[build] Suppress deprecation/removal warnings for old commands (#3618)

arraycopy() does not unbox values, so throws an exception.

This was broken in #3419 due to a false positive in PMD
(see https://sourceforge.net/p/pmd/bugs/804/).

CMakeLists.txt

@@ -270,19 +270,20 @@ 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)

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

@@ -45,4 +45,8 @@ public class PortsJNI extends JNIWrapper {
   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/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/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/native/athena/HAL.cpp

@@ -41,6 +41,7 @@ namespace hal {
 namespace init {
 void InitializeHAL() {
   InitializeCTREPCM();
+  InitializeREVPH();
   InitializeAddressableLED();
   InitializeAccelerometer();
   InitializeAnalogAccumulator();
@@ -226,6 +227,8 @@ 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/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();

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

@@ -74,6 +74,12 @@ int32_t HAL_GetNumREVPDHModules(void) {
 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

@@ -36,5 +36,7 @@ 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/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

@@ -6,42 +6,9 @@
 
 #include <pthread.h>
 #include <sched.h>
-#include <unistd.h>
-
-#include <cerrno>
-#include <cstdlib>
-#include <system_error>
-
-#include <fmt/format.h>
 
 #include "hal/Errors.h"
 
-namespace {
-class UidSetter {
- public:
-  explicit UidSetter(uid_t uid) {
-    m_uid = geteuid();
-    if (uid == 0 && setuid(uid) == -1) {
-      throw std::system_error(errno, std::generic_category(),
-                              fmt::format("setuid({}) failed", uid));
-    } else if (uid != 0 && seteuid(uid) == -1) {
-      throw std::system_error(errno, std::generic_category(),
-                              fmt::format("seteuid({}) failed", uid));
-    }
-  }
-
-  ~UidSetter() noexcept(false) {
-    if (geteuid() != m_uid && seteuid(m_uid) == -1) {
-      throw std::system_error(errno, std::generic_category(),
-                              fmt::format("seteuid({}) failed", m_uid));
-    }
-  }
-
- private:
-  uid_t m_uid;
-};
-}  // namespace
-
 namespace hal::init {
 void InitializeThreads() {}
 }  // namespace hal::init
@@ -104,20 +71,13 @@ HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
     sch.sched_priority = 0;
   }
 
-  try {
-    UidSetter uidSetter{0};
-
-    if (pthread_setschedparam(*reinterpret_cast<const pthread_t*>(handle),
-                              scheduler, &sch)) {
-      *status = HAL_THREAD_PRIORITY_ERROR;
-      return false;
-    } else {
-      *status = 0;
-      return true;
-    }
-  } catch (const std::system_error& e) {
-    *status = HAL_SETUID_ERROR;
+  if (pthread_setschedparam(*reinterpret_cast<const pthread_t*>(handle),
+                            scheduler, &sch)) {
+    *status = HAL_THREAD_PRIORITY_ERROR;
     return false;
+  } else {
+    *status = 0;
+    return true;
   }
 }
 

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"

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

@@ -272,4 +272,30 @@ Java_edu_wpi_first_hal_PortsJNI_getNumREVPDHChannels
   jint value = HAL_GetNumREVPDHChannels();
   return value;
 }
+
+/*
+ * Class:     edu_wpi_first_hal_PortsJNI
+ * Method:    getNumREVPHModules
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PortsJNI_getNumREVPHModules
+  (JNIEnv* env, jclass)
+{
+  jint value = HAL_GetNumREVPHModules();
+  return value;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_PortsJNI
+ * Method:    getNumREVPHChannels
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_PortsJNI_getNumREVPHChannels
+  (JNIEnv* env, jclass)
+{
+  jint value = HAL_GetNumREVPHChannels();
+  return value;
+}
 }  // extern "C"

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

@@ -0,0 +1,191 @@
+// 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 <jni.h>
+
+#include <wpi/jni_util.h>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_REVPHJNI.h"
+#include "hal/Ports.h"
+#include "hal/REVPH.h"
+#include "hal/handles/HandlesInternal.h"
+
+using namespace hal;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    initialize
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_initialize
+  (JNIEnv* env, jclass, jint module)
+{
+  int32_t status = 0;
+  auto stack = wpi::java::GetJavaStackTrace(env, "edu.wpi.first");
+  auto handle = HAL_InitializeREVPH(module, stack.c_str(), &status);
+  CheckStatusForceThrow(env, status);
+  return handle;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    free
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_free
+  (JNIEnv* env, jclass, jint handle)
+{
+  HAL_FreeREVPH(handle);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    checkSolenoidChannel
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_checkSolenoidChannel
+  (JNIEnv*, jclass, jint channel)
+{
+  return HAL_CheckREVPHSolenoidChannel(channel);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getCompressor
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getCompressor
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressor(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    setClosedLoopControl
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_setClosedLoopControl
+  (JNIEnv* env, jclass, jint handle, jboolean enabled)
+{
+  int32_t status = 0;
+  HAL_SetREVPHClosedLoopControl(handle, enabled, &status);
+  CheckStatus(env, status, false);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getClosedLoopControl
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getClosedLoopControl
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHClosedLoopControl(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getPressureSwitch
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getPressureSwitch
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHPressureSwitch(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getAnalogPressure
+ * Signature: (II)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getAnalogPressure
+  (JNIEnv* env, jclass, jint handle, jint channel)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHAnalogPressure(handle, channel, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getCompressorCurrent
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getCompressorCurrent
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressorCurrent(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    getSolenoids
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_getSolenoids
+  (JNIEnv* env, jclass, jint handle)
+{
+  int32_t status = 0;
+  auto result = HAL_GetREVPHSolenoids(handle, &status);
+  CheckStatus(env, status, false);
+  return result;
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    setSolenoids
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_setSolenoids
+  (JNIEnv* env, jclass, jint handle, jint mask, jint value)
+{
+  int32_t status = 0;
+  HAL_SetREVPHSolenoids(handle, mask, value, &status);
+  CheckStatus(env, status, false);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_REVPHJNI
+ * Method:    fireOneShot
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_REVPHJNI_fireOneShot
+  (JNIEnv* env, jclass, jint handle, jint index, jint durMs)
+{
+  int32_t status = 0;
+  HAL_FireREVPHOneShot(handle, index, durMs, &status);
+  CheckStatus(env, status, false);
+}
+
+}  // extern "C"

hal/src/main/native/cpp/jni/simulation/REVPHDataJNI.cpp

@@ -0,0 +1,365 @@
+// 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 <jni.h>
+
+#include "CallbackStore.h"
+#include "edu_wpi_first_hal_simulation_REVPHDataJNI.h"
+#include "hal/simulation/REVPHData.h"
+
+using namespace hal;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerInitializedCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerInitializedCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterREVPHInitializedCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    cancelInitializedCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelInitializedCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelREVPHInitializedCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    getInitialized
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getInitialized
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetREVPHInitialized(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    setInitialized
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setInitialized
+  (JNIEnv*, jclass, jint index, jboolean value)
+{
+  HALSIM_SetREVPHInitialized(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerSolenoidOutputCallback
+ * Signature: (IILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerSolenoidOutputCallback
+  (JNIEnv* env, jclass, jint index, jint channel, jobject callback,
+   jboolean initialNotify)
+{
+  return sim::AllocateChannelCallback(
+      env, index, channel, callback, initialNotify,
+      &HALSIM_RegisterREVPHSolenoidOutputCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    cancelSolenoidOutputCallback
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelSolenoidOutputCallback
+  (JNIEnv* env, jclass, jint index, jint channel, jint handle)
+{
+  return sim::FreeChannelCallback(env, handle, index, channel,
+                                  &HALSIM_CancelREVPHSolenoidOutputCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    getSolenoidOutput
+ * Signature: (II)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getSolenoidOutput
+  (JNIEnv*, jclass, jint index, jint channel)
+{
+  return HALSIM_GetREVPHSolenoidOutput(index, channel);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    setSolenoidOutput
+ * Signature: (IIZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setSolenoidOutput
+  (JNIEnv*, jclass, jint index, jint channel, jboolean value)
+{
+  HALSIM_SetREVPHSolenoidOutput(index, channel, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerCompressorOnCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerCompressorOnCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterREVPHCompressorOnCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    cancelCompressorOnCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelCompressorOnCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelREVPHCompressorOnCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    getCompressorOn
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getCompressorOn
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetREVPHCompressorOn(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    setCompressorOn
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setCompressorOn
+  (JNIEnv*, jclass, jint index, jboolean value)
+{
+  HALSIM_SetREVPHCompressorOn(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerClosedLoopEnabledCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerClosedLoopEnabledCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterREVPHClosedLoopEnabledCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    cancelClosedLoopEnabledCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelClosedLoopEnabledCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelREVPHClosedLoopEnabledCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    getClosedLoopEnabled
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getClosedLoopEnabled
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetREVPHClosedLoopEnabled(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    setClosedLoopEnabled
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setClosedLoopEnabled
+  (JNIEnv*, jclass, jint index, jboolean value)
+{
+  HALSIM_SetREVPHClosedLoopEnabled(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerPressureSwitchCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerPressureSwitchCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterREVPHPressureSwitchCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    cancelPressureSwitchCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelPressureSwitchCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelREVPHPressureSwitchCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    getPressureSwitch
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getPressureSwitch
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetREVPHPressureSwitch(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    setPressureSwitch
+ * Signature: (IZ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setPressureSwitch
+  (JNIEnv*, jclass, jint index, jboolean value)
+{
+  HALSIM_SetREVPHPressureSwitch(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerCompressorCurrentCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerCompressorCurrentCallback
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  return sim::AllocateCallback(env, index, callback, initialNotify,
+                               &HALSIM_RegisterREVPHCompressorCurrentCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    cancelCompressorCurrentCallback
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_cancelCompressorCurrentCallback
+  (JNIEnv* env, jclass, jint index, jint handle)
+{
+  return sim::FreeCallback(env, handle, index,
+                           &HALSIM_CancelREVPHCompressorCurrentCallback);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    getCompressorCurrent
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_getCompressorCurrent
+  (JNIEnv*, jclass, jint index)
+{
+  return HALSIM_GetREVPHCompressorCurrent(index);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    setCompressorCurrent
+ * Signature: (ID)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_setCompressorCurrent
+  (JNIEnv*, jclass, jint index, jdouble value)
+{
+  HALSIM_SetREVPHCompressorCurrent(index, value);
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerAllNonSolenoidCallbacks
+ * Signature: (ILjava/lang/Object;Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerAllNonSolenoidCallbacks
+  (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
+{
+  sim::AllocateCallback(
+      env, index, callback, initialNotify,
+      [](int32_t index, HAL_NotifyCallback cb, void* param, HAL_Bool in) {
+        HALSIM_RegisterREVPHAllNonSolenoidCallbacks(index, cb, param, in);
+        return 0;
+      });
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    registerAllSolenoidCallbacks
+ * Signature: (IILjava/lang/Object;Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_registerAllSolenoidCallbacks
+  (JNIEnv* env, jclass, jint index, jint channel, jobject callback,
+   jboolean initialNotify)
+{
+  sim::AllocateChannelCallback(
+      env, index, channel, callback, initialNotify,
+      [](int32_t index, int32_t channel, HAL_NotifyCallback cb, void* param,
+         HAL_Bool in) {
+        HALSIM_RegisterREVPHAllSolenoidCallbacks(index, channel, cb, param, in);
+        return 0;
+      });
+}
+
+/*
+ * Class:     edu_wpi_first_hal_simulation_REVPHDataJNI
+ * Method:    resetData
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_REVPHDataJNI_resetData
+  (JNIEnv*, jclass, jint index)
+{
+  HALSIM_ResetREVPHData(index);
+}
+
+}  // extern "C"

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

@@ -135,8 +135,10 @@
 #define HAL_USE_LAST_ERROR_MESSAGE \
   "HAL: Use HAL_GetLastError(status) to get last error"
 
-#define HAL_SETUID_ERROR -1157
-#define HAL_SETUID_ERROR_MESSAGE "HAL: Setting the effective user ID has failed"
+#define HAL_CONSOLE_OUT_ENABLED_ERROR -1157
+#define HAL_CONSOLE_OUT_ENABLED_ERROR_MESSAGE                           \
+  "HAL: Onboard serial port is requested, but Console Out is enabled. " \
+  "Disable Console Out using imaging tool"
 
 #define HAL_CAN_BUFFER_OVERRUN -35007
 #define HAL_CAN_BUFFER_OVERRUN_MESSAGE \

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

@@ -156,6 +156,20 @@ int32_t HAL_GetNumREVPDHModules(void);
  */
 int32_t HAL_GetNumREVPDHChannels(void);
 
+/**
+ * Gets the number of PH modules in the current system.
+ *
+ * @return the number of PH modules
+ */
+int32_t HAL_GetNumREVPHModules(void);
+
+/**
+ * Gets the number of PH channels in the current system.
+ *
+ * @return the number of PH channels
+ */
+int32_t HAL_GetNumREVPHChannels(void);
+
 /**
  * Gets the number of duty cycle inputs in the current system.
  *

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

@@ -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.
+
+#pragma once
+
+#include <stdint.h>
+
+#include "hal/Types.h"
+
+/**
+ * @defgroup hal_rev_ph REV PH Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
+                                    const char* allocationLocation,
+                                    int32_t* status);
+
+void HAL_FreeREVPH(HAL_REVPHHandle handle);
+
+HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel);
+HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module);
+
+HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status);
+void HAL_SetREVPHClosedLoopControl(HAL_REVPHHandle handle, HAL_Bool enabled,
+                                   int32_t* status);
+HAL_Bool HAL_GetREVPHClosedLoopControl(HAL_REVPHHandle handle, int32_t* status);
+HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status);
+double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status);
+double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
+                                  int32_t* status);
+
+int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status);
+void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
+                           int32_t* status);
+
+void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
+                          int32_t* status);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+/** @} */

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

@@ -68,6 +68,8 @@ typedef HAL_Handle HAL_CTREPCMHandle;
 
 typedef HAL_Handle HAL_REVPDHHandle;
 
+typedef HAL_Handle HAL_REVPHHandle;
+
 typedef int32_t HAL_Bool;
 
 #ifdef __cplusplus

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

@@ -68,7 +68,8 @@ enum class HAL_HandleEnum {
   AddressableLED = 23,
   CTREPCM = 24,
   CTREPDP = 25,
-  REVPDH = 26
+  REVPDH = 26,
+  REVPH = 27,
 };
 
 /**

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

@@ -0,0 +1,80 @@
+// 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 "hal/Types.h"
+#include "hal/simulation/NotifyListener.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void HALSIM_ResetREVPHData(int32_t index);
+int32_t HALSIM_RegisterREVPHInitializedCallback(int32_t index,
+                                                HAL_NotifyCallback callback,
+                                                void* param,
+                                                HAL_Bool initialNotify);
+void HALSIM_CancelREVPHInitializedCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetREVPHInitialized(int32_t index);
+void HALSIM_SetREVPHInitialized(int32_t index, HAL_Bool solenoidInitialized);
+
+int32_t HALSIM_RegisterREVPHSolenoidOutputCallback(int32_t index,
+                                                   int32_t channel,
+                                                   HAL_NotifyCallback callback,
+                                                   void* param,
+                                                   HAL_Bool initialNotify);
+void HALSIM_CancelREVPHSolenoidOutputCallback(int32_t index, int32_t channel,
+                                              int32_t uid);
+HAL_Bool HALSIM_GetREVPHSolenoidOutput(int32_t index, int32_t channel);
+void HALSIM_SetREVPHSolenoidOutput(int32_t index, int32_t channel,
+                                   HAL_Bool solenoidOutput);
+
+int32_t HALSIM_RegisterREVPHCompressorOnCallback(int32_t index,
+                                                 HAL_NotifyCallback callback,
+                                                 void* param,
+                                                 HAL_Bool initialNotify);
+void HALSIM_CancelREVPHCompressorOnCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetREVPHCompressorOn(int32_t index);
+void HALSIM_SetREVPHCompressorOn(int32_t index, HAL_Bool compressorOn);
+
+int32_t HALSIM_RegisterREVPHClosedLoopEnabledCallback(
+    int32_t index, HAL_NotifyCallback callback, void* param,
+    HAL_Bool initialNotify);
+void HALSIM_CancelREVPHClosedLoopEnabledCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetREVPHClosedLoopEnabled(int32_t index);
+void HALSIM_SetREVPHClosedLoopEnabled(int32_t index,
+                                      HAL_Bool closedLoopEnabled);
+
+int32_t HALSIM_RegisterREVPHPressureSwitchCallback(int32_t index,
+                                                   HAL_NotifyCallback callback,
+                                                   void* param,
+                                                   HAL_Bool initialNotify);
+void HALSIM_CancelREVPHPressureSwitchCallback(int32_t index, int32_t uid);
+HAL_Bool HALSIM_GetREVPHPressureSwitch(int32_t index);
+void HALSIM_SetREVPHPressureSwitch(int32_t index, HAL_Bool pressureSwitch);
+
+int32_t HALSIM_RegisterREVPHCompressorCurrentCallback(
+    int32_t index, HAL_NotifyCallback callback, void* param,
+    HAL_Bool initialNotify);
+void HALSIM_CancelREVPHCompressorCurrentCallback(int32_t index, int32_t uid);
+double HALSIM_GetREVPHCompressorCurrent(int32_t index);
+void HALSIM_SetREVPHCompressorCurrent(int32_t index, double compressorCurrent);
+
+void HALSIM_GetREVPHAllSolenoids(int32_t index, uint8_t* values);
+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);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif

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

@@ -48,7 +48,7 @@ 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/sim/HAL.cpp

@@ -74,6 +74,7 @@ void InitializeHAL() {
   InitializeEncoderData();
   InitializeI2CData();
   InitializeCTREPCMData();
+  InitializeREVPHData();
   InitializePowerDistributionData();
   InitializePWMData();
   InitializeRelayData();
@@ -107,6 +108,7 @@ void InitializeHAL() {
   InitializePorts();
   InitializePower();
   InitializeCTREPCM();
+  InitializeREVPH();
   InitializePWM();
   InitializeRelay();
   InitializeSerialPort();
@@ -251,6 +253,8 @@ const char* HAL_GetErrorMessage(int32_t code) {
       return HAL_LED_CHANNEL_ERROR_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/src/main/native/sim/HALInitializer.h

@@ -32,6 +32,7 @@ extern void InitializeDriverStationData();
 extern void InitializeEncoderData();
 extern void InitializeI2CData();
 extern void InitializeCTREPCMData();
+extern void InitializeREVPHData();
 extern void InitializePowerDistributionData();
 extern void InitializePWMData();
 extern void InitializeRelayData();
@@ -65,6 +66,7 @@ extern void InitializePowerDistribution();
 extern void InitializePorts();
 extern void InitializePower();
 extern void InitializeCTREPCM();
+extern void InitializeREVPH();
 extern void InitializePWM();
 extern void InitializeRelay();
 extern void InitializeSerialPort();

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

@@ -73,6 +73,12 @@ int32_t HAL_GetNumREVPDHModules(void) {
 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/sim/PortsInternal.h

@@ -29,4 +29,6 @@ constexpr int32_t kNumREVPDHModules = 63;
 constexpr int32_t kNumREVPDHChannels = 24;
 constexpr int32_t kNumDutyCycles = 8;
 constexpr int32_t kNumAddressableLEDs = 1;
+constexpr int32_t kNumREVPHModules = 63;
+constexpr int32_t kNumREVPHChannels = 16;
 }  // namespace hal

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

@@ -0,0 +1,181 @@
+// 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 "HALInitializer.h"
+#include "HALInternal.h"
+#include "PortsInternal.h"
+#include "hal/CANAPI.h"
+#include "hal/Errors.h"
+#include "hal/handles/IndexedHandleResource.h"
+#include "mockdata/REVPHDataInternal.h"
+
+using namespace hal;
+
+namespace {
+struct PCM {
+  int32_t module;
+  wpi::mutex lock;
+  std::string previousAllocation;
+};
+}  // namespace
+
+static IndexedHandleResource<HAL_REVPHHandle, PCM, kNumREVPHModules,
+                             HAL_HandleEnum::REVPH>* pcmHandles;
+
+namespace hal::init {
+void InitializeREVPH() {
+  static IndexedHandleResource<HAL_REVPHHandle, PCM, kNumREVPHModules,
+                               HAL_HandleEnum::REVPH>
+      pH;
+  pcmHandles = &pH;
+}
+}  // namespace hal::init
+
+HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
+                                    const char* allocationLocation,
+                                    int32_t* status) {
+  hal::init::CheckInit();
+
+  if (module == 0) {
+    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+                                     kNumREVPHModules, module);
+    return HAL_kInvalidHandle;
+  }
+
+  HAL_REVPHHandle handle;
+  auto pcm = pcmHandles->Allocate(module, &handle, status);
+
+  if (*status != 0) {
+    if (pcm) {
+      hal::SetLastErrorPreviouslyAllocated(status, "REV PH", module,
+                                           pcm->previousAllocation);
+    } else {
+      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
+                                       kNumREVPHModules, module);
+    }
+    return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
+  }
+
+  pcm->previousAllocation = allocationLocation ? allocationLocation : "";
+  pcm->module = module;
+
+  SimREVPHData[module].initialized = true;
+  // Enable closed loop
+  SimREVPHData[module].closedLoopEnabled = true;
+
+  return handle;
+}
+
+void HAL_FreeREVPH(HAL_REVPHHandle handle) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    pcmHandles->Free(handle);
+    return;
+  }
+  SimREVPHData[pcm->module].initialized = false;
+  pcmHandles->Free(handle);
+}
+
+HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module) {
+  return module >= 1 && module < kNumREVPDHModules;
+}
+
+HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel) {
+  return channel < kNumREVPHChannels && channel >= 0;
+}
+
+HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return false;
+  }
+
+  return SimREVPHData[pcm->module].compressorOn;
+}
+
+void HAL_SetREVPHClosedLoopControl(HAL_REVPHHandle handle, HAL_Bool enabled,
+                                   int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  SimREVPHData[pcm->module].closedLoopEnabled = enabled;
+}
+
+HAL_Bool HAL_GetREVPHClosedLoopControl(HAL_REVPHHandle handle,
+                                       int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return false;
+  }
+
+  return SimREVPHData[pcm->module].closedLoopEnabled;
+}
+
+HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return false;
+  }
+
+  return SimREVPHData[pcm->module].pressureSwitch;
+}
+
+double HAL_GetREVPHAnalogPressure(HAL_REVPHHandle handle, int32_t channel,
+                                  int32_t* status) {
+  return 0;
+}
+
+double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  return SimREVPHData[pcm->module].compressorCurrent;
+}
+
+int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  std::scoped_lock lock{pcm->lock};
+  auto& data = SimREVPHData[pcm->module].solenoidOutput;
+  uint8_t ret = 0;
+  for (int i = 0; i < kNumREVPHChannels; i++) {
+    ret |= (data[i] << i);
+  }
+  return ret;
+}
+void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
+                           int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  auto& data = SimREVPHData[pcm->module].solenoidOutput;
+  std::scoped_lock lock{pcm->lock};
+  for (int i = 0; i < kNumREVPHChannels; i++) {
+    auto indexMask = (1 << i);
+    if ((mask & indexMask) != 0) {
+      data[i] = (values & indexMask) != 0;
+    }
+  }
+}
+
+void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
+                          int32_t* status) {}

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

@@ -0,0 +1,83 @@
+// 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 "../PortsInternal.h"
+#include "REVPHDataInternal.h"
+
+using namespace hal;
+
+namespace hal::init {
+void InitializeREVPHData() {
+  static REVPHData spd[kNumREVPHModules];
+  ::hal::SimREVPHData = spd;
+}
+}  // namespace hal::init
+
+REVPHData* hal::SimREVPHData;
+void REVPHData::ResetData() {
+  for (int i = 0; i < kNumREVPHChannels; i++) {
+    solenoidOutput[i].Reset(false);
+  }
+  initialized.Reset(false);
+  compressorOn.Reset(false);
+  closedLoopEnabled.Reset(true);
+  pressureSwitch.Reset(false);
+  compressorCurrent.Reset(0.0);
+}
+
+extern "C" {
+void HALSIM_ResetREVPHData(int32_t index) {
+  SimREVPHData[index].ResetData();
+}
+
+#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME)                              \
+  HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, REVPH##CAPINAME, SimREVPHData, \
+                               LOWERNAME)
+
+HAL_SIMDATAVALUE_DEFINE_CAPI_CHANNEL(HAL_Bool, HALSIM, REVPHSolenoidOutput,
+                                     SimREVPHData, solenoidOutput)
+DEFINE_CAPI(HAL_Bool, Initialized, initialized)
+DEFINE_CAPI(HAL_Bool, CompressorOn, compressorOn)
+DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, closedLoopEnabled)
+DEFINE_CAPI(HAL_Bool, PressureSwitch, pressureSwitch)
+DEFINE_CAPI(double, CompressorCurrent, compressorCurrent)
+
+void HALSIM_GetREVPHAllSolenoids(int32_t index, uint8_t* values) {
+  auto& data = SimREVPHData[index].solenoidOutput;
+  uint8_t ret = 0;
+  for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+    ret |= (data[i] << i);
+  }
+  *values = ret;
+}
+
+void HALSIM_SetREVPHAllSolenoids(int32_t index, uint8_t values) {
+  auto& data = SimREVPHData[index].solenoidOutput;
+  for (int i = 0; i < kNumCTRESolenoidChannels; i++) {
+    data[i] = (values & 0x1) != 0;
+    values >>= 1;
+  }
+}
+
+#define REGISTER(NAME) \
+  SimREVPHData[index].NAME.RegisterCallback(callback, param, initialNotify)
+
+void HALSIM_RegisterREVPHAllNonSolenoidCallbacks(int32_t index,
+                                                 HAL_NotifyCallback callback,
+                                                 void* param,
+                                                 HAL_Bool initialNotify) {
+  REGISTER(initialized);
+  REGISTER(compressorOn);
+  REGISTER(closedLoopEnabled);
+  REGISTER(pressureSwitch);
+  REGISTER(compressorCurrent);
+}
+
+void HALSIM_RegisterREVPHAllSolenoidCallbacks(int32_t index, int32_t channel,
+                                              HAL_NotifyCallback callback,
+                                              void* param,
+                                              HAL_Bool initialNotify) {
+  REGISTER(solenoidOutput[channel]);
+}
+}  // extern "C"

hal/src/main/native/sim/mockdata/REVPHDataInternal.h

@@ -0,0 +1,43 @@
+// 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 "../PortsInternal.h"
+#include "hal/simulation/REVPHData.h"
+#include "hal/simulation/SimDataValue.h"
+
+namespace hal {
+class REVPHData {
+  HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
+  HAL_SIMDATAVALUE_DEFINE_NAME(SolenoidOutput)
+  HAL_SIMDATAVALUE_DEFINE_NAME(CompressorOn)
+  HAL_SIMDATAVALUE_DEFINE_NAME(ClosedLoopEnabled)
+  HAL_SIMDATAVALUE_DEFINE_NAME(PressureSwitch)
+  HAL_SIMDATAVALUE_DEFINE_NAME(CompressorCurrent)
+
+  static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr HAL_Bool
+  GetSolenoidOutputDefault() {
+    return false;
+  }
+
+ public:
+  SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
+      false};
+  SimDataValue<HAL_Bool, HAL_MakeBoolean, GetSolenoidOutputName,
+               GetSolenoidOutputDefault>
+      solenoidOutput[kNumREVPHChannels];
+  SimDataValue<HAL_Bool, HAL_MakeBoolean, GetCompressorOnName> compressorOn{
+      false};
+  SimDataValue<HAL_Bool, HAL_MakeBoolean, GetClosedLoopEnabledName>
+      closedLoopEnabled{true};
+  SimDataValue<HAL_Bool, HAL_MakeBoolean, GetPressureSwitchName> pressureSwitch{
+      false};
+  SimDataValue<double, HAL_MakeDouble, GetCompressorCurrentName>
+      compressorCurrent{0.0};
+
+  virtual void ResetData();
+};
+extern REVPHData* SimREVPHData;
+}  // namespace hal

ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableValue.java

@@ -478,27 +478,41 @@ public final class NetworkTableValue {
     return Objects.hash(m_type, m_value);
   }
 
+  // arraycopy() doesn't know how to unwrap boxed values; this is a false positive in PMD
+  // (see https://sourceforge.net/p/pmd/bugs/804/)
+  @SuppressWarnings("PMD.AvoidArrayLoops")
   static boolean[] toNative(Boolean[] arr) {
     boolean[] out = new boolean[arr.length];
-    System.arraycopy(arr, 0, out, 0, arr.length);
+    for (int i = 0; i < arr.length; i++) {
+      out[i] = arr[i];
+    }
     return out;
   }
 
+  @SuppressWarnings("PMD.AvoidArrayLoops")
   static double[] toNative(Number[] arr) {
     double[] out = new double[arr.length];
-    System.arraycopy(arr, 0, out, 0, arr.length);
+    for (int i = 0; i < arr.length; i++) {
+      out[i] = arr[i].doubleValue();
+    }
     return out;
   }
 
+  @SuppressWarnings("PMD.AvoidArrayLoops")
   static Boolean[] fromNative(boolean[] arr) {
     Boolean[] out = new Boolean[arr.length];
-    System.arraycopy(arr, 0, out, 0, arr.length);
+    for (int i = 0; i < arr.length; i++) {
+      out[i] = arr[i];
+    }
     return out;
   }
 
+  @SuppressWarnings("PMD.AvoidArrayLoops")
   static Double[] fromNative(double[] arr) {
     Double[] out = new Double[arr.length];
-    System.arraycopy(arr, 0, out, 0, arr.length);
+    for (int i = 0; i < arr.length; i++) {
+      out[i] = arr[i];
+    }
     return out;
   }
 

upstream_utils/drake-dllexport-dare.patch

@@ -0,0 +1,28 @@
+diff --git b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
+index cb0a4ee13..5d7a316f3 100644
+--- b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
++++ a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
+@@ -4,6 +4,7 @@
+ #include <cstdlib>
+ 
+ #include <Eigen/Core>
++#include <wpi/SymbolExports.h>
+ 
+ namespace drake {
+ namespace math {
+@@ -20,6 +21,7 @@ namespace math {
+ /// "On the Numerical Solution of the Discrete-Time Algebraic Riccati Equation"
+ /// by Thrasyvoulos Pappas, Alan J. Laub, and Nils R. Sandell
+ ///
++WPILIB_DLLEXPORT
+ Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
+     const Eigen::Ref<const Eigen::MatrixXd>& A,
+     const Eigen::Ref<const Eigen::MatrixXd>& B,
+@@ -69,6 +71,7 @@ Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
+ /// @throws std::runtime_error if Q − NR⁻¹Nᵀ is not positive semi-definite.
+ /// @throws std::runtime_error if R is not positive definite.
+ ///
++WPILIB_DLLEXPORT
+ Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
+     const Eigen::Ref<const Eigen::MatrixXd>& A,
+     const Eigen::Ref<const Eigen::MatrixXd>& B,

upstream_utils/update_drake.py

@@ -8,7 +8,7 @@ from upstream_utils import setup_upstream_repo, comment_out_invalid_includes, wa
 
 def main():
     root, repo = setup_upstream_repo("https://github.com/RobotLocomotion/drake",
-                                     "v0.33.0")
+                                     "v0.34.0")
     wpimath = os.path.join(root, "wpimath")
 
     # Delete old install
@@ -61,7 +61,10 @@ def main():
             os.path.join(wpimath, "src/test/native/include")
         ])
 
-    apply_patches(root, ["upstream_utils/drake-replace-dense-with-core.patch"])
+    apply_patches(root, [
+        "upstream_utils/drake-dllexport-dare.patch",
+        "upstream_utils/drake-replace-dense-with-core.patch"
+    ])
 
 
 if __name__ == "__main__":

wpilibOldCommands/build.gradle

@@ -113,3 +113,7 @@ test {
         showStandardStreams = true
     }
 }
+
+tasks.withType(JavaCompile) {
+    options.compilerArgs += "-Xlint:-removal"
+}

wpilibc/CMakeLists.txt

@@ -3,8 +3,6 @@ project(wpilibc)
 include(CompileWarnings)
 include(AddTest)
 
-find_package( OpenCV REQUIRED )
-
 configure_file(src/generate/WPILibVersion.cpp.in WPILibVersion.cpp)
 
 file(GLOB_RECURSE
@@ -17,7 +15,18 @@ target_include_directories(wpilibc PUBLIC
                 $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
                             $<INSTALL_INTERFACE:${include_dest}/wpilibc>)
 wpilib_target_warnings(wpilibc)
-target_link_libraries(wpilibc PUBLIC cameraserver hal ntcore cscore wpimath wpiutil ${OpenCV_LIBS})
+
+if (WITH_CSCORE)
+    find_package( OpenCV )
+    target_link_libraries(wpilibc PUBLIC cameraserver cscore ${OpenCV_LIBS})
+else()
+    target_compile_definitions(wpilibc PRIVATE DYNAMIC_CAMERA_SERVER)
+    # Add just the camera server include directory
+    target_include_directories(wpilibc PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../cameraserver/src/main/native/include)
+endif()
+
+target_link_libraries(wpilibc PUBLIC hal ntcore wpimath wpiutil)
+
 
 set_property(TARGET wpilibc PROPERTY FOLDER "libraries")
 
@@ -43,4 +52,9 @@ if (WITH_TESTS)
     else()
         target_compile_options(wpilibc_test PRIVATE /WX-)
     endif()
+    if (NOT WITH_CSCORE)
+        target_compile_definitions(wpilibc_test PRIVATE DYNAMIC_CAMERA_SERVER)
+        # Add just the camera server include directory
+        target_include_directories(wpilibc_test PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/../cameraserver/src/main/native/include)
+    endif()
 endif()

wpilibc/src/main/native/cpp/PneumaticsBase.cpp

@@ -6,6 +6,7 @@
 
 #include "frc/Errors.h"
 #include "frc/PneumaticsControlModule.h"
+#include "frc/PneumaticsHub.h"
 #include "frc/SensorUtil.h"
 
 using namespace frc;
@@ -14,6 +15,8 @@ std::shared_ptr<PneumaticsBase> PneumaticsBase::GetForType(
     int module, PneumaticsModuleType moduleType) {
   if (moduleType == PneumaticsModuleType::CTREPCM) {
     return PneumaticsControlModule::GetForModule(module);
+  } else if (moduleType == PneumaticsModuleType::REVPH) {
+    return PneumaticsHub::GetForModule(module);
   }
   throw FRC_MakeError(err::InvalidParameter, "{}", moduleType);
 }
@@ -21,6 +24,8 @@ std::shared_ptr<PneumaticsBase> PneumaticsBase::GetForType(
 int PneumaticsBase::GetDefaultForType(PneumaticsModuleType moduleType) {
   if (moduleType == PneumaticsModuleType::CTREPCM) {
     return SensorUtil::GetDefaultCTREPCMModule();
+  } else if (moduleType == PneumaticsModuleType::REVPH) {
+    return SensorUtil::GetDefaultREVPHModule();
   }
   throw FRC_MakeError(err::InvalidParameter, "{}", moduleType);
 }

wpilibc/src/main/native/cpp/PneumaticsHub.cpp

@@ -0,0 +1,210 @@
+// 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 "frc/PneumaticsHub.h"
+
+#include <hal/REVPH.h>
+#include <wpi/NullDeleter.h>
+#include <wpi/StackTrace.h>
+
+#include "frc/Compressor.h"
+#include "frc/DoubleSolenoid.h"
+#include "frc/Errors.h"
+#include "frc/SensorUtil.h"
+#include "frc/Solenoid.h"
+
+using namespace frc;
+
+wpi::mutex PneumaticsHub::m_handleLock;
+std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<PneumaticsHub::DataStore>>>
+    PneumaticsHub::m_handleMap = nullptr;
+
+// Always called under lock, so we can avoid the double lock from the magic
+// static
+std::weak_ptr<PneumaticsHub::DataStore>& PneumaticsHub::GetDataStore(
+    int module) {
+  if (!m_handleMap) {
+    m_handleMap = std::make_unique<
+        wpi::DenseMap<int, std::weak_ptr<PneumaticsHub::DataStore>>>();
+  }
+  return (*m_handleMap)[module];
+}
+
+class PneumaticsHub::DataStore {
+ public:
+  explicit DataStore(int module, const char* stackTrace) {
+    int32_t status = 0;
+    HAL_REVPHHandle handle = HAL_InitializeREVPH(module, stackTrace, &status);
+    FRC_CheckErrorStatus(status, "Module {}", module);
+    m_moduleObject = PneumaticsHub{handle, module};
+    m_moduleObject.m_dataStore =
+        std::shared_ptr<DataStore>{this, wpi::NullDeleter<DataStore>()};
+  }
+
+  ~DataStore() noexcept { HAL_FreeREVPH(m_moduleObject.m_handle); }
+
+  DataStore(DataStore&&) = delete;
+  DataStore& operator=(DataStore&&) = delete;
+
+ private:
+  friend class PneumaticsHub;
+  uint32_t m_reservedMask{0};
+  bool m_compressorReserved{false};
+  wpi::mutex m_reservedLock;
+  PneumaticsHub m_moduleObject{HAL_kInvalidHandle, 0};
+};
+
+PneumaticsHub::PneumaticsHub()
+    : PneumaticsHub{SensorUtil::GetDefaultREVPHModule()} {}
+
+PneumaticsHub::PneumaticsHub(int module) {
+  std::string stackTrace = wpi::GetStackTrace(1);
+  std::scoped_lock lock(m_handleLock);
+  auto& res = GetDataStore(module);
+  m_dataStore = res.lock();
+  if (!m_dataStore) {
+    m_dataStore = std::make_shared<DataStore>(module, stackTrace.c_str());
+    res = m_dataStore;
+  }
+  m_handle = m_dataStore->m_moduleObject.m_handle;
+  m_module = module;
+}
+
+PneumaticsHub::PneumaticsHub(HAL_REVPHHandle handle, int module)
+    : m_handle{handle}, m_module{module} {}
+
+bool PneumaticsHub::GetCompressor() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressor(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+void PneumaticsHub::SetClosedLoopControl(bool enabled) {
+  int32_t status = 0;
+  HAL_SetREVPHClosedLoopControl(m_handle, enabled, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+bool PneumaticsHub::GetClosedLoopControl() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHClosedLoopControl(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+bool PneumaticsHub::GetPressureSwitch() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHPressureSwitch(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+double PneumaticsHub::GetCompressorCurrent() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHCompressorCurrent(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+void PneumaticsHub::SetSolenoids(int mask, int values) {
+  int32_t status = 0;
+  HAL_SetREVPHSolenoids(m_handle, mask, values, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+int PneumaticsHub::GetSolenoids() const {
+  int32_t status = 0;
+  auto result = HAL_GetREVPHSolenoids(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Module {}", m_module);
+  return result;
+}
+
+int PneumaticsHub::GetModuleNumber() const {
+  return m_module;
+}
+
+int PneumaticsHub::GetSolenoidDisabledList() const {
+  return 0;
+  // TODO Fix me
+  // int32_t status = 0;
+  // auto result = HAL_GetREVPHSolenoidDisabledList(m_handle, &status);
+  // FRC_CheckErrorStatus(status, "Module {}", m_module);
+  // return result;
+}
+
+void PneumaticsHub::FireOneShot(int index) {
+  // TODO Fix me
+  // int32_t status = 0;
+  // HAL_FireREVPHOneShot(m_handle, index, &status);
+  // FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+void PneumaticsHub::SetOneShotDuration(int index, units::second_t duration) {
+  // TODO Fix me
+  // int32_t status = 0;
+  // units::millisecond_t millis = duration;
+  // HAL_SetREVPHOneShotDuration(m_handle, index, millis.to<int32_t>(),
+  // &status); FRC_CheckErrorStatus(status, "Module {}", m_module);
+}
+
+bool PneumaticsHub::CheckSolenoidChannel(int channel) const {
+  return HAL_CheckREVPHSolenoidChannel(channel);
+}
+
+int PneumaticsHub::CheckAndReserveSolenoids(int mask) {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  uint32_t uMask = static_cast<uint32_t>(mask);
+  if ((m_dataStore->m_reservedMask & uMask) != 0) {
+    return m_dataStore->m_reservedMask & uMask;
+  }
+  m_dataStore->m_reservedMask |= uMask;
+  return 0;
+}
+
+void PneumaticsHub::UnreserveSolenoids(int mask) {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  m_dataStore->m_reservedMask &= ~(static_cast<uint32_t>(mask));
+}
+
+bool PneumaticsHub::ReserveCompressor() {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  if (m_dataStore->m_compressorReserved) {
+    return false;
+  }
+  m_dataStore->m_compressorReserved = true;
+  return true;
+}
+
+void PneumaticsHub::UnreserveCompressor() {
+  std::scoped_lock lock{m_dataStore->m_reservedLock};
+  m_dataStore->m_compressorReserved = false;
+}
+
+Solenoid PneumaticsHub::MakeSolenoid(int channel) {
+  return Solenoid{m_module, PneumaticsModuleType::REVPH, channel};
+}
+
+DoubleSolenoid PneumaticsHub::MakeDoubleSolenoid(int forwardChannel,
+                                                 int reverseChannel) {
+  return DoubleSolenoid{m_module, PneumaticsModuleType::REVPH, forwardChannel,
+                        reverseChannel};
+}
+
+Compressor PneumaticsHub::MakeCompressor() {
+  return Compressor{m_module, PneumaticsModuleType::REVPH};
+}
+
+std::shared_ptr<PneumaticsBase> PneumaticsHub::GetForModule(int module) {
+  std::string stackTrace = wpi::GetStackTrace(1);
+  std::scoped_lock lock(m_handleLock);
+  auto& res = GetDataStore(module);
+  std::shared_ptr<DataStore> dataStore = res.lock();
+  if (!dataStore) {
+    dataStore = std::make_shared<DataStore>(module, stackTrace.c_str());
+    res = dataStore;
+  }
+
+  return std::shared_ptr<PneumaticsBase>{dataStore, &dataStore->m_moduleObject};
+}

wpilibc/src/main/native/cpp/SensorUtil.cpp

@@ -23,6 +23,10 @@ int SensorUtil::GetDefaultCTREPCMModule() {
   return 0;
 }
 
+int SensorUtil::GetDefaultREVPHModule() {
+  return 1;
+}
+
 bool SensorUtil::CheckDigitalChannel(int channel) {
   return HAL_CheckDIOChannel(channel);
 }

wpilibc/src/main/native/cpp/simulation/REVPHSim.cpp

@@ -0,0 +1,139 @@
+// 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 "frc/simulation/REVPHSim.h"
+
+#include <memory>
+#include <utility>
+
+#include <hal/simulation/REVPHData.h>
+
+#include "frc/SensorUtil.h"
+
+using namespace frc;
+using namespace frc::sim;
+
+REVPHSim::REVPHSim() : m_index{SensorUtil::GetDefaultREVPHModule()} {}
+
+REVPHSim::REVPHSim(int module) : m_index{module} {}
+
+REVPHSim::REVPHSim(const PneumaticsBase& pneumatics)
+    : m_index{pneumatics.GetModuleNumber()} {}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterInitializedCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHInitializedCallback);
+  store->SetUid(HALSIM_RegisterREVPHInitializedCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetInitialized() const {
+  return HALSIM_GetREVPHInitialized(m_index);
+}
+
+void REVPHSim::SetInitialized(bool solenoidInitialized) {
+  HALSIM_SetREVPHInitialized(m_index, solenoidInitialized);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterSolenoidOutputCallback(
+    int channel, NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, channel, -1, callback,
+      &HALSIM_CancelREVPHSolenoidOutputCallback);
+  store->SetUid(HALSIM_RegisterREVPHSolenoidOutputCallback(
+      m_index, channel, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetSolenoidOutput(int channel) const {
+  return HALSIM_GetREVPHSolenoidOutput(m_index, channel);
+}
+
+void REVPHSim::SetSolenoidOutput(int channel, bool solenoidOutput) {
+  HALSIM_SetREVPHSolenoidOutput(m_index, channel, solenoidOutput);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterCompressorOnCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHCompressorOnCallback);
+  store->SetUid(HALSIM_RegisterREVPHCompressorOnCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetCompressorOn() const {
+  return HALSIM_GetREVPHCompressorOn(m_index);
+}
+
+void REVPHSim::SetCompressorOn(bool compressorOn) {
+  HALSIM_SetREVPHCompressorOn(m_index, compressorOn);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterClosedLoopEnabledCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHClosedLoopEnabledCallback);
+  store->SetUid(HALSIM_RegisterREVPHClosedLoopEnabledCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetClosedLoopEnabled() const {
+  return HALSIM_GetREVPHClosedLoopEnabled(m_index);
+}
+
+void REVPHSim::SetClosedLoopEnabled(bool closedLoopEnabled) {
+  HALSIM_SetREVPHClosedLoopEnabled(m_index, closedLoopEnabled);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterPressureSwitchCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHPressureSwitchCallback);
+  store->SetUid(HALSIM_RegisterREVPHPressureSwitchCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+bool REVPHSim::GetPressureSwitch() const {
+  return HALSIM_GetREVPHPressureSwitch(m_index);
+}
+
+void REVPHSim::SetPressureSwitch(bool pressureSwitch) {
+  HALSIM_SetREVPHPressureSwitch(m_index, pressureSwitch);
+}
+
+std::unique_ptr<CallbackStore> REVPHSim::RegisterCompressorCurrentCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      m_index, -1, callback, &HALSIM_CancelREVPHCompressorCurrentCallback);
+  store->SetUid(HALSIM_RegisterREVPHCompressorCurrentCallback(
+      m_index, &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+double REVPHSim::GetCompressorCurrent() const {
+  return HALSIM_GetREVPHCompressorCurrent(m_index);
+}
+
+void REVPHSim::SetCompressorCurrent(double compressorCurrent) {
+  HALSIM_SetREVPHCompressorCurrent(m_index, compressorCurrent);
+}
+
+uint8_t REVPHSim::GetAllSolenoidOutputs() const {
+  uint8_t ret = 0;
+  HALSIM_GetREVPHAllSolenoids(m_index, &ret);
+  return ret;
+}
+
+void REVPHSim::SetAllSolenoidOutputs(uint8_t outputs) {
+  HALSIM_SetREVPHAllSolenoids(m_index, outputs);
+}
+
+void REVPHSim::ResetData() {
+  HALSIM_ResetREVPHData(m_index);
+}

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

@@ -0,0 +1,77 @@
+// 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 <memory>
+
+#include <hal/Types.h>
+#include <wpi/DenseMap.h>
+#include <wpi/mutex.h>
+
+#include "PneumaticsBase.h"
+
+namespace frc {
+class PneumaticsHub : public PneumaticsBase {
+ public:
+  PneumaticsHub();
+  explicit PneumaticsHub(int module);
+
+  ~PneumaticsHub() override = default;
+
+  bool GetCompressor() const override;
+
+  void SetClosedLoopControl(bool enabled) override;
+
+  bool GetClosedLoopControl() const override;
+
+  bool GetPressureSwitch() const override;
+
+  double GetCompressorCurrent() const override;
+
+  void SetSolenoids(int mask, int values) override;
+
+  int GetSolenoids() const override;
+
+  int GetModuleNumber() const override;
+
+  int GetSolenoidDisabledList() const override;
+
+  void FireOneShot(int index) override;
+
+  void SetOneShotDuration(int index, units::second_t duration) override;
+
+  bool CheckSolenoidChannel(int channel) const override;
+
+  int CheckAndReserveSolenoids(int mask) override;
+
+  void UnreserveSolenoids(int mask) override;
+
+  bool ReserveCompressor() override;
+
+  void UnreserveCompressor() override;
+
+  Solenoid MakeSolenoid(int channel) override;
+  DoubleSolenoid MakeDoubleSolenoid(int forwardChannel,
+                                    int reverseChannel) override;
+  Compressor MakeCompressor() override;
+
+ private:
+  class DataStore;
+  friend class DataStore;
+  friend class PneumaticsBase;
+  PneumaticsHub(HAL_REVPHHandle handle, int module);
+
+  static std::shared_ptr<PneumaticsBase> GetForModule(int module);
+
+  std::shared_ptr<DataStore> m_dataStore;
+  HAL_REVPHHandle m_handle;
+  int m_module;
+
+  static wpi::mutex m_handleLock;
+  static std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<DataStore>>>
+      m_handleMap;
+  static std::weak_ptr<DataStore>& GetDataStore(int module);
+};
+}  // namespace frc

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

@@ -21,6 +21,13 @@ class SensorUtil final {
    */
   static int GetDefaultCTREPCMModule();
 
+  /**
+   * Get the number of the default solenoid module.
+   *
+   * @return The number of the default solenoid module.
+   */
+  static int GetDefaultREVPHModule();
+
   /**
    * Check that the digital channel number is valid.
    *

wpilibc/src/main/native/include/frc/simulation/REVPHSim.h

@@ -0,0 +1,214 @@
+// 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 <memory>
+
+#include "frc/PneumaticsBase.h"
+#include "frc/simulation/CallbackStore.h"
+
+namespace frc {
+
+class Compressor;
+
+namespace sim {
+
+/**
+ * Class to control a simulated Pneumatic Control Module (PCM).
+ */
+class REVPHSim {
+ public:
+  /**
+   * Constructs with the default PCM module number (CAN ID).
+   */
+  REVPHSim();
+
+  /**
+   * Constructs from a PCM module number (CAN ID).
+   *
+   * @param module module number
+   */
+  explicit REVPHSim(int module);
+
+  explicit REVPHSim(const PneumaticsBase& pneumatics);
+
+  /**
+   * Register a callback to be run when a solenoid is initialized on a channel.
+   *
+   * @param channel the channel to monitor
+   * @param callback the callback
+   * @param initialNotify should the callback be run with the initial state
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check if a solenoid has been initialized on a specific channel.
+   *
+   * @return true if initialized
+   */
+  bool GetInitialized() const;
+
+  /**
+   * Define whether a solenoid has been initialized on a specific channel.
+   *
+   * @param channel the channel
+   * @param solenoidInitialized is there a solenoid initialized on that channel
+   */
+  void SetInitialized(bool solenoidInitialized);
+
+  /**
+   * Register a callback to be run when the solenoid output on a channel
+   * changes.
+   *
+   * @param channel the channel to monitor
+   * @param callback the callback
+   * @param initialNotify should the callback be run with the initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
+      int channel, NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @return the solenoid output
+   */
+  bool GetSolenoidOutput(int channel) const;
+
+  /**
+   * Change the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @param solenoidOutput the new solenoid output
+   */
+  void SetSolenoidOutput(int channel, bool solenoidOutput);
+
+  /**
+   * Register a callback to be run when the compressor activates.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check if the compressor is on.
+   *
+   * @return true if the compressor is active
+   */
+  bool GetCompressorOn() const;
+
+  /**
+   * Set whether the compressor is active.
+   *
+   * @param compressorOn the new value
+   */
+  void SetCompressorOn(bool compressorOn);
+
+  /**
+   * Register a callback to be run whenever the closed loop state changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether the callback should be called with the
+   *                      initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore>
+  RegisterClosedLoopEnabledCallback(NotifyCallback callback,
+                                    bool initialNotify);
+
+  /**
+   * Check whether the closed loop compressor control is active.
+   *
+   * @return true if active
+   */
+  bool GetClosedLoopEnabled() const;
+
+  /**
+   * Turn on/off the closed loop control of the compressor.
+   *
+   * @param closedLoopEnabled whether the control loop is active
+   */
+  void SetClosedLoopEnabled(bool closedLoopEnabled);
+
+  /**
+   * Register a callback to be run whenever the pressure switch value changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether the callback should be called with the
+   *                      initial value
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
+      NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Check the value of the pressure switch.
+   *
+   * @return the pressure switch value
+   */
+  bool GetPressureSwitch() const;
+
+  /**
+   * Set the value of the pressure switch.
+   *
+   * @param pressureSwitch the new value
+   */
+  void SetPressureSwitch(bool pressureSwitch);
+
+  /**
+   * Register a callback to be run whenever the compressor current changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to call the callback with the initial state
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]] std::unique_ptr<CallbackStore>
+  RegisterCompressorCurrentCallback(NotifyCallback callback,
+                                    bool initialNotify);
+
+  /**
+   * Read the compressor current.
+   *
+   * @return the current of the compressor connected to this module
+   */
+  double GetCompressorCurrent() const;
+
+  /**
+   * Set the compressor current.
+   *
+   * @param compressorCurrent the new compressor current
+   */
+  void SetCompressorCurrent(double compressorCurrent);
+
+  /**
+   * Get the current value of all solenoid outputs.
+   *
+   * @return the solenoid outputs (1 bit per output)
+   */
+  uint8_t GetAllSolenoidOutputs() const;
+
+  /**
+   * Change all of the solenoid outputs.
+   *
+   * @param outputs the new solenoid outputs (1 bit per output)
+   */
+  void SetAllSolenoidOutputs(uint8_t outputs);
+
+  /**
+   * Reset all simulation data for this object.
+   */
+  void ResetData();
+
+ private:
+  int m_index;
+};
+}  // namespace sim
+}  // namespace frc

wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp

@@ -0,0 +1,75 @@
+// 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 "frc/DoubleSolenoid.h"
+#include "frc/PneumaticsControlModule.h"
+#include "frc/Solenoid.h"
+#include "gtest/gtest.h"
+
+namespace frc {
+
+TEST(DoubleSolenoidCTRETest, ValidInitialization) {
+  DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
+  solenoid.Set(DoubleSolenoid::kReverse);
+  EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
+
+  solenoid.Set(DoubleSolenoid::kForward);
+  EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
+
+  solenoid.Set(DoubleSolenoid::kOff);
+  EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
+}
+
+TEST(DoubleSolenoidCTRETest, ThrowForwardPortAlreadyInitialized) {
+  // Single solenoid that is reused for forward port
+  Solenoid solenoid{5, frc::PneumaticsModuleType::CTREPCM, 2};
+  EXPECT_THROW(DoubleSolenoid(5, frc::PneumaticsModuleType::CTREPCM, 2, 3),
+               std::runtime_error);
+}
+
+TEST(DoubleSolenoidCTRETest, ThrowReversePortAlreadyInitialized) {
+  // Single solenoid that is reused for forward port
+  Solenoid solenoid{6, frc::PneumaticsModuleType::CTREPCM, 3};
+  EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
+               std::runtime_error);
+}
+
+TEST(DoubleSolenoidCTRETest, ThrowBothPortsAlreadyInitialized) {
+  PneumaticsControlModule pcm{6};
+  // Single solenoid that is reused for forward port
+  Solenoid solenoid0(6, frc::PneumaticsModuleType::CTREPCM, 2);
+  Solenoid solenoid1(6, frc::PneumaticsModuleType::CTREPCM, 3);
+  EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
+               std::runtime_error);
+}
+
+TEST(DoubleSolenoidCTRETest, Toggle) {
+  DoubleSolenoid solenoid{4, frc::PneumaticsModuleType::CTREPCM, 2, 3};
+  // Bootstrap it into reverse
+  solenoid.Set(DoubleSolenoid::kReverse);
+
+  solenoid.Toggle();
+  EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
+
+  solenoid.Toggle();
+  EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
+
+  // Of shouldn't do anything on toggle
+  solenoid.Set(DoubleSolenoid::kOff);
+  solenoid.Toggle();
+  EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
+}
+
+TEST(DoubleSolenoidCTRETest, InvalidForwardPort) {
+  EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 100, 1),
+               std::runtime_error);
+}
+
+TEST(DoubleSolenoidCTRETest, InvalidReversePort) {
+  EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 0, 100),
+               std::runtime_error);
+}
+}  // namespace frc

wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp

@@ -11,7 +11,7 @@
 
 namespace frc {
 
-TEST(DoubleSolenoidTest, ValidInitialization) {
+TEST(DoubleSolenoidREVTest, ValidInitialization) {
   DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
   solenoid.Set(DoubleSolenoid::kReverse);
   EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
@@ -23,21 +23,21 @@ TEST(DoubleSolenoidTest, ValidInitialization) {
   EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
 }
 
-TEST(DoubleSolenoidTest, ThrowForwardPortAlreadyInitialized) {
+TEST(DoubleSolenoidREVTest, ThrowForwardPortAlreadyInitialized) {
   // Single solenoid that is reused for forward port
   Solenoid solenoid{5, frc::PneumaticsModuleType::CTREPCM, 2};
   EXPECT_THROW(DoubleSolenoid(5, frc::PneumaticsModuleType::CTREPCM, 2, 3),
                std::runtime_error);
 }
 
-TEST(DoubleSolenoidTest, ThrowReversePortAlreadyInitialized) {
+TEST(DoubleSolenoidREVTest, ThrowReversePortAlreadyInitialized) {
   // Single solenoid that is reused for forward port
   Solenoid solenoid{6, frc::PneumaticsModuleType::CTREPCM, 3};
   EXPECT_THROW(DoubleSolenoid(6, frc::PneumaticsModuleType::CTREPCM, 2, 3),
                std::runtime_error);
 }
 
-TEST(DoubleSolenoidTest, ThrowBothPortsAlreadyInitialized) {
+TEST(DoubleSolenoidREVTest, ThrowBothPortsAlreadyInitialized) {
   PneumaticsControlModule pcm{6};
   // Single solenoid that is reused for forward port
   Solenoid solenoid0(6, frc::PneumaticsModuleType::CTREPCM, 2);
@@ -46,7 +46,7 @@ TEST(DoubleSolenoidTest, ThrowBothPortsAlreadyInitialized) {
                std::runtime_error);
 }
 
-TEST(DoubleSolenoidTest, Toggle) {
+TEST(DoubleSolenoidREVTest, Toggle) {
   DoubleSolenoid solenoid{4, frc::PneumaticsModuleType::CTREPCM, 2, 3};
   // Bootstrap it into reverse
   solenoid.Set(DoubleSolenoid::kReverse);
@@ -63,12 +63,12 @@ TEST(DoubleSolenoidTest, Toggle) {
   EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
 }
 
-TEST(DoubleSolenoidTest, InvalidForwardPort) {
+TEST(DoubleSolenoidREVTest, InvalidForwardPort) {
   EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 100, 1),
                std::runtime_error);
 }
 
-TEST(DoubleSolenoidTest, InvalidReversePort) {
+TEST(DoubleSolenoidREVTest, InvalidReversePort) {
   EXPECT_THROW(DoubleSolenoid(0, frc::PneumaticsModuleType::CTREPCM, 0, 100),
                std::runtime_error);
 }

wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp

@@ -10,7 +10,7 @@
 #include "gtest/gtest.h"
 
 namespace frc {
-TEST(SolenoidTest, ValidInitialization) {
+TEST(SolenoidCTRETest, ValidInitialization) {
   Solenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2};
   EXPECT_EQ(2, solenoid.GetChannel());
 
@@ -21,24 +21,24 @@ TEST(SolenoidTest, ValidInitialization) {
   EXPECT_FALSE(solenoid.Get());
 }
 
-TEST(SolenoidTest, DoubleInitialization) {
+TEST(SolenoidCTRETest, DoubleInitialization) {
   Solenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2};
   EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::CTREPCM, 2),
                std::runtime_error);
 }
 
-TEST(SolenoidTest, DoubleInitializationFromDoubleSolenoid) {
+TEST(SolenoidCTRETest, DoubleInitializationFromDoubleSolenoid) {
   DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2, 3};
   EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::CTREPCM, 2),
                std::runtime_error);
 }
 
-TEST(SolenoidTest, InvalidChannel) {
+TEST(SolenoidCTRETest, InvalidChannel) {
   EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::CTREPCM, 100),
                std::runtime_error);
 }
 
-TEST(SolenoidTest, Toggle) {
+TEST(SolenoidCTRETest, Toggle) {
   Solenoid solenoid{3, frc::PneumaticsModuleType::CTREPCM, 2};
   solenoid.Set(true);
   EXPECT_TRUE(solenoid.Get());

wpilibc/src/test/native/cpp/SolenoidTestREV.cpp

@@ -0,0 +1,52 @@
+// 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 "frc/DoubleSolenoid.h"
+#include "frc/PneumaticsControlModule.h"
+#include "frc/Solenoid.h"
+#include "gtest/gtest.h"
+
+namespace frc {
+TEST(SolenoidREVTest, ValidInitialization) {
+  Solenoid solenoid{3, frc::PneumaticsModuleType::REVPH, 2};
+  EXPECT_EQ(2, solenoid.GetChannel());
+
+  solenoid.Set(true);
+  EXPECT_TRUE(solenoid.Get());
+
+  solenoid.Set(false);
+  EXPECT_FALSE(solenoid.Get());
+}
+
+TEST(SolenoidREVTest, DoubleInitialization) {
+  Solenoid solenoid{3, frc::PneumaticsModuleType::REVPH, 2};
+  EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::REVPH, 2),
+               std::runtime_error);
+}
+
+TEST(SolenoidREVTest, DoubleInitializationFromDoubleSolenoid) {
+  DoubleSolenoid solenoid{3, frc::PneumaticsModuleType::REVPH, 2, 3};
+  EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::REVPH, 2),
+               std::runtime_error);
+}
+
+TEST(SolenoidREVTest, InvalidChannel) {
+  EXPECT_THROW(Solenoid(3, frc::PneumaticsModuleType::REVPH, 100),
+               std::runtime_error);
+}
+
+TEST(SolenoidREVTest, Toggle) {
+  Solenoid solenoid{3, frc::PneumaticsModuleType::REVPH, 2};
+  solenoid.Set(true);
+  EXPECT_TRUE(solenoid.Get());
+
+  solenoid.Toggle();
+  EXPECT_FALSE(solenoid.Get());
+
+  solenoid.Toggle();
+  EXPECT_TRUE(solenoid.Get());
+}
+}  // namespace frc

wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp

@@ -0,0 +1,150 @@
+// 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 "frc/simulation/REVPHSim.h"  // NOLINT(build/include_order)
+
+#include <hal/HAL.h>
+
+#include "callback_helpers/TestCallbackHelpers.h"
+#include "frc/DoubleSolenoid.h"
+#include "frc/PneumaticsHub.h"
+#include "gtest/gtest.h"
+
+namespace frc::sim {
+
+TEST(REVPHSimTest, InitializedCallback) {
+  REVPHSim sim;
+
+  sim.ResetData();
+  EXPECT_FALSE(sim.GetInitialized());
+
+  BooleanCallback callback;
+  auto cb = sim.RegisterInitializedCallback(callback.GetCallback(), false);
+
+  PneumaticsHub ph;
+  EXPECT_TRUE(sim.GetInitialized());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_TRUE(callback.GetLastValue());
+}
+
+TEST(REVPHSimTest, SolenoidOutput) {
+  PneumaticsHub ph;
+  REVPHSim sim(ph);
+  sim.ResetData();
+
+  DoubleSolenoid doubleSolenoid{1, frc::PneumaticsModuleType::REVPH, 3, 4};
+
+  BooleanCallback callback3;
+  BooleanCallback callback4;
+  auto cb3 =
+      sim.RegisterSolenoidOutputCallback(3, callback3.GetCallback(), false);
+  auto cb4 =
+      sim.RegisterSolenoidOutputCallback(4, callback4.GetCallback(), false);
+
+  callback3.Reset();
+  callback4.Reset();
+  doubleSolenoid.Set(DoubleSolenoid::kReverse);
+  EXPECT_FALSE(callback3.WasTriggered());
+  EXPECT_FALSE(callback3.GetLastValue());
+  EXPECT_TRUE(callback4.WasTriggered());
+  EXPECT_TRUE(callback4.GetLastValue());
+  EXPECT_FALSE(sim.GetSolenoidOutput(3));
+  EXPECT_TRUE(sim.GetSolenoidOutput(4));
+  EXPECT_EQ(0b00010000, ph.GetSolenoids());
+  EXPECT_EQ(0b00010000, sim.GetAllSolenoidOutputs());
+
+  callback3.Reset();
+  callback4.Reset();
+  doubleSolenoid.Set(DoubleSolenoid::kForward);
+  EXPECT_TRUE(callback3.WasTriggered());
+  EXPECT_TRUE(callback3.GetLastValue());
+  EXPECT_TRUE(callback4.WasTriggered());
+  EXPECT_FALSE(callback4.GetLastValue());
+  EXPECT_TRUE(sim.GetSolenoidOutput(3));
+  EXPECT_FALSE(sim.GetSolenoidOutput(4));
+  EXPECT_EQ(0b00001000, ph.GetSolenoids());
+  EXPECT_EQ(0b00001000, sim.GetAllSolenoidOutputs());
+
+  callback3.Reset();
+  callback4.Reset();
+  doubleSolenoid.Set(DoubleSolenoid::kOff);
+  EXPECT_TRUE(callback3.WasTriggered());
+  EXPECT_FALSE(callback3.GetLastValue());
+  EXPECT_FALSE(callback4.WasTriggered());
+  EXPECT_FALSE(callback4.GetLastValue());
+  EXPECT_FALSE(sim.GetSolenoidOutput(3));
+  EXPECT_FALSE(sim.GetSolenoidOutput(4));
+  EXPECT_EQ(0b00000000, ph.GetSolenoids());
+  EXPECT_EQ(0b00000000, sim.GetAllSolenoidOutputs());
+}
+
+TEST(REVPHSimTest, SetCompressorOn) {
+  PneumaticsHub ph;
+  REVPHSim sim(ph);
+  sim.ResetData();
+
+  BooleanCallback callback;
+  auto cb = sim.RegisterCompressorOnCallback(callback.GetCallback(), false);
+
+  EXPECT_FALSE(ph.GetCompressor());
+  EXPECT_FALSE(ph.GetCompressor());
+  sim.SetCompressorOn(true);
+  EXPECT_TRUE(sim.GetCompressorOn());
+  EXPECT_TRUE(ph.GetCompressor());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_TRUE(callback.GetLastValue());
+}
+
+TEST(REVPHSimTest, SetClosedLoopEnabled) {
+  PneumaticsHub ph;
+  REVPHSim sim(ph);
+  sim.ResetData();
+
+  BooleanCallback callback;
+  auto cb =
+      sim.RegisterClosedLoopEnabledCallback(callback.GetCallback(), false);
+
+  ph.SetClosedLoopControl(false);
+  EXPECT_FALSE(ph.GetClosedLoopControl());
+
+  ph.SetClosedLoopControl(true);
+  EXPECT_TRUE(sim.GetClosedLoopEnabled());
+  EXPECT_TRUE(ph.GetClosedLoopControl());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_TRUE(callback.GetLastValue());
+}
+
+TEST(REVPHSimTest, SetPressureSwitchEnabled) {
+  PneumaticsHub ph;
+  REVPHSim sim(ph);
+  sim.ResetData();
+
+  BooleanCallback callback;
+  auto cb = sim.RegisterPressureSwitchCallback(callback.GetCallback(), false);
+
+  EXPECT_FALSE(ph.GetPressureSwitch());
+
+  sim.SetPressureSwitch(true);
+  EXPECT_TRUE(sim.GetPressureSwitch());
+  EXPECT_TRUE(ph.GetPressureSwitch());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_TRUE(callback.GetLastValue());
+}
+
+TEST(REVPHSimTest, SetCompressorCurrent) {
+  PneumaticsHub ph;
+  REVPHSim sim(ph);
+  sim.ResetData();
+
+  DoubleCallback callback;
+  auto cb =
+      sim.RegisterCompressorCurrentCallback(callback.GetCallback(), false);
+
+  sim.SetCompressorCurrent(35.04);
+  EXPECT_EQ(35.04, sim.GetCompressorCurrent());
+  EXPECT_EQ(35.04, ph.GetCompressorCurrent());
+  EXPECT_TRUE(callback.WasTriggered());
+  EXPECT_EQ(35.04, callback.GetLastValue());
+}
+}  // namespace frc::sim

wpilibj/CMakeLists.txt

@@ -1,9 +1,8 @@
 project (wpilibj)
 
-find_package( OpenCV REQUIRED )
-
 # Java bindings
 if (WITH_JAVA)
+    find_package( OpenCV REQUIRED )
     find_package(Java REQUIRED)
     include(UseJava)
     set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")

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

@@ -12,9 +12,11 @@ public interface PneumaticsBase extends AutoCloseable {
    * @param type module type
    * @return module
    */
-  static PneumaticsControlModule getForType(int module, PneumaticsModuleType type) {
+  static PneumaticsBase getForType(int module, PneumaticsModuleType type) {
     if (type == PneumaticsModuleType.CTREPCM) {
-      return new PneumaticsControlModule();
+      return new PneumaticsControlModule(module);
+    } else if (type == PneumaticsModuleType.REVPH) {
+      return new PneumaticsHub(module);
     }
     throw new IllegalArgumentException("Unknown module type");
   }
@@ -28,6 +30,8 @@ public interface PneumaticsBase extends AutoCloseable {
   static int getDefaultForType(PneumaticsModuleType type) {
     if (type == PneumaticsModuleType.CTREPCM) {
       return SensorUtil.getDefaultCTREPCMModule();
+    } else if (type == PneumaticsModuleType.REVPH) {
+      return SensorUtil.getDefaultREVPHModule();
     }
     throw new IllegalArgumentException("Unknown module type");
   }

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

@@ -147,7 +147,7 @@ public class PneumaticsControlModule implements PneumaticsBase {
 
   @Override
   public int getModuleNumber() {
-    return m_dataStore.m_handle;
+    return m_dataStore.m_module;
   }
 
   @Override

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

@@ -0,0 +1,203 @@
+// 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.wpilibj;
+
+import edu.wpi.first.hal.REVPHJNI;
+import java.util.HashMap;
+import java.util.Map;
+
+/** Module class for controlling a REV Robotics Pneumatics Hub. */
+public class PneumaticsHub implements PneumaticsBase {
+  private static class DataStore implements AutoCloseable {
+    public final int m_module;
+    public final int m_handle;
+    private int m_refCount;
+    private int m_reservedMask;
+    private boolean m_compressorReserved;
+    private final Object m_reserveLock = new Object();
+
+    DataStore(int module) {
+      m_handle = REVPHJNI.initialize(module);
+      m_module = module;
+      m_handleMap.put(module, this);
+    }
+
+    @Override
+    public void close() {
+      REVPHJNI.free(m_handle);
+      m_handleMap.remove(m_module);
+    }
+
+    public void addRef() {
+      m_refCount++;
+    }
+
+    public void removeRef() {
+      m_refCount--;
+      if (m_refCount == 0) {
+        this.close();
+      }
+    }
+  }
+
+  private static final Map<Integer, DataStore> m_handleMap = new HashMap<>();
+  private static final Object m_handleLock = new Object();
+
+  private static DataStore getForModule(int module) {
+    synchronized (m_handleLock) {
+      Integer moduleBoxed = module;
+      DataStore pcm = m_handleMap.get(moduleBoxed);
+      if (pcm == null) {
+        pcm = new DataStore(module);
+      }
+      pcm.addRef();
+      return pcm;
+    }
+  }
+
+  private static void freeModule(DataStore store) {
+    synchronized (m_handleLock) {
+      store.removeRef();
+    }
+  }
+
+  private final DataStore m_dataStore;
+  private final int m_handle;
+
+  /** Constructs a PneumaticsHub with the default id (1). */
+  public PneumaticsHub() {
+    this(SensorUtil.getDefaultREVPHModule());
+  }
+
+  /**
+   * Constructs a PneumaticsHub.
+   *
+   * @param module module number to construct
+   */
+  public PneumaticsHub(int module) {
+    m_dataStore = getForModule(module);
+    m_handle = m_dataStore.m_handle;
+  }
+
+  @Override
+  public void close() {
+    freeModule(m_dataStore);
+  }
+
+  @Override
+  public boolean getCompressor() {
+    return REVPHJNI.getCompressor(m_handle);
+  }
+
+  @Override
+  public void setClosedLoopControl(boolean enabled) {
+    REVPHJNI.setClosedLoopControl(m_handle, enabled);
+  }
+
+  @Override
+  public boolean getClosedLoopControl() {
+    return REVPHJNI.getClosedLoopControl(m_handle);
+  }
+
+  @Override
+  public boolean getPressureSwitch() {
+    return REVPHJNI.getPressureSwitch(m_handle);
+  }
+
+  @Override
+  public double getCompressorCurrent() {
+    return REVPHJNI.getCompressorCurrent(m_handle);
+  }
+
+  @Override
+  public void setSolenoids(int mask, int values) {
+    REVPHJNI.setSolenoids(m_handle, mask, values);
+  }
+
+  @Override
+  public int getSolenoids() {
+    return REVPHJNI.getSolenoids(m_handle);
+  }
+
+  @Override
+  public int getModuleNumber() {
+    return m_dataStore.m_module;
+  }
+
+  @Override
+  public void fireOneShot(int index) {
+    // TODO Combine APIs
+    // REVPHJNI.fireOneShot(m_handle, index, durMs);
+  }
+
+  @Override
+  public void setOneShotDuration(int index, int durMs) {
+    // TODO Combine APIs
+    // REVPHJNI.setOneShotDuration(m_handle, index, durMs);
+  }
+
+  @Override
+  public boolean checkSolenoidChannel(int channel) {
+    return REVPHJNI.checkSolenoidChannel(channel);
+  }
+
+  @Override
+  public int checkAndReserveSolenoids(int mask) {
+    synchronized (m_dataStore.m_reserveLock) {
+      if ((m_dataStore.m_reservedMask & mask) != 0) {
+        return m_dataStore.m_reservedMask & mask;
+      }
+      m_dataStore.m_reservedMask |= mask;
+      return 0;
+    }
+  }
+
+  @Override
+  public void unreserveSolenoids(int mask) {
+    synchronized (m_dataStore.m_reserveLock) {
+      m_dataStore.m_reservedMask &= ~mask;
+    }
+  }
+
+  @Override
+  public Solenoid makeSolenoid(int channel) {
+    return new Solenoid(m_dataStore.m_module, PneumaticsModuleType.REVPH, channel);
+  }
+
+  @Override
+  public DoubleSolenoid makeDoubleSolenoid(int forwardChannel, int reverseChannel) {
+    return new DoubleSolenoid(
+        m_dataStore.m_module, PneumaticsModuleType.REVPH, forwardChannel, reverseChannel);
+  }
+
+  @Override
+  public Compressor makeCompressor() {
+    return new Compressor(m_dataStore.m_module, PneumaticsModuleType.REVPH);
+  }
+
+  @Override
+  public boolean reserveCompressor() {
+    synchronized (m_dataStore.m_reserveLock) {
+      if (m_dataStore.m_compressorReserved) {
+        return false;
+      }
+      m_dataStore.m_compressorReserved = true;
+      return true;
+    }
+  }
+
+  @Override
+  public void unreserveCompressor() {
+    synchronized (m_dataStore.m_reserveLock) {
+      m_dataStore.m_compressorReserved = false;
+    }
+  }
+
+  @Override
+  public int getSolenoidDisabledList() {
+    // TODO Get this working
+    return 0;
+  }
+}

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

@@ -47,6 +47,10 @@ public final class SensorUtil {
   /** Number of PCM Modules. */
   public static final int kCTREPCMModules = PortsJNI.getNumCTREPCMModules();
 
+  public static final int kREVPHChannels = PortsJNI.getNumREVPHChannels();
+
+  public static final int kREVPHModules = PortsJNI.getNumREVPHModules();
+
   /**
    * Check that the digital channel number is valid. Verify that the channel number is one of the
    * legal channel numbers. Channel numbers are 0-based.
@@ -142,5 +146,15 @@ public final class SensorUtil {
     return 0;
   }
 
+  /**
+   * Get the number of the default solenoid module.
+   *
+   * @return The number of the default solenoid module.
+   */
+  @SuppressWarnings("AbbreviationAsWordInName")
+  public static int getDefaultREVPHModule() {
+    return 1;
+  }
+
   private SensorUtil() {}
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/REVPHSim.java

@@ -0,0 +1,239 @@
+// 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.wpilibj.simulation;
+
+import edu.wpi.first.hal.simulation.NotifyCallback;
+import edu.wpi.first.hal.simulation.REVPHDataJNI;
+import edu.wpi.first.wpilibj.PneumaticsBase;
+import edu.wpi.first.wpilibj.SensorUtil;
+
+/** Class to control a simulated PneumaticsHub (PH). */
+@SuppressWarnings("AbbreviationAsWordInName")
+public class REVPHSim {
+  private final int m_index;
+
+  /** Constructs for the default PH. */
+  public REVPHSim() {
+    m_index = SensorUtil.getDefaultREVPHModule();
+  }
+
+  /**
+   * Constructs from a PH module number (CAN ID).
+   *
+   * @param module module number
+   */
+  public REVPHSim(int module) {
+    m_index = module;
+  }
+
+  /**
+   * Constructs from a Compressor object.
+   *
+   * @param module PCM module to simulate
+   */
+  public REVPHSim(PneumaticsBase module) {
+    m_index = module.getModuleNumber();
+  }
+
+  /**
+   * Register a callback to be run when the solenoid output on a channel changes.
+   *
+   * @param channel the channel to monitor
+   * @param callback the callback
+   * @param initialNotify should the callback be run with the initial value
+   * @return the {@link CallbackStore} object associated with this callback. Save a reference to
+   *     this object so GC doesn't cancel the callback.
+   */
+  public CallbackStore registerSolenoidOutputCallback(
+      int channel, NotifyCallback callback, boolean initialNotify) {
+    int uid =
+        REVPHDataJNI.registerSolenoidOutputCallback(m_index, channel, callback, initialNotify);
+    return new CallbackStore(m_index, channel, uid, REVPHDataJNI::cancelSolenoidOutputCallback);
+  }
+
+  /**
+   * Check the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @return the solenoid output
+   */
+  public boolean getSolenoidOutput(int channel) {
+    return REVPHDataJNI.getSolenoidOutput(m_index, channel);
+  }
+
+  /**
+   * Change the solenoid output on a specific channel.
+   *
+   * @param channel the channel to check
+   * @param solenoidOutput the new solenoid output
+   */
+  public void setSolenoidOutput(int channel, boolean solenoidOutput) {
+    REVPHDataJNI.setSolenoidOutput(m_index, channel, solenoidOutput);
+  }
+
+  /**
+   * Register a callback to be run when the compressor is initialized.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the {@link CallbackStore} object associated with this callback. Save a reference to
+   *     this object so GC doesn't cancel the callback.
+   */
+  public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify) {
+    int uid = REVPHDataJNI.registerInitializedCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, REVPHDataJNI::cancelInitializedCallback);
+  }
+
+  /**
+   * Check whether the compressor has been initialized.
+   *
+   * @return true if initialized
+   */
+  public boolean getInitialized() {
+    return REVPHDataJNI.getInitialized(m_index);
+  }
+
+  /**
+   * Define whether the compressor has been initialized.
+   *
+   * @param initialized whether the compressor is initialized
+   */
+  public void setInitialized(boolean initialized) {
+    REVPHDataJNI.setInitialized(m_index, initialized);
+  }
+
+  /**
+   * Register a callback to be run when the compressor activates.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the {@link CallbackStore} object associated with this callback. Save a reference to
+   *     this object so GC doesn't cancel the callback.
+   */
+  public CallbackStore registerCompressorOnCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid = REVPHDataJNI.registerCompressorOnCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, REVPHDataJNI::cancelCompressorOnCallback);
+  }
+
+  /**
+   * Check if the compressor is on.
+   *
+   * @return true if the compressor is active
+   */
+  public boolean getCompressorOn() {
+    return REVPHDataJNI.getCompressorOn(m_index);
+  }
+
+  /**
+   * Set whether the compressor is active.
+   *
+   * @param compressorOn the new value
+   */
+  public void setCompressorOn(boolean compressorOn) {
+    REVPHDataJNI.setCompressorOn(m_index, compressorOn);
+  }
+
+  /**
+   * Register a callback to be run whenever the closed loop state changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether the callback should be called with the initial value
+   * @return the {@link CallbackStore} object associated with this callback. Save a reference to
+   *     this object so GC doesn't cancel the callback.
+   */
+  public CallbackStore registerClosedLoopEnabledCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid = REVPHDataJNI.registerClosedLoopEnabledCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, REVPHDataJNI::cancelClosedLoopEnabledCallback);
+  }
+
+  /**
+   * Check whether the closed loop compressor control is active.
+   *
+   * @return true if active
+   */
+  public boolean getClosedLoopEnabled() {
+    return REVPHDataJNI.getClosedLoopEnabled(m_index);
+  }
+
+  /**
+   * Turn on/off the closed loop control of the compressor.
+   *
+   * @param closedLoopEnabled whether the control loop is active
+   */
+  public void setClosedLoopEnabled(boolean closedLoopEnabled) {
+    REVPHDataJNI.setClosedLoopEnabled(m_index, closedLoopEnabled);
+  }
+
+  /**
+   * Register a callback to be run whenever the pressure switch value changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether the callback should be called with the initial value
+   * @return the {@link CallbackStore} object associated with this callback. Save a reference to
+   *     this object so GC doesn't cancel the callback.
+   */
+  public CallbackStore registerPressureSwitchCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid = REVPHDataJNI.registerPressureSwitchCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, REVPHDataJNI::cancelPressureSwitchCallback);
+  }
+
+  /**
+   * Check the value of the pressure switch.
+   *
+   * @return the pressure switch value
+   */
+  public boolean getPressureSwitch() {
+    return REVPHDataJNI.getPressureSwitch(m_index);
+  }
+
+  /**
+   * Set the value of the pressure switch.
+   *
+   * @param pressureSwitch the new value
+   */
+  public void setPressureSwitch(boolean pressureSwitch) {
+    REVPHDataJNI.setPressureSwitch(m_index, pressureSwitch);
+  }
+
+  /**
+   * Register a callback to be run whenever the compressor current changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to call the callback with the initial state
+   * @return the {@link CallbackStore} object associated with this callback. Save a reference to
+   *     this object so GC doesn't cancel the callback.
+   */
+  public CallbackStore registerCompressorCurrentCallback(
+      NotifyCallback callback, boolean initialNotify) {
+    int uid = REVPHDataJNI.registerCompressorCurrentCallback(m_index, callback, initialNotify);
+    return new CallbackStore(m_index, uid, REVPHDataJNI::cancelCompressorCurrentCallback);
+  }
+
+  /**
+   * Read the compressor current.
+   *
+   * @return the current of the compressor connected to this module
+   */
+  public double getCompressorCurrent() {
+    return REVPHDataJNI.getCompressorCurrent(m_index);
+  }
+
+  /**
+   * Set the compressor current.
+   *
+   * @param compressorCurrent the new compressor current
+   */
+  public void setCompressorCurrent(double compressorCurrent) {
+    REVPHDataJNI.setCompressorCurrent(m_index, compressorCurrent);
+  }
+
+  /** Reset all simulation data for this object. */
+  public void resetData() {
+    REVPHDataJNI.resetData(m_index);
+  }
+}

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

@@ -10,7 +10,7 @@ import static org.junit.jupiter.api.Assertions.assertThrows;
 import edu.wpi.first.hal.util.AllocationException;
 import org.junit.jupiter.api.Test;
 
-public class DoubleSolenoidTest {
+public class DoubleSolenoidTestCTRE {
   @Test
   void testValidInitialization() {
     try (DoubleSolenoid solenoid = new DoubleSolenoid(3, PneumaticsModuleType.CTREPCM, 2, 3)) {

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

@@ -0,0 +1,91 @@
+// 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.wpilibj;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+
+import edu.wpi.first.hal.util.AllocationException;
+import org.junit.jupiter.api.Test;
+
+public class DoubleSolenoidTestREV {
+  @Test
+  void testValidInitialization() {
+    try (DoubleSolenoid solenoid = new DoubleSolenoid(3, PneumaticsModuleType.REVPH, 2, 3)) {
+      solenoid.set(DoubleSolenoid.Value.kReverse);
+      assertEquals(DoubleSolenoid.Value.kReverse, solenoid.get());
+
+      solenoid.set(DoubleSolenoid.Value.kForward);
+      assertEquals(DoubleSolenoid.Value.kForward, solenoid.get());
+
+      solenoid.set(DoubleSolenoid.Value.kOff);
+      assertEquals(DoubleSolenoid.Value.kOff, solenoid.get());
+    }
+  }
+
+  @Test
+  void testThrowForwardPortAlreadyInitialized() {
+    try (
+    // Single solenoid that is reused for forward port
+    Solenoid solenoid = new Solenoid(5, PneumaticsModuleType.REVPH, 2)) {
+      assertThrows(
+          AllocationException.class, () -> new DoubleSolenoid(5, PneumaticsModuleType.REVPH, 2, 3));
+    }
+  }
+
+  @Test
+  void testThrowReversePortAlreadyInitialized() {
+    try (
+    // Single solenoid that is reused for forward port
+    Solenoid solenoid = new Solenoid(6, PneumaticsModuleType.REVPH, 3)) {
+      assertThrows(
+          AllocationException.class, () -> new DoubleSolenoid(6, PneumaticsModuleType.REVPH, 2, 3));
+    }
+  }
+
+  @Test
+  void testThrowBothPortsAlreadyInitialized() {
+    try (
+    // Single solenoid that is reused for forward port
+    Solenoid solenoid0 = new Solenoid(6, PneumaticsModuleType.REVPH, 2);
+        Solenoid solenoid1 = new Solenoid(6, PneumaticsModuleType.REVPH, 3)) {
+      assertThrows(
+          AllocationException.class, () -> new DoubleSolenoid(6, PneumaticsModuleType.REVPH, 2, 3));
+    }
+  }
+
+  @Test
+  void testToggle() {
+    try (DoubleSolenoid solenoid = new DoubleSolenoid(4, PneumaticsModuleType.REVPH, 2, 3)) {
+      // Bootstrap it into reverse
+      solenoid.set(DoubleSolenoid.Value.kReverse);
+
+      solenoid.toggle();
+      assertEquals(DoubleSolenoid.Value.kForward, solenoid.get());
+
+      solenoid.toggle();
+      assertEquals(DoubleSolenoid.Value.kReverse, solenoid.get());
+
+      // Of shouldn't do anything on toggle
+      solenoid.set(DoubleSolenoid.Value.kOff);
+      solenoid.toggle();
+      assertEquals(DoubleSolenoid.Value.kOff, solenoid.get());
+    }
+  }
+
+  @Test
+  void testInvalidForwardPort() {
+    assertThrows(
+        IllegalArgumentException.class,
+        () -> new DoubleSolenoid(1, PneumaticsModuleType.REVPH, 100, 1));
+  }
+
+  @Test
+  void testInvalidReversePort() {
+    assertThrows(
+        IllegalArgumentException.class,
+        () -> new DoubleSolenoid(1, PneumaticsModuleType.REVPH, 0, 100));
+  }
+}

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

@@ -12,7 +12,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 import edu.wpi.first.hal.util.AllocationException;
 import org.junit.jupiter.api.Test;
 
-public class SolenoidTest {
+public class SolenoidTestCTRE {
   @Test
   void testValidInitialization() {
     try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.CTREPCM, 2)) {

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

@@ -0,0 +1,62 @@
+// 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.wpilibj;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.hal.util.AllocationException;
+import org.junit.jupiter.api.Test;
+
+public class SolenoidTestREV {
+  @Test
+  void testValidInitialization() {
+    try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.REVPH, 2)) {
+      assertEquals(2, solenoid.getChannel());
+
+      solenoid.set(true);
+      assertTrue(solenoid.get());
+
+      solenoid.set(false);
+      assertFalse(solenoid.get());
+    }
+  }
+
+  @Test
+  void testDoubleInitialization() {
+    try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.REVPH, 2)) {
+      assertThrows(AllocationException.class, () -> new Solenoid(3, PneumaticsModuleType.REVPH, 2));
+    }
+  }
+
+  @Test
+  void testDoubleInitializationFromDoubleSolenoid() {
+    try (DoubleSolenoid solenoid = new DoubleSolenoid(3, PneumaticsModuleType.REVPH, 2, 3)) {
+      assertThrows(AllocationException.class, () -> new Solenoid(3, PneumaticsModuleType.REVPH, 2));
+    }
+  }
+
+  @Test
+  void testInvalidChannel() {
+    assertThrows(
+        IllegalArgumentException.class, () -> new Solenoid(3, PneumaticsModuleType.REVPH, 100));
+  }
+
+  @Test
+  void testToggle() {
+    try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.REVPH, 2)) {
+      solenoid.set(true);
+      assertTrue(solenoid.get());
+
+      solenoid.toggle();
+      assertFalse(solenoid.get());
+
+      solenoid.toggle();
+      assertTrue(solenoid.get());
+    }
+  }
+}

wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/REVPHSimTest.java

@@ -0,0 +1,168 @@
+// 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.wpilibj.simulation;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertNull;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsHub;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback;
+import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
+import org.junit.jupiter.api.Test;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+class REVPHSimTest {
+  @Test
+  void testInitialization() {
+    HAL.initialize(500, 0);
+
+    REVPHSim sim = new REVPHSim(1);
+    sim.resetData();
+    assertFalse(sim.getInitialized());
+
+    BooleanCallback callback = new BooleanCallback();
+
+    try (CallbackStore cb = sim.registerInitializedCallback(callback, false);
+        PneumaticsHub ph = new PneumaticsHub(1)) {
+      assertTrue(sim.getInitialized());
+    }
+    assertFalse(sim.getInitialized());
+  }
+
+  @Test
+  void solenoidOutputTest() {
+    HAL.initialize(500, 0);
+
+    try (PneumaticsHub ph = new PneumaticsHub(1);
+        DoubleSolenoid doubleSolenoid = new DoubleSolenoid(1, PneumaticsModuleType.REVPH, 3, 4)) {
+      REVPHSim sim = new REVPHSim(ph);
+      sim.resetData();
+
+      BooleanCallback callback3 = new BooleanCallback();
+      BooleanCallback callback4 = new BooleanCallback();
+
+      try (CallbackStore cb3 = sim.registerSolenoidOutputCallback(3, callback3, false);
+          CallbackStore cb4 = sim.registerSolenoidOutputCallback(4, callback4, false)) {
+        // Reverse
+        callback3.reset();
+        callback4.reset();
+        doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
+        assertFalse(callback3.wasTriggered());
+        assertNull(callback3.getSetValue());
+        assertTrue(callback4.wasTriggered());
+        assertTrue(callback4.getSetValue());
+        assertFalse(sim.getSolenoidOutput(3));
+        assertTrue(sim.getSolenoidOutput(4));
+        assertEquals(0x10, ph.getSolenoids());
+
+        // Forward
+        callback3.reset();
+        callback4.reset();
+        doubleSolenoid.set(DoubleSolenoid.Value.kForward);
+        assertTrue(callback3.wasTriggered());
+        assertTrue(callback3.getSetValue());
+        assertTrue(callback4.wasTriggered());
+        assertFalse(callback4.getSetValue());
+        assertTrue(sim.getSolenoidOutput(3));
+        assertFalse(sim.getSolenoidOutput(4));
+        assertEquals(0x8, ph.getSolenoids());
+
+        // Off
+        callback3.reset();
+        callback4.reset();
+        doubleSolenoid.set(DoubleSolenoid.Value.kOff);
+        assertTrue(callback3.wasTriggered());
+        assertFalse(callback3.getSetValue());
+        assertFalse(callback4.wasTriggered());
+        assertNull(callback4.getSetValue());
+        assertFalse(sim.getSolenoidOutput(3));
+        assertFalse(sim.getSolenoidOutput(4));
+        assertEquals(0x0, ph.getSolenoids());
+      }
+    }
+  }
+
+  @Test
+  void setCompressorOnTest() {
+    HAL.initialize(500, 0);
+
+    REVPHSim sim = new REVPHSim(1);
+    BooleanCallback callback = new BooleanCallback();
+
+    try (PneumaticsHub ph = new PneumaticsHub(1);
+        CallbackStore cb = sim.registerCompressorOnCallback(callback, false)) {
+      assertFalse(ph.getCompressor());
+      assertFalse(sim.getCompressorOn());
+      sim.setCompressorOn(true);
+      assertTrue(ph.getCompressor());
+      assertTrue(sim.getCompressorOn());
+      assertTrue(callback.wasTriggered());
+      assertTrue(callback.getSetValue());
+    }
+  }
+
+  @Test
+  void setClosedLoopEnabled() {
+    HAL.initialize(500, 0);
+
+    REVPHSim sim = new REVPHSim(1);
+    BooleanCallback callback = new BooleanCallback();
+
+    try (PneumaticsHub ph = new PneumaticsHub(1);
+        CallbackStore cb = sim.registerClosedLoopEnabledCallback(callback, false)) {
+      ph.setClosedLoopControl(false);
+      assertFalse(ph.getClosedLoopControl());
+
+      ph.setClosedLoopControl(true);
+      assertTrue(sim.getClosedLoopEnabled());
+      assertTrue(ph.getClosedLoopControl());
+      assertTrue(callback.wasTriggered());
+      assertTrue(callback.getSetValue());
+    }
+  }
+
+  @Test
+  void setPressureSwitchEnabledTest() {
+    HAL.initialize(500, 0);
+
+    REVPHSim sim = new REVPHSim(1);
+    BooleanCallback callback = new BooleanCallback();
+
+    try (PneumaticsHub ph = new PneumaticsHub(1);
+        CallbackStore cb = sim.registerPressureSwitchCallback(callback, false)) {
+      assertFalse(ph.getPressureSwitch());
+
+      sim.setPressureSwitch(true);
+      assertTrue(sim.getPressureSwitch());
+      assertTrue(ph.getPressureSwitch());
+      assertTrue(callback.wasTriggered());
+      assertTrue(callback.getSetValue());
+    }
+  }
+
+  @Test
+  void setCompressorCurrentTest() {
+    HAL.initialize(500, 0);
+
+    REVPHSim sim = new REVPHSim(1);
+    DoubleCallback callback = new DoubleCallback();
+
+    try (PneumaticsHub ph = new PneumaticsHub(1);
+        CallbackStore cb = sim.registerCompressorCurrentCallback(callback, false)) {
+      assertFalse(ph.getPressureSwitch());
+
+      sim.setCompressorCurrent(35.04);
+      assertEquals(35.04, sim.getCompressorCurrent());
+      assertEquals(35.04, ph.getCompressorCurrent());
+      assertTrue(callback.wasTriggered());
+      assertEquals(35.04, callback.getSetValue());
+    }
+  }
+}

wpimath/src/main/native/include/drake/common/drake_assert.h

@@ -88,6 +88,14 @@ namespace internal {
 // Report an assertion failure; will either Abort(...) or throw.
 [[noreturn]] void AssertionFailed(const char* condition, const char* func,
                                   const char* file, int line);
+template <bool>
+constexpr void DrakeAssertWasUsedWithRawPointer() {}
+template<>
+[[deprecated("\nDRAKE DEPRECATED: When using DRAKE_ASSERT or DRAKE_DEMAND on"
+" a raw pointer, always write out DRAKE_ASSERT(foo != nullptr), do not write"
+" DRAKE_ASSERT(foo) and rely on implicit pointer-to-bool conversion."
+"\nThe deprecated code will be removed from Drake on or after 2021-12-01.")]]
+constexpr void DrakeAssertWasUsedWithRawPointer<true>() {}
 }  // namespace internal
 namespace assert {
 // Allows for specialization of how to bool-convert Conditions used in
@@ -114,6 +122,8 @@ struct ConditionTraits {
     typedef ::drake::assert::ConditionTraits<                                \
         typename std::remove_cv_t<decltype(condition)>> Trait;               \
     static_assert(Trait::is_valid, "Condition should be bool-convertible."); \
+    ::drake::internal::DrakeAssertWasUsedWithRawPointer<                     \
+        std::is_pointer_v<decltype(condition)>>();                           \
     if (!Trait::Evaluate(condition)) {                                       \
       ::drake::internal::AssertionFailed(                                    \
            #condition, __func__, __FILE__, __LINE__);                        \
@@ -139,10 +149,14 @@ namespace drake {
 constexpr bool kDrakeAssertIsArmed = false;
 constexpr bool kDrakeAssertIsDisarmed = true;
 }  // namespace drake
-# define DRAKE_ASSERT(condition) static_assert(                        \
-    ::drake::assert::ConditionTraits<                                  \
-        typename std::remove_cv_t<decltype(condition)>>::is_valid,     \
-    "Condition should be bool-convertible.");
+# define DRAKE_ASSERT(condition) do {                                  \
+    static_assert(                                                     \
+        ::drake::assert::ConditionTraits<                              \
+            typename std::remove_cv_t<decltype(condition)>>::is_valid, \
+        "Condition should be bool-convertible.");                      \
+    ::drake::internal::DrakeAssertWasUsedWithRawPointer<               \
+        std::is_pointer_v<decltype(condition)>>();                     \
+  } while (0)
 # define DRAKE_ASSERT_VOID(expression) static_assert(           \
     std::is_convertible_v<decltype(expression), void>,          \
     "Expression should be void.")

wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableRegistry.java

@@ -494,11 +494,8 @@ public class SendableRegistry {
           if (cause != null) {
             throwable = cause;
           }
-          System.out.println(
-              "Unhandled exception calling LiveWindow for "
-                  + comp.m_name
-                  + ": "
-                  + throwable.toString());
+          System.err.println("Unhandled exception calling LiveWindow for " + comp.m_name + ": ");
+          throwable.printStackTrace();
           comp.m_liveWindow = false;
         }
         if (cbdata.data != null) {