+  return result;
+}
+
+/**
+ * Helper function for the individual getter functions for status 4
+ */
+PDH_status4_t HAL_REV_GetPDHStatus4(HAL_REVPDHHandle handle, int32_t* status) {
+  PDH_status4_t statusFrame = {};
+  auto hpdh = REVPDHHandles->Get(handle);
+  if (hpdh == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return statusFrame;
+  }
+
+  statusFrame = HAL_REV_ReadPDHStatus4(hpdh->hcan, status);
+  return statusFrame;
+}
+
+HAL_REVPDHHandle HAL_REV_InitializePDH(int32_t module,
+                                       const char* allocationLocation,
+                                       int32_t* status) {
+  hal::init::CheckInit();
+  if (!HAL_REV_CheckPDHModuleNumber(module)) {
+    *status = RESOURCE_OUT_OF_RANGE;
+    return HAL_kInvalidHandle;
+  }
+
+  HAL_REVPDHHandle handle;
+  auto hpdh = REVPDHHandles->Allocate(module, &handle, status);
+  if (*status != 0) {
+    if (hpdh) {
+      hal::SetLastErrorPreviouslyAllocated(status, "REV PDH", module,
+                                           hpdh->previousAllocation);
+    } else {
+      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 0,
+                                       kNumREVPDHModules, module);
+    }
+    return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
+  }
+
+  HAL_CANHandle hcan =
+      HAL_InitializeCAN(manufacturer, module, deviceType, status);
+
+  if (*status != 0) {
+    REVPDHHandles->Free(handle);
+    return HAL_kInvalidHandle;
+  }
+
+  hpdh->previousAllocation = allocationLocation ? allocationLocation : "";
+  hpdh->hcan = hcan;
+  hpdh->controlPeriod = kDefaultControlPeriod;
+
+  return handle;
+}
+
+void HAL_REV_FreePDH(HAL_REVPDHHandle handle) {
+  auto hpdh = REVPDHHandles->Get(handle);
+  if (hpdh == nullptr) {
+    return;
+  }
+
+  HAL_CleanCAN(hpdh->hcan);
+
+  REVPDHHandles->Free(handle);
+}
+
+int32_t HAL_REV_GetPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status) {
+  return hal::getHandleIndex(handle);
+}
+
+HAL_Bool HAL_REV_CheckPDHModuleNumber(int32_t module) {
+  return ((module >= 1) && (module < kNumREVPDHModules)) ? 1 : 0;
+}
+
+HAL_Bool HAL_REV_CheckPDHChannelNumber(int32_t channel) {
+  return ((channel >= 0) && (channel < kNumREVPDHChannels)) ? 1 : 0;
+}
+
+double HAL_REV_GetPDHChannelCurrent(HAL_REVPDHHandle handle, int32_t channel,
+                                    int32_t* status) {
+  auto hpdh = REVPDHHandles->Get(handle);
+  if (hpdh == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  if (!HAL_REV_CheckPDHChannelNumber(channel)) {
+    *status = RESOURCE_OUT_OF_RANGE;
+    return 0;
+  }
+
+  // Determine what periodic status the channel is in
+  if (channel < 6) {
+    // Periodic status 0
+    PDH_status0_t statusFrame = HAL_REV_ReadPDHStatus0(hpdh->hcan, status);
+    switch (channel) {
+      case 0:
+        return PDH_status0_channel_0_current_decode(
+            statusFrame.channel_0_current);
+      case 1:
+        return PDH_status0_channel_1_current_decode(
+            statusFrame.channel_1_current);
+      case 2:
+        return PDH_status0_channel_2_current_decode(
+            statusFrame.channel_2_current);
+      case 3:
+        return PDH_status0_channel_3_current_decode(
+            statusFrame.channel_3_current);
+      case 4:
+        return PDH_status0_channel_4_current_decode(
+            statusFrame.channel_4_current);
+      case 5:
+        return PDH_status0_channel_5_current_decode(
+            statusFrame.channel_5_current);
+    }
+  } else if (channel < 12) {
+    // Periodic status 1
+    PDH_status1_t statusFrame = HAL_REV_ReadPDHStatus1(hpdh->hcan, status);
+    switch (channel) {
+      case 6:
+        return PDH_status1_channel_6_current_decode(
+            statusFrame.channel_6_current);
+      case 7:
+        return PDH_status1_channel_7_current_decode(
+            statusFrame.channel_7_current);
+      case 8:
+        return PDH_status1_channel_8_current_decode(
+            statusFrame.channel_8_current);
+      case 9:
+        return PDH_status1_channel_9_current_decode(
+            statusFrame.channel_9_current);
+      case 10:
+        return PDH_status1_channel_10_current_decode(
+            statusFrame.channel_10_current);
+      case 11:
+        return PDH_status1_channel_11_current_decode(
+            statusFrame.channel_11_current);
+    }
+  } else if (channel < 18) {
+    // Periodic status 2
+    PDH_status2_t statusFrame = HAL_REV_ReadPDHStatus2(hpdh->hcan, status);
+    switch (channel) {
+      case 12:
+        return PDH_status2_channel_12_current_decode(
+            statusFrame.channel_12_current);
+      case 13:
+        return PDH_status2_channel_13_current_decode(
+            statusFrame.channel_13_current);
+      case 14:
+        return PDH_status2_channel_14_current_decode(
+            statusFrame.channel_14_current);
+      case 15:
+        return PDH_status2_channel_15_current_decode(
+            statusFrame.channel_15_current);
+      case 16:
+        return PDH_status2_channel_16_current_decode(
+            statusFrame.channel_16_current);
+      case 17:
+        return PDH_status2_channel_17_current_decode(
+            statusFrame.channel_17_current);
+    }
+  } else if (channel < 24) {
+    // Periodic status 3
+    PDH_status3_t statusFrame = HAL_REV_ReadPDHStatus3(hpdh->hcan, status);
+    switch (channel) {
+      case 18:
+        return PDH_status3_channel_18_current_decode(
+            statusFrame.channel_18_current);
+      case 19:
+        return PDH_status3_channel_19_current_decode(
+            statusFrame.channel_19_current);
+      case 20:
+        return PDH_status3_channel_20_current_decode(
+            statusFrame.channel_20_current);
+      case 21:
+        return PDH_status3_channel_21_current_decode(
+            statusFrame.channel_21_current);
+      case 22:
+        return PDH_status3_channel_22_current_decode(
+            statusFrame.channel_22_current);
+      case 23:
+        return PDH_status3_channel_23_current_decode(
+            statusFrame.channel_23_current);
+    }
+  }
+  return 0;
+}
+
+void HAL_REV_GetPDHAllChannelCurrents(HAL_REVPDHHandle handle, double* currents,
+                                      int32_t* status) {
+  auto hpdh = REVPDHHandles->Get(handle);
+  if (hpdh == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  PDH_status0_t statusFrame0 = HAL_REV_ReadPDHStatus0(hpdh->hcan, status);
+  PDH_status1_t statusFrame1 = HAL_REV_ReadPDHStatus1(hpdh->hcan, status);
+  PDH_status2_t statusFrame2 = HAL_REV_ReadPDHStatus2(hpdh->hcan, status);
+  PDH_status3_t statusFrame3 = HAL_REV_ReadPDHStatus3(hpdh->hcan, status);
+
+  currents[0] =
+      PDH_status0_channel_0_current_decode(statusFrame0.channel_0_current);
+  currents[1] =
+      PDH_status0_channel_1_current_decode(statusFrame0.channel_1_current);
+  currents[2] =
+      PDH_status0_channel_2_current_decode(statusFrame0.channel_2_current);
+  currents[3] =
+      PDH_status0_channel_3_current_decode(statusFrame0.channel_3_current);
+  currents[4] =
+      PDH_status0_channel_4_current_decode(statusFrame0.channel_4_current);
+  currents[5] =
+      PDH_status0_channel_5_current_decode(statusFrame0.channel_5_current);
+  currents[6] =
+      PDH_status1_channel_6_current_decode(statusFrame1.channel_6_current);
+  currents[7] =
+      PDH_status1_channel_7_current_decode(statusFrame1.channel_7_current);
+  currents[8] =
+      PDH_status1_channel_8_current_decode(statusFrame1.channel_8_current);
+  currents[9] =
+      PDH_status1_channel_9_current_decode(statusFrame1.channel_9_current);
+  currents[10] =
+      PDH_status1_channel_10_current_decode(statusFrame1.channel_10_current);
+  currents[11] =
+      PDH_status1_channel_11_current_decode(statusFrame1.channel_11_current);
+  currents[12] =
+      PDH_status2_channel_12_current_decode(statusFrame2.channel_12_current);
+  currents[13] =
+      PDH_status2_channel_13_current_decode(statusFrame2.channel_13_current);
+  currents[14] =
+      PDH_status2_channel_14_current_decode(statusFrame2.channel_14_current);
+  currents[15] =
+      PDH_status2_channel_15_current_decode(statusFrame2.channel_15_current);
+  currents[16] =
+      PDH_status2_channel_16_current_decode(statusFrame2.channel_16_current);
+  currents[17] =
+      PDH_status2_channel_17_current_decode(statusFrame2.channel_17_current);
+  currents[18] =
+      PDH_status3_channel_18_current_decode(statusFrame3.channel_18_current);
+  currents[19] =
+      PDH_status3_channel_19_current_decode(statusFrame3.channel_19_current);
+  currents[20] =
+      PDH_status3_channel_20_current_decode(statusFrame3.channel_20_current);
+  currents[21] =
+      PDH_status3_channel_21_current_decode(statusFrame3.channel_21_current);
+  currents[22] =
+      PDH_status3_channel_22_current_decode(statusFrame3.channel_22_current);
+  currents[23] =
+      PDH_status3_channel_23_current_decode(statusFrame3.channel_23_current);
+}
+
+uint16_t HAL_REV_GetPDHTotalCurrent(HAL_REVPDHHandle handle, int32_t* status) {
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return 0;
+  }
+
+  return PDH_status4_total_current_decode(statusFrame.total_current);
+}
+
+void HAL_REV_SetPDHSwitchableChannel(HAL_REVPDHHandle handle, HAL_Bool enabled,
+                                     int32_t* status) {
+  auto hpdh = REVPDHHandles->Get(handle);
+  if (hpdh == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  uint8_t packedData[8] = {0};
+  PDH_switch_channel_set_t frame;
+  frame.output_set_value = enabled;
+  frame.use_system_enable = false;
+  PDH_switch_channel_set_pack(packedData, &frame, 1);
+
+  HAL_WriteCANPacket(hpdh->hcan, packedData, PDH_SWITCH_CHANNEL_SET_LENGTH,
+                     PDH_SWITCH_CHANNEL_SET_FRAME_API, status);
+}
+
+HAL_Bool HAL_REV_GetPDHSwitchableChannelState(HAL_REVPDHHandle handle,
+                                              int32_t* status) {
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return 0.0;
+  }
+
+  return PDH_status4_sw_state_decode(statusFrame.sw_state);
+}
+
+HAL_Bool HAL_REV_CheckPDHChannelBrownout(HAL_REVPDHHandle handle,
+                                         int32_t channel, int32_t* status) {
+  auto hpdh = REVPDHHandles->Get(handle);
+  if (hpdh == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  if (!HAL_REV_CheckPDHChannelNumber(channel)) {
+    *status = RESOURCE_OUT_OF_RANGE;
+    return 0;
+  }
+
+  // Determine what periodic status the channel is in
+  if (channel < 4) {
+    // Periodic status 0
+    PDH_status0_t statusFrame = HAL_REV_ReadPDHStatus0(hpdh->hcan, status);
+    switch (channel) {
+      case 0:
+        return PDH_status0_channel_0_brownout_decode(
+            statusFrame.channel_0_brownout);
+      case 1:
+        return PDH_status0_channel_1_brownout_decode(
+            statusFrame.channel_1_brownout);
+      case 2:
+        return PDH_status0_channel_2_brownout_decode(
+            statusFrame.channel_2_brownout);
+      case 3:
+        return PDH_status0_channel_3_brownout_decode(
+            statusFrame.channel_3_brownout);
+    }
+  } else if (channel < 8) {
+    // Periodic status 1
+    PDH_status1_t statusFrame = HAL_REV_ReadPDHStatus1(hpdh->hcan, status);
+    switch (channel) {
+      case 4:
+        return PDH_status1_channel_4_brownout_decode(
+            statusFrame.channel_4_brownout);
+      case 5:
+        return PDH_status1_channel_5_brownout_decode(
+            statusFrame.channel_5_brownout);
+      case 6:
+        return PDH_status1_channel_6_brownout_decode(
+            statusFrame.channel_6_brownout);
+      case 7:
+        return PDH_status1_channel_7_brownout_decode(
+            statusFrame.channel_7_brownout);
+    }
+  } else if (channel < 12) {
+    // Periodic status 2
+    PDH_status2_t statusFrame = HAL_REV_ReadPDHStatus2(hpdh->hcan, status);
+    switch (channel) {
+      case 8:
+        return PDH_status2_channel_8_brownout_decode(
+            statusFrame.channel_8_brownout);
+      case 9:
+        return PDH_status2_channel_9_brownout_decode(
+            statusFrame.channel_9_brownout);
+      case 10:
+        return PDH_status2_channel_10_brownout_decode(
+            statusFrame.channel_10_brownout);
+      case 11:
+        return PDH_status2_channel_11_brownout_decode(
+            statusFrame.channel_11_brownout);
+    }
+  } else if (channel < 24) {
+    // Periodic status 3
+    PDH_status3_t statusFrame = HAL_REV_ReadPDHStatus3(hpdh->hcan, status);
+    switch (channel) {
+      case 12:
+        return PDH_status3_channel_12_brownout_decode(
+            statusFrame.channel_12_brownout);
+      case 13:
+        return PDH_status3_channel_13_brownout_decode(
+            statusFrame.channel_13_brownout);
+      case 14:
+        return PDH_status3_channel_14_brownout_decode(
+            statusFrame.channel_14_brownout);
+      case 15:
+        return PDH_status3_channel_15_brownout_decode(
+            statusFrame.channel_15_brownout);
+      case 16:
+        return PDH_status3_channel_16_brownout_decode(
+            statusFrame.channel_16_brownout);
+      case 17:
+        return PDH_status3_channel_17_brownout_decode(
+            statusFrame.channel_17_brownout);
+      case 18:
+        return PDH_status3_channel_18_brownout_decode(
+            statusFrame.channel_18_brownout);
+      case 19:
+        return PDH_status3_channel_19_brownout_decode(
+            statusFrame.channel_19_brownout);
+      case 20:
+        return PDH_status3_channel_20_brownout_decode(
+            statusFrame.channel_20_brownout);
+      case 21:
+        return PDH_status3_channel_21_brownout_decode(
+            statusFrame.channel_21_brownout);
+      case 22:
+        return PDH_status3_channel_22_brownout_decode(
+            statusFrame.channel_22_brownout);
+      case 23:
+        return PDH_status3_channel_23_brownout_decode(
+            statusFrame.channel_23_brownout);
+    }
+  }
+  return 0;
+}
+
+double HAL_REV_GetPDHSupplyVoltage(HAL_REVPDHHandle handle, int32_t* status) {
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return 0.0;
+  }
+
+  return PDH_status4_v_bus_decode(statusFrame.v_bus);
+}
+
+HAL_Bool HAL_REV_IsPDHEnabled(HAL_REVPDHHandle handle, int32_t* status) {
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return false;
+  }
+
+  return PDH_status4_system_enable_decode(statusFrame.system_enable);
+}
+
+HAL_Bool HAL_REV_CheckPDHBrownout(HAL_REVPDHHandle handle, int32_t* status) {
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return false;
+  }
+
+  return PDH_status4_brownout_decode(statusFrame.brownout);
+}
+
+HAL_Bool HAL_REV_CheckPDHCANWarning(HAL_REVPDHHandle handle, int32_t* status) {
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return 0.0;
+  }
+
+  return PDH_status4_can_warning_decode(statusFrame.can_warning);
+}
+
+HAL_Bool HAL_REV_CheckPDHHardwareFault(HAL_REVPDHHandle handle,
+                                       int32_t* status) {
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return 0.0;
+  }
+
+  return PDH_status4_hardware_fault_decode(statusFrame.hardware_fault);
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyBrownout(HAL_REVPDHHandle handle,
+                                        int32_t* status) {
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return 0.0;
+  }
+
+  return PDH_status4_sticky_brownout_decode(statusFrame.sticky_brownout);
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyCANWarning(HAL_REVPDHHandle handle,
+                                          int32_t* status) {
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return 0.0;
+  }
+
+  return PDH_status4_sticky_can_warning_decode(statusFrame.sticky_can_warning);
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyCANBusOff(HAL_REVPDHHandle handle,
+                                         int32_t* status) {
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return 0.0;
+  }
+
+  return PDH_status4_sticky_can_bus_off_decode(statusFrame.sticky_can_bus_off);
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyHardwareFault(HAL_REVPDHHandle handle,
+                                             int32_t* status) {
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return 0.0;
+  }
+
+  return PDH_status4_sticky_hardware_fault_decode(
+      statusFrame.sticky_hardware_fault);
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyFirmwareFault(HAL_REVPDHHandle handle,
+                                             int32_t* status) {
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return 0.0;
+  }
+
+  return PDH_status4_sticky_firmware_fault_decode(
+      statusFrame.sticky_firmware_fault);
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyChannelBrownout(HAL_REVPDHHandle handle,
+                                               int32_t channel,
+                                               int32_t* status) {
+  if (channel < 20 || channel > 23) {
+    *status = RESOURCE_OUT_OF_RANGE;
+    return 0.0;
+  }
+
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return 0.0;
+  }
+
+  switch (channel) {
+    case 20:
+      return PDH_status4_sticky_ch20_brownout_decode(
+          statusFrame.sticky_ch20_brownout);
+    case 21:
+      return PDH_status4_sticky_ch21_brownout_decode(
+          statusFrame.sticky_ch21_brownout);
+    case 22:
+      return PDH_status4_sticky_ch22_brownout_decode(
+          statusFrame.sticky_ch22_brownout);
+    case 23:
+      return PDH_status4_sticky_ch23_brownout_decode(
+          statusFrame.sticky_ch23_brownout);
+  }
+  return 0;
+}
+
+HAL_Bool HAL_REV_CheckPDHStickyHasReset(HAL_REVPDHHandle handle,
+                                        int32_t* status) {
+  PDH_status4_t statusFrame = HAL_REV_GetPDHStatus4(handle, status);
+
+  if (*status != 0) {
+    return 0.0;
+  }
+
+  return PDH_status4_sticky_has_reset_decode(statusFrame.sticky_has_reset);
+}
+
+REV_PDH_Version HAL_REV_GetPDHVersion(HAL_REVPDHHandle handle,
+                                      int32_t* status) {
+  REV_PDH_Version version;
+  std::memset(&version, 0, sizeof(version));
+  uint8_t packedData[8] = {0};
+  int32_t length = 0;
+  uint64_t timestamp = 0;
+  PDH_version_t result = {};
+  auto hpdh = REVPDHHandles->Get(handle);
+  if (hpdh == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return version;
+  }
+
+  HAL_WriteCANRTRFrame(hpdh->hcan, PDH_VERSION_LENGTH, PDH_VERSION_FRAME_API,
+                       status);
+
+  if (*status != 0) {
+    return version;
+  }
+
+  HAL_ReadCANPacketTimeout(hpdh->hcan, PDH_VERSION_FRAME_API, packedData,
+                           &length, &timestamp, kDefaultControlPeriod * 2,
+                           status);
+
+  if (*status != 0) {
+    return version;
+  }
+
+  PDH_version_unpack(&result, packedData, PDH_VERSION_LENGTH);
+
+  version.firmwareMajor = result.firmware_year;
+  version.firmwareMinor = result.firmware_minor;
+  version.firmwareFix = result.firmware_fix;
+  version.hardwareRev = result.hardware_code;
+  version.uniqueId = result.unique_id;
+
+  return version;
+}
+
+void HAL_REV_ClearPDHFaults(HAL_REVPDHHandle handle, int32_t* status) {
+  auto hpdh = REVPDHHandles->Get(handle);
+  if (hpdh == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  uint8_t packedData[8] = {0};
+  HAL_WriteCANPacket(hpdh->hcan, packedData, PDH_CLEAR_FAULTS_LENGTH,
+                     PDH_CLEAR_FAULTS_FRAME_API, status);
+}
+
+void HAL_REV_IdentifyPDH(HAL_REVPDHHandle handle, int32_t* status) {
+  auto hpdh = REVPDHHandles->Get(handle);
+  if (hpdh == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  uint8_t packedData[8] = {0};
+  HAL_WriteCANPacket(hpdh->hcan, packedData, PDH_IDENTIFY_LENGTH,
+                     PDH_IDENTIFY_FRAME_API, status);
+}
+
+}  // extern "C"

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

@@ -0,0 +1,314 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include "hal/Types.h"
+
+/**
+ * @defgroup hal_rev_pdh REV Power Distribution Hub API Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+struct REV_PDH_Version {
+  uint32_t firmwareMajor;
+  uint32_t firmwareMinor;
+  uint32_t firmwareFix;
+  uint32_t hardwareRev;
+  uint32_t uniqueId;
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Initializes a REV Power Distribution Hub (PDH) device.
+ *
+ * @param module       the device CAN ID (1 .. 63)
+ * @return the created PDH handle
+ */
+HAL_REVPDHHandle HAL_REV_InitializePDH(int32_t module,
+                                       const char* allocationLocation,
+                                       int32_t* status);
+
+/**
+ * Frees a PDH device handle.
+ *
+ * @param handle        the previously created PDH handle
+ */
+void HAL_REV_FreePDH(HAL_REVPDHHandle handle);
+
+/**
+ * Gets the module number for a pdh.
+ */
+int32_t HAL_REV_GetPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Checks if a PDH module number is valid.
+ *
+ * Does not check if a PDH device with this module has been initialized.
+ *
+ * @param module        module number (1 .. 63)
+ * @return 1 if the module number is valid; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHModuleNumber(int32_t module);
+
+/**
+ * Checks if a PDH channel number is valid.
+ *
+ * @param module        channel number (0 .. HAL_REV_PDH_NUM_CHANNELS)
+ * @return 1 if the channel number is valid; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHChannelNumber(int32_t channel);
+
+/**
+ * Gets the current of a PDH channel in Amps.
+ *
+ * @param handle        PDH handle
+ * @param channel       the channel to retrieve the current of (0 ..
+ * HAL_REV_PDH_NUM_CHANNELS)
+ *
+ * @return the current of the PDH channel in Amps
+ */
+double HAL_REV_GetPDHChannelCurrent(HAL_REVPDHHandle handle, int32_t channel,
+                                    int32_t* status);
+
+/**
+ * @param handle        PDH handle
+ * @param currents      array of currents
+ */
+void HAL_REV_GetPDHAllChannelCurrents(HAL_REVPDHHandle handle, double* currents,
+                                      int32_t* status);
+
+/**
+ * Gets the total current of the PDH in Amps, measured to the nearest even
+ * integer.
+ *
+ * @param handle        PDH handle
+ *
+ * @return the total current of the PDH in Amps
+ */
+uint16_t HAL_REV_GetPDHTotalCurrent(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Sets the state of the switchable channel on a PDH device.
+ *
+ * @param handle        PDH handle
+ * @param enabled       1 if the switchable channel should be enabled; 0
+ * otherwise
+ */
+void HAL_REV_SetPDHSwitchableChannel(HAL_REVPDHHandle handle, HAL_Bool enabled,
+                                     int32_t* status);
+
+/**
+ * Gets the current state of the switchable channel on a PDH device.
+ *
+ * This call relies on a periodic status sent by the PDH device and will be as
+ * fresh as the last packet received.
+ *
+ * @param handle        PDH handle
+ * @return 1 if the switchable channel is enabled; 0 otherwise
+ */
+HAL_Bool HAL_REV_GetPDHSwitchableChannelState(HAL_REVPDHHandle handle,
+                                              int32_t* status);
+
+/**
+ * Checks if a PDH channel is currently experiencing a brownout condition.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle        PDH handle
+ * @param channel       the channel to retrieve the brownout status of
+ *
+ * @return 1 if the channel is experiencing a brownout; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHChannelBrownout(HAL_REVPDHHandle handle,
+                                         int32_t channel, int32_t* status);
+
+/**
+ * Gets the voltage being supplied to a PDH device.
+ *
+ * @param handle        PDH handle
+ *
+ * @return the voltage at the input of the PDH in Volts
+ */
+double HAL_REV_GetPDHSupplyVoltage(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Checks if a PDH device is currently enabled.
+ *
+ * @param handle        PDH handle
+ *
+ * @return 1 if the PDH is enabled; 0 otherwise
+ */
+HAL_Bool HAL_REV_IsPDHEnabled(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Checks if the input voltage on a PDH device is currently below the minimum
+ * voltage.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle        PDH handle
+ *
+ * @return 1 if the PDH is experiencing a brownout; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHBrownout(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Checks if the CAN RX or TX error levels on a PDH device have exceeded the
+ * warning threshold.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle        PDH handle
+ *
+ * @return 1 if the device has exceeded the warning threshold; 0
+ * otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHCANWarning(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Checks if a PDH device is currently malfunctioning.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle        PDH handle
+ *
+ * @return 1 if the device is in a hardware fault state; 0
+ * otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHHardwareFault(HAL_REVPDHHandle handle,
+                                       int32_t* status);
+
+/**
+ * Checks if the input voltage on a PDH device has gone below the specified
+ * minimum voltage.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle        PDH handle
+ *
+ * @return 1 if the device has had a brownout; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyBrownout(HAL_REVPDHHandle handle,
+                                        int32_t* status);
+
+/**
+ * Checks if the CAN RX or TX error levels on a PDH device have exceeded the
+ * warning threshold.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle        PDH handle
+ *
+ * @return 1 if the device has exceeded the CAN warning threshold;
+ * 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyCANWarning(HAL_REVPDHHandle handle,
+                                          int32_t* status);
+
+/**
+ * Checks if the CAN bus on a PDH device has previously experienced a 'Bus Off'
+ * event.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle        PDH handle
+ *
+ * @return 1 if the device has experienced a 'Bus Off' event; 0
+ * otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyCANBusOff(HAL_REVPDHHandle handle,
+                                         int32_t* status);
+
+/**
+ * Checks if a PDH device has malfunctioned.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle        PDH handle
+ *
+ * @return 1 if the device has had a malfunction; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyHardwareFault(HAL_REVPDHHandle handle,
+                                             int32_t* status);
+
+/**
+ * Checks if the firmware on a PDH device has malfunctioned and reset during
+ * operation.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle        PDH handle
+ *
+ * @return 1 if the device has had a malfunction and reset; 0
+ * otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyFirmwareFault(HAL_REVPDHHandle handle,
+                                             int32_t* status);
+
+/**
+ * Checks if a brownout has happened on channels 20-23 of a PDH device while it
+ * was enabled.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle        PDH handle
+ * @param channel       PDH channel to retrieve sticky brownout status (20 ..
+ * 23)
+ *
+ *
+ * @return 1 if the channel has had a brownout; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyChannelBrownout(HAL_REVPDHHandle handle,
+                                               int32_t channel,
+                                               int32_t* status);
+
+/**
+ * Checks if a PDH device has reset.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle        PDH handle
+ *
+ * @return 1 if the device has reset; 0 otherwise
+ */
+HAL_Bool HAL_REV_CheckPDHStickyHasReset(HAL_REVPDHHandle handle,
+                                        int32_t* status);
+
+/**
+ * Gets the firmware and hardware versions of a PDH device.
+ *
+ * @param handle        PDH handle
+ *
+ * @return version information
+ */
+REV_PDH_Version HAL_REV_GetPDHVersion(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Clears the sticky faults on a PDH device.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle        PDH handle
+ */
+void HAL_REV_ClearPDHFaults(HAL_REVPDHHandle handle, int32_t* status);
+
+/**
+ * Identifies a PDH device by blinking its LED.
+ *
+ * NOTE: Not implemented in firmware as of 2021-04-23.
+ *
+ * @param handle        PDH handle
+ */
+void HAL_REV_IdentifyPDH(HAL_REVPDHHandle handle, int32_t* status);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif

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

@@ -0,0 +1,479 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "hal/REVPH.h"
+
+#include <fmt/format.h>
+
+#include "HALInitializer.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "hal/CANAPI.h"
+#include "hal/Errors.h"
+#include "hal/handles/IndexedHandleResource.h"
+#include "rev/PHFrames.h"
+
+using namespace hal;
+
+static constexpr HAL_CANManufacturer manufacturer =
+    HAL_CANManufacturer::HAL_CAN_Man_kREV;
+
+static constexpr HAL_CANDeviceType deviceType =
+    HAL_CANDeviceType::HAL_CAN_Dev_kPneumatics;
+
+static constexpr int32_t kDefaultControlPeriod = 20;
+// static constexpr uint8_t kDefaultSensorMask = (1 <<
+// HAL_REV_PHSENSOR_DIGITAL);
+static constexpr uint8_t kDefaultCompressorDuty = 255;
+static constexpr uint8_t kDefaultPressureTarget = 120;
+static constexpr uint8_t kDefaultPressureHysteresis = 60;
+
+#define HAL_REV_MAX_PULSE_TIME 65534
+#define HAL_REV_MAX_PRESSURE_TARGET 120
+#define HAL_REV_MAX_PRESSURE_HYSTERESIS HAL_REV_MAX_PRESSURE_TARGET
+
+static constexpr uint32_t APIFromExtId(uint32_t extId) {
+  return (extId >> 6) & 0x3FF;
+}
+
+static constexpr uint32_t PH_SET_ALL_FRAME_API =
+    APIFromExtId(PH_SET_ALL_FRAME_ID);
+static constexpr uint32_t PH_PULSE_ONCE_FRAME_API =
+    APIFromExtId(PH_PULSE_ONCE_FRAME_ID);
+static constexpr uint32_t PH_STATUS0_FRAME_API =
+    APIFromExtId(PH_STATUS0_FRAME_ID);
+static constexpr uint32_t PH_STATUS1_FRAME_API =
+    APIFromExtId(PH_STATUS1_FRAME_ID);
+
+static constexpr int32_t kPHFrameStatus0Timeout = 50;
+static constexpr int32_t kPHFrameStatus1Timeout = 50;
+
+namespace {
+
+struct REV_PHObj {
+  int32_t controlPeriod;
+  PH_set_all_t desiredSolenoidsState;
+  wpi::mutex solenoidLock;
+  HAL_CANHandle hcan;
+  std::string previousAllocation;
+};
+
+}  // namespace
+
+static IndexedHandleResource<HAL_REVPHHandle, REV_PHObj, 63,
+                             HAL_HandleEnum::REVPH>* REVPHHandles;
+
+namespace hal::init {
+void InitializeREVPH() {
+  static IndexedHandleResource<HAL_REVPHHandle, REV_PHObj, kNumREVPHModules,
+                               HAL_HandleEnum::REVPH>
+      rH;
+  REVPHHandles = &rH;
+}
+}  // namespace hal::init
+
+static PH_status0_t HAL_REV_ReadPHStatus0(HAL_CANHandle hcan, int32_t* status) {
+  uint8_t packedData[8] = {0};
+  int32_t length = 0;
+  uint64_t timestamp = 0;
+  PH_status0_t result = {};
+
+  HAL_ReadCANPacketTimeout(hcan, PH_STATUS0_FRAME_API, packedData, &length,
+                           &timestamp, kPHFrameStatus0Timeout * 2, status);
+
+  if (*status != 0) {
+    return result;
+  }
+
+  PH_status0_unpack(&result, packedData, PH_STATUS0_LENGTH);
+
+  return result;
+}
+
+static PH_status1_t HAL_REV_ReadPHStatus1(HAL_CANHandle hcan, int32_t* status) {
+  uint8_t packedData[8] = {0};
+  int32_t length = 0;
+  uint64_t timestamp = 0;
+  PH_status1_t result = {};
+
+  HAL_ReadCANPacketTimeout(hcan, PH_STATUS1_FRAME_API, packedData, &length,
+                           &timestamp, kPHFrameStatus1Timeout * 2, status);
+
+  if (*status != 0) {
+    return result;
+  }
+
+  PH_status1_unpack(&result, packedData, PH_STATUS1_LENGTH);
+
+  return result;
+}
+
+enum REV_SolenoidState {
+  kSolenoidDisabled = 0,
+  kSolenoidEnabled,
+  kSolenoidControlledViaPulse
+};
+
+static void HAL_REV_UpdateDesiredPHSolenoidState(REV_PHObj* hph,
+                                                 int32_t solenoid,
+                                                 REV_SolenoidState state) {
+  switch (solenoid) {
+    case 0:
+      hph->desiredSolenoidsState.channel_0 = state;
+      break;
+    case 1:
+      hph->desiredSolenoidsState.channel_1 = state;
+      break;
+    case 2:
+      hph->desiredSolenoidsState.channel_2 = state;
+      break;
+    case 3:
+      hph->desiredSolenoidsState.channel_3 = state;
+      break;
+    case 4:
+      hph->desiredSolenoidsState.channel_4 = state;
+      break;
+    case 5:
+      hph->desiredSolenoidsState.channel_5 = state;
+      break;
+    case 6:
+      hph->desiredSolenoidsState.channel_6 = state;
+      break;
+    case 7:
+      hph->desiredSolenoidsState.channel_7 = state;
+      break;
+    case 8:
+      hph->desiredSolenoidsState.channel_8 = state;
+      break;
+    case 9:
+      hph->desiredSolenoidsState.channel_9 = state;
+      break;
+    case 10:
+      hph->desiredSolenoidsState.channel_10 = state;
+      break;
+    case 11:
+      hph->desiredSolenoidsState.channel_11 = state;
+      break;
+    case 12:
+      hph->desiredSolenoidsState.channel_12 = state;
+      break;
+    case 13:
+      hph->desiredSolenoidsState.channel_13 = state;
+      break;
+    case 14:
+      hph->desiredSolenoidsState.channel_14 = state;
+      break;
+    case 15:
+      hph->desiredSolenoidsState.channel_15 = state;
+      break;
+  }
+}
+
+static void HAL_REV_SendSolenoidsState(REV_PHObj* hph, int32_t* status) {
+  uint8_t packedData[PH_SET_ALL_LENGTH] = {0};
+  PH_set_all_pack(packedData, &(hph->desiredSolenoidsState), PH_SET_ALL_LENGTH);
+  HAL_WriteCANPacketRepeating(hph->hcan, packedData, PH_SET_ALL_LENGTH,
+                              PH_SET_ALL_FRAME_API, hph->controlPeriod, status);
+}
+
+static HAL_Bool HAL_REV_CheckPHPulseTime(int32_t time) {
+  return ((time > 0) && (time <= HAL_REV_MAX_PULSE_TIME)) ? 1 : 0;
+}
+
+HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
+                                    const char* allocationLocation,
+                                    int32_t* status) {
+  hal::init::CheckInit();
+  if (!HAL_CheckREVPHModuleNumber(module)) {
+    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+                                     kNumREVPHModules, module);
+    return HAL_kInvalidHandle;
+  }
+
+  HAL_REVPHHandle handle;
+  auto hph = REVPHHandles->Allocate(module, &handle, status);
+  if (*status != 0) {
+    if (hph) {
+      hal::SetLastErrorPreviouslyAllocated(status, "REV PH", module,
+                                           hph->previousAllocation);
+    } else {
+      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+                                       kNumREVPHModules, module);
+    }
+    return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
+  }
+
+  HAL_CANHandle hcan =
+      HAL_InitializeCAN(manufacturer, module, deviceType, status);
+
+  if (*status != 0) {
+    REVPHHandles->Free(handle);
+    return HAL_kInvalidHandle;
+  }
+
+  hph->previousAllocation = allocationLocation ? allocationLocation : "";
+  hph->hcan = hcan;
+  hph->controlPeriod = kDefaultControlPeriod;
+
+  // TODO any other things
+
+  return handle;
+}
+
+void HAL_FreeREVPH(HAL_REVPHHandle handle) {
+  auto hph = REVPHHandles->Get(handle);
+  if (hph == nullptr)
+    return;
+
+  HAL_CleanCAN(hph->hcan);
+
+  REVPHHandles->Free(handle);
+}
+
+HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module) {
+  return module >= 1 && module < kNumREVPDHModules;
+}
+
+HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel) {
+  return channel >= 0 && channel < kNumREVPHChannels;
+}
+
+HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return false;
+  }
+
+  PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+
+  if (*status != 0) {
+    return false;
+  }
+
+  return status0.compressor_on;
+}
+
+void HAL_SetREVPHClosedLoopControl(HAL_REVPHHandle handle, HAL_Bool enabled,
+                                   int32_t* status) {
+  // TODO
+}
+
+HAL_Bool HAL_GetREVPHClosedLoopControl(HAL_REVPHHandle handle,
+                                       int32_t* status) {
+  return false;  // TODO
+}
+
+HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return false;
+  }
+
+  PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+
+  if (*status != 0) {
+    return false;
+  }
+
+  return status0.digital_sensor;
+}
+
+double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  PH_status1_t status1 = HAL_REV_ReadPHStatus1(ph->hcan, status);
+
+  if (*status != 0) {
+    return 0;
+  }
+
+  return PH_status1_compressor_current_decode(status1.compressor_current);
+}
+
+double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
+                                  int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  if (channel < 0 || channel > 1) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    hal::SetLastErrorIndexOutOfRange(status, "Invalid REV Analog Index", 0, 2,
+                                     channel);
+    return 0;
+  }
+
+  PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+
+  if (*status != 0) {
+    return 0;
+  }
+
+  if (channel == 1) {
+    return PH_status0_analog_0_decode(status0.analog_0);
+  }
+  return PH_status0_analog_1_decode(status0.analog_1);
+}
+
+int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  PH_status0_t status0 = HAL_REV_ReadPHStatus0(ph->hcan, status);
+
+  if (*status != 0) {
+    return 0;
+  }
+
+  uint32_t result = status0.channel_0;
+  result |= status0.channel_1 << 1;
+  result |= status0.channel_2 << 2;
+  result |= status0.channel_3 << 3;
+  result |= status0.channel_4 << 4;
+  result |= status0.channel_5 << 5;
+  result |= status0.channel_6 << 6;
+  result |= status0.channel_7 << 7;
+  result |= status0.channel_8 << 8;
+  result |= status0.channel_9 << 9;
+  result |= status0.channel_10 << 10;
+  result |= status0.channel_11 << 11;
+  result |= status0.channel_12 << 12;
+  result |= status0.channel_13 << 13;
+  result |= status0.channel_14 << 14;
+  result |= status0.channel_15 << 15;
+
+  return result;
+}
+
+void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
+                           int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  std::scoped_lock lock{ph->solenoidLock};
+  for (int solenoid = 0; solenoid < kNumREVPHChannels; solenoid++) {
+    if (mask & (1 << solenoid)) {
+      // The mask bit for the solenoid is set, so we update the solenoid state
+      REV_SolenoidState desiredSolenoidState =
+          values & (1 << solenoid) ? kSolenoidEnabled : kSolenoidDisabled;
+      HAL_REV_UpdateDesiredPHSolenoidState(ph.get(), solenoid,
+                                           desiredSolenoidState);
+    }
+  }
+  HAL_REV_SendSolenoidsState(ph.get(), status);
+}
+
+void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
+                          int32_t* status) {
+  auto ph = REVPHHandles->Get(handle);
+  if (ph == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  if (index >= kNumREVPHChannels || index < 0) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    hal::SetLastError(
+        status,
+        fmt::format("Only [0-15] are valid index values. Requested {}", index));
+    return;
+  }
+
+  if (!HAL_REV_CheckPHPulseTime(durMs)) {
+    *status = PARAMETER_OUT_OF_RANGE;
+    hal::SetLastError(
+        status,
+        fmt::format("Time not within expected range [0-65534]. Requested {}",
+                    durMs));
+    return;
+  }
+
+  {
+    std::scoped_lock lock{ph->solenoidLock};
+    HAL_REV_UpdateDesiredPHSolenoidState(ph.get(), index,
+                                         kSolenoidControlledViaPulse);
+    HAL_REV_SendSolenoidsState(ph.get(), status);
+  }
+
+  if (*status != 0) {
+    return;
+  }
+
+  PH_pulse_once_t pulse = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+  pulse.pulse_length_ms = durMs;
+
+  // Specify which solenoid should be pulsed
+  // The protocol supports specifying any number of solenoids to be pulsed at
+  // the same time, should that functionality be exposed to users in the future.
+  switch (index) {
+    case 0:
+      pulse.channel_0 = true;
+      break;
+    case 1:
+      pulse.channel_1 = true;
+      break;
+    case 2:
+      pulse.channel_2 = true;
+      break;
+    case 3:
+      pulse.channel_3 = true;
+      break;
+    case 4:
+      pulse.channel_4 = true;
+      break;
+    case 5:
+      pulse.channel_5 = true;
+      break;
+    case 6:
+      pulse.channel_6 = true;
+      break;
+    case 7:
+      pulse.channel_7 = true;
+      break;
+    case 8:
+      pulse.channel_8 = true;
+      break;
+    case 9:
+      pulse.channel_9 = true;
+      break;
+    case 10:
+      pulse.channel_10 = true;
+      break;
+    case 11:
+      pulse.channel_11 = true;
+      break;
+    case 12:
+      pulse.channel_12 = true;
+      break;
+    case 13:
+      pulse.channel_13 = true;
+      break;
+    case 14:
+      pulse.channel_14 = true;
+      break;
+    case 15:
+      pulse.channel_15 = true;
+      break;
+  }
+
+  // Send pulse command
+  uint8_t packedData[PH_PULSE_ONCE_LENGTH] = {0};
+  PH_pulse_once_pack(packedData, &pulse, PH_PULSE_ONCE_LENGTH);
+  HAL_WriteCANPacket(ph->hcan, packedData, PH_PULSE_ONCE_LENGTH,
+                     PH_PULSE_ONCE_FRAME_API, status);
+}

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

@@ -84,6 +84,9 @@ HAL_SerialPortHandle HAL_InitializeSerialPortDirect(HAL_SerialPort port,
   serialPort->portId = open(portName, O_RDWR | O_NOCTTY);
   if (serialPort->portId < 0) {
     *status = errno;
+    if (*status == EACCES) {
+      *status = HAL_CONSOLE_OUT_ENABLED_ERROR;
+    }
     serialPortHandles->Free(handle);
     return HAL_kInvalidHandle;
   }

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

@@ -70,6 +70,7 @@ HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
     // Only need to set 0 priority for non RT thread
     sch.sched_priority = 0;
   }
+
   if (pthread_setschedparam(*reinterpret_cast<const pthread_t*>(handle),
                             scheduler, &sch)) {
     *status = HAL_THREAD_PRIORITY_ERROR;

hal/src/main/native/athena/mockdata/PDPData.cpp

@@ -1,33 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "hal/simulation/PDPData.h"
-
-#include "../PortsInternal.h"
-#include "hal/simulation/SimDataValue.h"
-
-extern "C" {
-void HALSIM_ResetPDPData(int32_t index) {}
-
-#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
-  HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, PDP##CAPINAME, RETURN)
-
-DEFINE_CAPI(HAL_Bool, Initialized, false)
-DEFINE_CAPI(double, Temperature, 0)
-DEFINE_CAPI(double, Voltage, 0)
-HAL_SIMDATAVALUE_STUB_CAPI_CHANNEL(double, HALSIM, PDPCurrent, 0)
-
-void HALSIM_GetPDPAllCurrents(int32_t index, double* currents) {
-  for (int i = 0; i < hal::kNumPDPChannels; i++) {
-    currents[i] = 0;
-  }
-}
-
-void HALSIM_SetPDPAllCurrents(int32_t index, const double* currents) {}
-
-void HALSIM_RegisterPDPAllNonCurrentCallbacks(int32_t index, int32_t channel,
-                                              HAL_NotifyCallback callback,
-                                              void* param,
-                                              HAL_Bool initialNotify) {}
-}  // extern "C"

hal/src/main/native/athena/mockdata/PowerDistributionData.cpp

@@ -0,0 +1,35 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "hal/simulation/PowerDistributionData.h"
+
+#include "../PortsInternal.h"
+#include "hal/simulation/SimDataValue.h"
+
+extern "C" {
+void HALSIM_ResetPowerDistributionData(int32_t index) {}
+
+#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
+  HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, PowerDistribution##CAPINAME, RETURN)
+
+DEFINE_CAPI(HAL_Bool, Initialized, false)
+DEFINE_CAPI(double, Temperature, 0)
+DEFINE_CAPI(double, Voltage, 0)
+HAL_SIMDATAVALUE_STUB_CAPI_CHANNEL(double, HALSIM, PowerDistributionCurrent, 0)
+
+void HALSIM_GetPowerDistributionAllCurrents(int32_t index, double* currents,
+                                            int length) {
+  for (int i = 0; i < length; i++) {
+    currents[i] = 0;
+  }
+}
+
+void HALSIM_SetPowerDistributionAllCurrents(int32_t index,
+                                            const double* currents,
+                                            int length) {}
+
+void HALSIM_RegisterPowerDistributionAllNonCurrentCallbacks(
+    int32_t index, int32_t channel, HAL_NotifyCallback callback, void* param,
+    HAL_Bool initialNotify) {}
+}  // extern "C"

hal/src/main/native/athena/mockdata/REVPHData.cpp

@@ -0,0 +1,37 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "hal/simulation/REVPHData.h"
+
+#include "hal/simulation/SimDataValue.h"
+
+extern "C" {
+void HALSIM_ResetREVPHData(int32_t index) {}
+
+#define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \
+  HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, REVPH##CAPINAME, RETURN)
+
+HAL_SIMDATAVALUE_STUB_CAPI_CHANNEL(HAL_Bool, HALSIM, REVPHSolenoidOutput, false)
+DEFINE_CAPI(HAL_Bool, Initialized, false)
+DEFINE_CAPI(HAL_Bool, CompressorOn, false)
+DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, false)
+DEFINE_CAPI(HAL_Bool, PressureSwitch, false)
+DEFINE_CAPI(double, CompressorCurrent, 0)
+
+void HALSIM_GetREVPHAllSolenoids(int32_t index, uint8_t* values) {
+  *values = 0;
+}
+
+void HALSIM_SetREVPHAllSolenoids(int32_t index, uint8_t values) {}
+
+void HALSIM_RegisterREVPHAllNonSolenoidCallbacks(int32_t index,
+                                                 HAL_NotifyCallback callback,
+                                                 void* param,
+                                                 HAL_Bool initialNotify) {}
+
+void HALSIM_RegisterREVPHAllSolenoidCallbacks(int32_t index, int32_t channel,
+                                              HAL_NotifyCallback callback,
+                                              void* param,
+                                              HAL_Bool initialNotify) {}
+}  // extern "C"