Upgrade Maven dependencies (#5553)

The following source code changes were required:

* Whitespace changes from spotless
* PMD warning suppressions for utility class tests
* PMD warning rename from "BeanMembersShouldSerialize" to
  "NonSerializableClass"
* Declared more class members as final

.clang-format

@@ -1,111 +1,171 @@
 ---
+Language:        Cpp
 BasedOnStyle:  Google
 AccessModifierOffset: -1
 AlignAfterOpenBracket: Align
-AlignConsecutiveMacros: false
-AlignConsecutiveAssignments: false
-AlignConsecutiveDeclarations: false
+AlignArrayOfStructures: None
+AlignConsecutiveAssignments:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCompound:   false
+  PadOperators:    true
+AlignConsecutiveBitFields:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCompound:   false
+  PadOperators:    false
+AlignConsecutiveDeclarations:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCompound:   false
+  PadOperators:    false
+AlignConsecutiveMacros:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCompound:   false
+  PadOperators:    false
 AlignEscapedNewlines: Left
-AlignOperands:   true
-AlignTrailingComments: true
+AlignOperands:   Align
+AlignTrailingComments:
+  Kind:            Always
+  OverEmptyLines:  0
 AllowAllArgumentsOnNextLine: true
-AllowAllConstructorInitializersOnNextLine: true
 AllowAllParametersOfDeclarationOnNextLine: true
 AllowShortBlocksOnASingleLine: Never
 AllowShortCaseLabelsOnASingleLine: false
+AllowShortEnumsOnASingleLine: true
 AllowShortFunctionsOnASingleLine: Inline
-AllowShortLambdasOnASingleLine: All
 AllowShortIfStatementsOnASingleLine: Never
+AllowShortLambdasOnASingleLine: All
 AllowShortLoopsOnASingleLine: false
 AlwaysBreakAfterDefinitionReturnType: None
 AlwaysBreakAfterReturnType: None
 AlwaysBreakBeforeMultilineStrings: true
 AlwaysBreakTemplateDeclarations: Yes
+AttributeMacros:
+  - __capability
 BinPackArguments: true
 BinPackParameters: true
+BitFieldColonSpacing: Both
 BraceWrapping:
   AfterCaseLabel:  false
   AfterClass:      false
-  AfterControlStatement: false
+  AfterControlStatement: Never
   AfterEnum:       false
+  AfterExternBlock: false
   AfterFunction:   false
   AfterNamespace:  false
   AfterObjCDeclaration: false
   AfterStruct:     false
   AfterUnion:      false
-  AfterExternBlock: false
   BeforeCatch:     false
   BeforeElse:      false
+  BeforeLambdaBody: false
+  BeforeWhile:     false
   IndentBraces:    false
   SplitEmptyFunction: true
   SplitEmptyRecord: true
   SplitEmptyNamespace: true
-BreakBeforeBinaryOperators: None
-BreakBeforeBraces: Attach
-BreakBeforeInheritanceComma: false
-BreakInheritanceList: BeforeColon
-BreakBeforeTernaryOperators: true
-BreakConstructorInitializersBeforeComma: false
-BreakConstructorInitializers: BeforeColon
+BreakAfterAttributes: Always
 BreakAfterJavaFieldAnnotations: false
+BreakArrays:     true
+BreakBeforeBinaryOperators: None
+BreakBeforeConceptDeclarations: Always
+BreakBeforeBraces: Attach
+BreakBeforeInlineASMColon: OnlyMultiline
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializers: BeforeColon
+BreakInheritanceList: BeforeColon
 BreakStringLiterals: true
 ColumnLimit:     80
 CommentPragmas:  '^ IWYU pragma:'
 CompactNamespaces: false
-ConstructorInitializerAllOnOneLineOrOnePerLine: true
 ConstructorInitializerIndentWidth: 4
 ContinuationIndentWidth: 4
 Cpp11BracedListStyle: true
-DeriveLineEnding: true
 DerivePointerAlignment: false
 DisableFormat:   false
+EmptyLineAfterAccessModifier: Never
+EmptyLineBeforeAccessModifier: LogicalBlock
 ExperimentalAutoDetectBinPacking: false
 FixNamespaceComments: true
 ForEachMacros:
   - foreach
   - Q_FOREACH
   - BOOST_FOREACH
+IfMacros:
+  - KJ_IF_MAYBE
 IncludeBlocks:   Regroup
 IncludeCategories:
   - Regex:           '^<ext/.*\.h>'
     Priority:        2
     SortPriority:    0
+    CaseSensitive:   false
   - Regex:           '^<.*\.h>'
     Priority:        1
     SortPriority:    0
+    CaseSensitive:   false
   - Regex:           '^<.*'
     Priority:        2
     SortPriority:    0
+    CaseSensitive:   false
   - Regex:           '.*'
     Priority:        3
     SortPriority:    0
+    CaseSensitive:   false
 IncludeIsMainRegex: '([-_](test|unittest))?$'
 IncludeIsMainSourceRegex: ''
+IndentAccessModifiers: false
+IndentCaseBlocks: false
 IndentCaseLabels: true
+IndentExternBlock: AfterExternBlock
 IndentGotoLabels: true
 IndentPPDirectives: None
+IndentRequiresClause: true
 IndentWidth:     2
 IndentWrappedFunctionNames: false
+InsertBraces:    false
+InsertNewlineAtEOF: false
+InsertTrailingCommas: None
+IntegerLiteralSeparator:
+  Binary:          0
+  BinaryMinDigits: 0
+  Decimal:         0
+  DecimalMinDigits: 0
+  Hex:             0
+  HexMinDigits:    0
 JavaScriptQuotes: Leave
 JavaScriptWrapImports: true
 KeepEmptyLinesAtTheStartOfBlocks: false
+LambdaBodyIndentation: Signature
+LineEnding:      DeriveLF
 MacroBlockBegin: ''
 MacroBlockEnd:   ''
 MaxEmptyLinesToKeep: 1
 NamespaceIndentation: None
 ObjCBinPackProtocolList: Never
 ObjCBlockIndentWidth: 2
+ObjCBreakBeforeNestedBlockParam: true
 ObjCSpaceAfterProperty: false
 ObjCSpaceBeforeProtocolList: true
+PackConstructorInitializers: NextLine
 PenaltyBreakAssignment: 2
 PenaltyBreakBeforeFirstCallParameter: 1
 PenaltyBreakComment: 300
 PenaltyBreakFirstLessLess: 120
+PenaltyBreakOpenParenthesis: 0
 PenaltyBreakString: 1000
 PenaltyBreakTemplateDeclaration: 10
 PenaltyExcessCharacter: 1000000
+PenaltyIndentedWhitespace: 0
 PenaltyReturnTypeOnItsOwnLine: 200
 PointerAlignment: Left
+PPIndentWidth:   -1
+QualifierAlignment: Leave
 RawStringFormats:
   - Language:        Cpp
     Delimiters:
@@ -132,34 +192,65 @@ RawStringFormats:
       - PARSE_TEXT_PROTO
       - ParseTextOrDie
       - ParseTextProtoOrDie
-    CanonicalDelimiter: ''
+      - ParseTestProto
+      - ParsePartialTestProto
+    CanonicalDelimiter: pb
     BasedOnStyle:    google
+ReferenceAlignment: Pointer
 ReflowComments:  true
+RemoveBracesLLVM: false
+RemoveSemicolon: false
+RequiresClausePosition: OwnLine
+RequiresExpressionIndentation: OuterScope
+SeparateDefinitionBlocks: Leave
+ShortNamespaceLines: 1
 SortIncludes:    false
-SortUsingDeclarations: true
+SortJavaStaticImport: Before
+SortUsingDeclarations: LexicographicNumeric
 SpaceAfterCStyleCast: false
 SpaceAfterLogicalNot: false
 SpaceAfterTemplateKeyword: true
+SpaceAroundPointerQualifiers: Default
 SpaceBeforeAssignmentOperators: true
+SpaceBeforeCaseColon: false
 SpaceBeforeCpp11BracedList: false
 SpaceBeforeCtorInitializerColon: true
 SpaceBeforeInheritanceColon: true
 SpaceBeforeParens: ControlStatements
+SpaceBeforeParensOptions:
+  AfterControlStatements: true
+  AfterForeachMacros: true
+  AfterFunctionDefinitionName: false
+  AfterFunctionDeclarationName: false
+  AfterIfMacros:   true
+  AfterOverloadedOperator: false
+  AfterRequiresInClause: false
+  AfterRequiresInExpression: false
+  BeforeNonEmptyParentheses: false
 SpaceBeforeRangeBasedForLoopColon: true
+SpaceBeforeSquareBrackets: false
 SpaceInEmptyBlock: false
 SpaceInEmptyParentheses: false
 SpacesBeforeTrailingComments: 2
-SpacesInAngles:  false
+SpacesInAngles:  Never
 SpacesInConditionalStatement: false
 SpacesInContainerLiterals: true
 SpacesInCStyleCastParentheses: false
+SpacesInLineCommentPrefix:
+  Minimum:         1
+  Maximum:         -1
 SpacesInParentheses: false
 SpacesInSquareBrackets: false
-SpaceBeforeSquareBrackets: false
 Standard:        c++20
 StatementMacros:
   - Q_UNUSED
   - QT_REQUIRE_VERSION
 TabWidth:        8
 UseTab:          Never
+WhitespaceSensitiveMacros:
+  - BOOST_PP_STRINGIZE
+  - CF_SWIFT_NAME
+  - NS_SWIFT_NAME
+  - PP_STRINGIZE
+  - STRINGIZE
 ...

.clang-tidy

@@ -35,7 +35,6 @@ Checks:
   bugprone-unhandled-self-assignment,
   bugprone-unused-raii,
   bugprone-virtual-near-miss,
-  cert-dcl58-cpp,
   cert-err52-cpp,
   cert-err60-cpp,
   cert-mem57-cpp,

.gitattributes

@@ -1,4 +1,5 @@
 *.gradle text eol=lf
 *.java text eol=lf
+*.json text eol=lf
 *.md text eol=lf
 *.xml text eol=lf

.github/CODEOWNERS

@@ -29,8 +29,6 @@
 
 /wpilibNewCommands/  @wpilibsuite/commandbased
 
-/wpilibOldCommands/  @wpilibsuite/commandbased
-
 /wpilibcExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation
 
 /wpilibjExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation

.github/ISSUE_TEMPLATE/bug_report.md

@@ -15,6 +15,8 @@ Steps to reproduce the behavior:
 1. ...
 2. ...
 
+ - Link to code:
+
 **Expected behavior**
 A clear and concise description of what you expected to happen.
 
@@ -22,10 +24,8 @@ A clear and concise description of what you expected to happen.
 If applicable, add screenshots to help explain your problem.
 
 **Desktop (please complete the following information):**
- - WPILib Version: [e.g. 2021.3.1]
  - OS: [e.g. Windows 11]
- - Java version [e.g. 1.10.2]
- - C++ version [e.g. 17]
+ - Project Information: [In Visual Studio Code, press the WPILib button and choose WPILib: Open Project Information. Press the copy button and paste the data here. If not using VS Code, please include WPILib version, Gradle version, Java version, C++ version (if applicable), and any third party libraries and versions]
 
 **Additional context**
 Add any other context about the problem here.

.github/workflows/cmake.yml

@@ -16,7 +16,7 @@ jobs:
             name: Linux
             container: wpilib/roborio-cross-ubuntu:2023-22.04
             flags: ""
-          - os: macOS-11
+          - os: macOS-12
             name: macOS
             container: ""
             flags: "-DWITH_JAVA=OFF"

.github/workflows/comment-command.yml

@@ -42,16 +42,10 @@ jobs:
         with:
           distribution: 'zulu'
           java-version: 11
-      - name: Install clang-format
-        run: |
-          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
-          sudo apt-get update -q
-          sudo apt-get install -y clang-format-14
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Run wpiformat
-        run: wpiformat -clang 14
+        run: wpiformat
       - name: Run spotlessApply
         run: ./gradlew spotlessApply
       - name: Commit

.github/workflows/documentation.yml

@@ -26,39 +26,41 @@ jobs:
           java-version: 13
       - name: Set environment variables (Development)
         run: |
-          echo "TARGET_FOLDER=$BASE_PATH/development" >> $GITHUB_ENV
+          echo "BRANCH=development" >> $GITHUB_ENV
         if: github.ref == 'refs/heads/main'
       - name: Set environment variables (Tag)
         run: |
           echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "TARGET_FOLDER=$BASE_PATH/beta" >> $GITHUB_ENV
+          echo "BRANCH=beta" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v')
       - name: Set environment variables (Release)
         run: |
           echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "TARGET_FOLDER=$BASE_PATH/release" >> $GITHUB_ENV
+          echo "BRANCH=release" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta')
       - name: Build with Gradle
         run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
       - name: Install SSH Client 🔑
-        uses: webfactory/ssh-agent@v0.7.0
+        uses: webfactory/ssh-agent@v0.8.0
         with:
           ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
-      - name: Deploy Java 🚀
-        uses: JamesIves/github-pages-deploy-action@3.7.1
+      - name: Deploy 🚀
+        uses: JamesIves/github-pages-deploy-action@v4.4.1
         with:
-          SSH: true
-          REPOSITORY_NAME: wpilibsuite/wpilibsuite.github.io
-          BRANCH: main
-          CLEAN: true
-          FOLDER: docs/build/docs/javadoc
-          TARGET_FOLDER: ${{ env.TARGET_FOLDER }}/java
-      - name: Deploy C++ 🚀
-        uses: JamesIves/github-pages-deploy-action@3.7.1
+          ssh-key: true
+          repository-name: wpilibsuite/wpilibsuite.github.io
+          branch: allwpilib-${{ env.BRANCH }}
+          clean: true
+          single-commit: true
+          folder: docs/build/docs
+      - name: Trigger Workflow
+        uses: actions/github-script@v6
         with:
-          SSH: true
-          REPOSITORY_NAME: wpilibsuite/wpilibsuite.github.io
-          BRANCH: main
-          CLEAN: true
-          FOLDER: docs/build/docs/doxygen/html
-          TARGET_FOLDER: ${{ env.TARGET_FOLDER }}/cpp
+          github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
+          script: |
+            github.rest.actions.createWorkflowDispatch({
+              owner: context.repo.owner,
+              repo: 'wpilibsuite.github.io',
+              workflow_id: 'static.yml',
+              ref: 'main',
+            })

.github/workflows/gradle.yml

@@ -46,7 +46,7 @@ jobs:
 
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 10.15
+      MACOSX_DEPLOYMENT_TARGET: 11
     strategy:
       fail-fast: false
       matrix:
@@ -63,7 +63,19 @@ jobs:
             build-options: "-PciReleaseOnly --max-workers 1"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-          - os: macOS-11
+          # - os: windows-2022
+          #   artifact-name: WinArm64Debug
+          #   architecture: x64
+          #   task: "build"
+          #   build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
+          #   outputs: "build/allOutputs"
+          # - os: windows-2022
+          #   artifact-name: WinArm64Release
+          #   architecture: x64
+          #   build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
+          #   task: "copyAllOutputs"
+          #   outputs: "build/allOutputs"
+          - os: macOS-12
             artifact-name: macOS
             architecture: x64
             task: "build"

.github/workflows/lint-format.yml

@@ -26,16 +26,10 @@ jobs:
         uses: actions/setup-python@v4
         with:
           python-version: 3.8
-      - name: Install clang-format
-        run: |
-          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
-          sudo apt-get update -q
-          sudo apt-get install -y clang-format-14
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Run
-        run: wpiformat -clang 14
+        run: wpiformat
       - name: Check output
         run: git --no-pager diff --exit-code HEAD
       - name: Generate diff
@@ -70,12 +64,6 @@ jobs:
         uses: actions/setup-python@v4
         with:
           python-version: 3.8
-      - name: Install clang-tidy
-        run: |
-          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
-          sudo apt-get update -q
-          sudo apt-get install -y clang-tidy-14 clang-format-14
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Create compile_commands.json
@@ -83,7 +71,7 @@ jobs:
       - name: List changed files
         run: wpiformat -list-changed-files
       - name: Run clang-tidy
-        run: wpiformat -clang 14 -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
+        run: wpiformat -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
   javaformat:
     name: "Java format"
     runs-on: ubuntu-22.04

.github/workflows/upstream-utils.yml

@@ -29,10 +29,6 @@ jobs:
         run: |
           git config --global user.email "you@example.com"
           git config --global user.name "Your Name"
-      - name: Run update_drake.py
-        run: |
-          cd upstream_utils
-          ./update_drake.py
       - name: Run update_eigen.py
         run: |
           cd upstream_utils
@@ -41,6 +37,10 @@ jobs:
         run: |
           cd upstream_utils
           ./update_fmt.py
+      - name: Run update_gcem.py
+        run: |
+          cd upstream_utils
+          ./update_gcem.py
       - name: Run update_libuv.py
         run: |
           cd upstream_utils

CMakeLists.txt

@@ -11,8 +11,8 @@ if ("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
     set(CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
 endif()
 
-project(allwpilib)
 cmake_minimum_required(VERSION 3.3.0)
+project(allwpilib)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
 
 message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
@@ -81,11 +81,6 @@ if (NOT CMAKE_BUILD_TYPE)
     set (CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
 endif()
 
-# We always want flat install with MSVC.
-if (MSVC)
-  set(WITH_FLAT_INSTALL ON)
-endif()
-
 if (WITH_JAVA AND NOT BUILD_SHARED_LIBS)
     message(FATAL_ERROR "
 FATAL: Cannot build static libs with Java enabled.
@@ -167,8 +162,7 @@ endif()
 
 if (USE_SYSTEM_LIBUV)
 set (LIBUV_SYSTEM_REPLACE "
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(libuv REQUIRED IMPORTED_TARGET libuv)
+find_dependency(libuv CONFIG)
 ")
 endif()
 

README.md

@@ -17,6 +17,7 @@ Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WP
     - [Custom toolchain location](#custom-toolchain-location)
     - [Formatting/Linting](#formattinglinting)
     - [CMake](#cmake)
+  - [Running examples in simulation](#running-examples-in-simulation)
   - [Publishing](#publishing)
   - [Structure and Organization](#structure-and-organization)
 - [Contributing to WPILib](#contributing-to-wpilib)
@@ -61,7 +62,7 @@ On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be ab
 
 Clone the WPILib repository and follow the instructions above for installing any required tooling.
 
-See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions. We use clang-format 14.
+See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions.
 
 ## Building
 
@@ -119,7 +120,7 @@ Once a PR has been submitted, formatting can be run in CI by commenting `/format
 
 #### wpiformat
 
-wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat -clang 14` on Windows or `python3 -m wpiformat -clang 14` on other platforms.
+wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on Windows or `python3 -m wpiformat` on other platforms.
 
 #### Java Code Quality Tools
 
@@ -131,6 +132,16 @@ If you only want to run the Java autoformatter, run `./gradlew spotlessApply`.
 
 CMake is also supported for building. See [README-CMAKE.md](README-CMAKE.md).
 
+## Running examples in simulation
+
+Examples can be run in simulation with the following command:
+
+```bash
+./gradlew wpilibcExamples:runExample
+./gradlew wpilibjExamples:runExample
+```
+where `Example` is the example's folder name.
+
 ## Publishing
 
 If you are building to test with other dependencies or just want to export the build as a Maven-style dependency, simply run the `publish` task. This task will publish all available packages to ~/releases/maven/development. If you need to publish the project to a different repo, you can specify it with `-Prepo=repo_name`. Valid options are:

ThirdPartyNotices.txt

@@ -41,9 +41,6 @@ Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineP
                       wpilibc/src/main/native/include/trajectory/TrajectoryParameterizer.h
                       wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
 Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
-Drake                 wpimath/src/main/native/thirdparty/drake/
-                      wpimath/src/test/native/cpp/drake/
-                      wpimath/src/test/native/include/drake/
 V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
 GCEM                  wpimath/src/main/native/thirdparty/gcem/include/
 
@@ -1069,41 +1066,6 @@ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 
-=============
-Drake Library
-=============
-All components of Drake are licensed under the BSD 3-Clause License
-shown below. Where noted in the source code, some portions may
-be subject to other permissive, non-viral licenses.
-
-Copyright 2012-2016 Robot Locomotion Group @ CSAIL
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-Redistributions of source code must retain the above copyright notice,
-this list of conditions and the following disclaimer.  Redistributions
-in binary form must reproduce the above copyright notice, this list of
-conditions and the following disclaimer in the documentation and/or
-other materials provided with the distribution.  Neither the name of
-the Massachusetts Institute of Technology nor the names of its
-contributors may be used to endorse or promote products derived from
-this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
 =====================
 Portable File Dialogs
 =====================

apriltag/CMakeLists.txt

@@ -7,7 +7,7 @@ include(FetchContent)
 FetchContent_Declare(
     apriltaglib
     GIT_REPOSITORY  https://github.com/wpilibsuite/apriltag.git
-    GIT_TAG         ad31e33d20f9782b7239cb15cde57c56c91383ad
+    GIT_TAG         e55b751f2465bd40a880d9acb87d24289e2af89e
 )
 
 # Don't use apriltag's CMakeLists.txt due to conflicting naming and JNI

apriltag/build.gradle

@@ -35,7 +35,6 @@ apply from: "${rootDir}/shared/opencv.gradle"
 
 dependencies {
     implementation project(':wpimath')
-    devImplementation project(':wpimath')
 }
 
 sourceSets {

apriltag/src/main/native/cpp/AprilTagPoseEstimator.cpp

@@ -110,7 +110,7 @@ static AprilTagPoseEstimate DoEstimateOrthogonalIteration(
   apriltag_pose_t pose1, pose2;
   double err1, err2;
   estimate_tag_pose_orthogonal_iteration(&info, &err1, &pose1, &err2, &pose2,
-                                         nIters);
+                                         nIters, 1e-7);
   return {MakePose(pose1), MakePose(pose2), err1, err2};
 }
 

apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagDetectorTest.java

@@ -157,7 +157,7 @@ class AprilTagDetectorTest {
 
       var estimator =
           new AprilTagPoseEstimator(new AprilTagPoseEstimator.Config(0.2, 500, 500, 320, 240));
-      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 50);
+      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 200);
       assertEquals(new Transform3d(), est.pose2);
       Transform3d pose = estimator.estimate(results[0]);
       assertEquals(est.pose1, pose);
@@ -189,7 +189,7 @@ class AprilTagDetectorTest {
           new AprilTagPoseEstimator(
               new AprilTagPoseEstimator.Config(
                   0.2, 500, 500, image.cols() / 2.0, image.rows() / 2.0));
-      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 50);
+      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 200);
 
       assertEquals(Units.degreesToRadians(45), est.pose1.getRotation().getX(), 0.1);
       assertEquals(Units.degreesToRadians(0), est.pose1.getRotation().getY(), 0.1);
@@ -222,7 +222,7 @@ class AprilTagDetectorTest {
           new AprilTagPoseEstimator(
               new AprilTagPoseEstimator.Config(
                   0.2, 500, 500, image.cols() / 2.0, image.rows() / 2.0));
-      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 50);
+      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 200);
 
       assertEquals(Units.degreesToRadians(0), est.pose1.getRotation().getX(), 0.1);
       assertEquals(Units.degreesToRadians(45), est.pose1.getRotation().getY(), 0.1);
@@ -252,7 +252,7 @@ class AprilTagDetectorTest {
           new AprilTagPoseEstimator(
               new AprilTagPoseEstimator.Config(
                   0.2, 500, 500, image.cols() / 2.0, image.rows() / 2.0));
-      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 50);
+      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 200);
 
       assertEquals(Units.degreesToRadians(0), est.pose1.getRotation().getX(), 0.1);
       assertEquals(Units.degreesToRadians(0), est.pose1.getRotation().getY(), 0.1);

build.gradle

@@ -7,7 +7,7 @@ buildscript {
         }
     }
     dependencies {
-        classpath 'com.hubspot.jinjava:jinjava:2.6.0'
+        classpath 'com.hubspot.jinjava:jinjava:2.7.1'
     }
 }
 
@@ -20,10 +20,10 @@ plugins {
     id 'edu.wpi.first.GradleVsCode'
     id 'idea'
     id 'visual-studio'
-    id 'net.ltgt.errorprone' version '2.0.2' apply false
-    id 'com.github.johnrengelman.shadow' version '7.1.2' apply false
-    id 'com.diffplug.spotless' version '6.12.0' apply false
-    id 'com.github.spotbugs' version '5.0.8' apply false
+    id 'net.ltgt.errorprone' version '3.1.0' apply false
+    id 'com.github.johnrengelman.shadow' version '8.1.1' apply false
+    id 'com.diffplug.spotless' version '6.20.0' apply false
+    id 'com.github.spotbugs' version '5.1.3' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -94,8 +94,8 @@ ext.addTaskToCopyAllOutputs = { task ->
         return
     }
     copyAllOutputs.dependsOn task
-    copyAllOutputs.inputs.file task.archivePath
-    copyAllOutputs.from task.archivePath
+    copyAllOutputs.inputs.file task.archiveFile
+    copyAllOutputs.from task.archiveFile
 }
 
 subprojects {
@@ -167,5 +167,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '7.5.1'
+    gradleVersion = '8.1'
 }

buildSrc/build.gradle

@@ -9,5 +9,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2023.11.1"
+    implementation "edu.wpi.first:native-utils:2024.0.0"
 }

cameraserver/build.gradle

@@ -14,10 +14,6 @@ dependencies {
     implementation project(':wpinet')
     implementation project(':ntcore')
     implementation project(':cscore')
-    devImplementation project(':wpiutil')
-    devImplementation project(':wpinet')
-    devImplementation project(':ntcore')
-    devImplementation project(':cscore')
 }
 
 ext {

cameraserver/multiCameraServer/build.gradle

@@ -29,7 +29,7 @@ repositories {
 }
 
 dependencies {
-    implementation 'com.google.code.gson:gson:2.8.9'
+    implementation 'com.google.code.gson:gson:2.10.1'
 
     implementation project(':wpiutil')
     implementation project(':wpinet')
@@ -59,6 +59,9 @@ model {
                 lib project: ':cscore', library: 'cscore', linkage: 'static'
                 lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                    nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
+                }
             }
         }
     }

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

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <functional>
+
 #include "vision/VisionRunner.h"
 
 namespace frc {

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

@@ -21,10 +21,10 @@ TEST_P(DutyCycleTest, DutyCycle) {
   ASSERT_EQ(0, status);
 
   // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMRaw(pwmHandle, 0, &status);
+  HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
   ASSERT_EQ(0, status);
-  HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
-  HAL_SetPWMConfig(pwmHandle, 5.05, 2.525, 2.525, 2.525, 0, &status);
+  HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
+  HAL_SetPWMConfigMicroseconds(pwmHandle, 5050, 2525, 2525, 2525, 0, &status);
   ASSERT_EQ(0, status);
   HAL_SetPWMPeriodScale(pwmHandle, 0, &status);
   ASSERT_EQ(0, status);
@@ -41,8 +41,9 @@ TEST_P(DutyCycleTest, DutyCycle) {
   // Sleep enough time for the frequency to converge
   usleep(3500000);
 
-  ASSERT_NEAR(1000 / 5.05,
-              (double)HAL_GetDutyCycleFrequency(dutyCycle, &status), 1);
+  ASSERT_NEAR(
+      1000 / 5.05,
+      static_cast<double>(HAL_GetDutyCycleFrequency(dutyCycle, &status)), 1);
 
   // TODO measure output
 }

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

@@ -32,8 +32,8 @@ void TestTimingDMA(int squelch, std::pair<int, int> param) {
   ASSERT_EQ(0, status);
 
   // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMRaw(pwmHandle, 0, &status);
-  HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
+  HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
+  HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
   HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
 
   unsigned int checkPeriod = 0;
@@ -163,8 +163,8 @@ void TestTiming(int squelch, std::pair<int, int> param) {
   ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
 
   // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMRaw(pwmHandle, 0, &status);
-  HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
+  HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
+  HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
   HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
 
   unsigned int checkPeriod = 0;
@@ -251,7 +251,7 @@ void TestTiming(int squelch, std::pair<int, int> param) {
       }
     }
 
-    HAL_SetPWMRaw(pwmHandle, 0, &status);
+    HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
 
     // Ensure our interrupts have the proper counts
     ASSERT_EQ(interruptData.risingStamps.size(),

cscore/build.gradle

@@ -36,7 +36,6 @@ model {
                         srcDir 'src/main/native/include'
                         include '**/*.h'
                     }
-
                 }
             }
             binaries.all {
@@ -216,6 +215,9 @@ model {
                                     it.linker.args << '-lGL'
                                 }
                             }
+                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                                nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
+                            }
                         }
                         sources {
                             cpp {
@@ -234,6 +236,9 @@ model {
                         lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                         lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                         lib library: 'cscore', linkage: 'shared'
+                        if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                            nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
+                        }
                     }
                     sources {
                         cpp {

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

@@ -65,6 +65,7 @@ public class CameraServerCvJNI {
   public static native void putSourceFrame(int source, long imageNativeObj);
 
   public static native int createCvSink(String name);
+
   // public static native int createCvSinkCallback(String name,
   //                            void (*processFrame)(long time));
 

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

@@ -4,6 +4,8 @@
 
 package edu.wpi.first.cscore;
 
+import java.util.Objects;
+
 /** Video mode. */
 @SuppressWarnings("MemberName")
 public class VideoMode {
@@ -75,4 +77,28 @@ public class VideoMode {
 
   /** Frames per second. */
   public int fps;
+
+  @Override
+  public boolean equals(Object other) {
+    if (this == other) {
+      return true;
+    }
+    if (other == null) {
+      return false;
+    }
+    if (getClass() != other.getClass()) {
+      return false;
+    }
+    VideoMode mode = (VideoMode) other;
+
+    return pixelFormat == mode.pixelFormat
+        && width == mode.width
+        && height == mode.height
+        && fps == mode.fps;
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(pixelFormat, width, height, fps);
+  }
 }

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

@@ -22,9 +22,7 @@ class Image {
 
  public:
 #ifndef __linux__
-  explicit Image(size_t capacity) {
-    m_data.reserve(capacity);
-  }
+  explicit Image(size_t capacity) { m_data.reserve(capacity); }
 #else
   explicit Image(size_t capacity)
       : m_data{capacity, default_init_allocator<uchar>{}} {
@@ -39,35 +37,19 @@ class Image {
   operator std::string_view() const {  // NOLINT
     return str();
   }
-  std::string_view str() const {
-    return {data(), size()};
-  }
-  size_t capacity() const {
-    return m_data.capacity();
-  }
+  std::string_view str() const { return {data(), size()}; }
+  size_t capacity() const { return m_data.capacity(); }
   const char* data() const {
     return reinterpret_cast<const char*>(m_data.data());
   }
-  char* data() {
-    return reinterpret_cast<char*>(m_data.data());
-  }
-  size_t size() const {
-    return m_data.size();
-  }
+  char* data() { return reinterpret_cast<char*>(m_data.data()); }
+  size_t size() const { return m_data.size(); }
 
-  const std::vector<uchar>& vec() const {
-    return m_data;
-  }
-  std::vector<uchar>& vec() {
-    return m_data;
-  }
+  const std::vector<uchar>& vec() const { return m_data; }
+  std::vector<uchar>& vec() { return m_data; }
 
-  void resize(size_t size) {
-    m_data.resize(size);
-  }
-  void SetSize(size_t size) {
-    m_data.resize(size);
-  }
+  void resize(size_t size) { m_data.resize(size); }
+  void SetSize(size_t size) { m_data.resize(size); }
 
   cv::Mat AsMat() {
     int type;
@@ -90,9 +72,7 @@ class Image {
     return cv::Mat{height, width, type, m_data.data()};
   }
 
-  cv::_InputArray AsInputArray() {
-    return cv::_InputArray{m_data};
-  }
+  cv::_InputArray AsInputArray() { return cv::_InputArray{m_data}; }
 
   bool Is(int width_, int height_) {
     return width == width_ && height == height_;
@@ -114,12 +94,8 @@ class Image {
   bool IsLarger(const Image& oth) {
     return width >= oth.width && height >= oth.height;
   }
-  bool IsSmaller(int width_, int height_) {
-    return !IsLarger(width_, height_);
-  }
-  bool IsSmaller(const Image& oth) {
-    return !IsLarger(oth);
-  }
+  bool IsSmaller(int width_, int height_) { return !IsLarger(width_, height_); }
+  bool IsSmaller(const Image& oth) { return !IsLarger(oth); }
 
  private:
   std::vector<uchar> m_data;

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

@@ -516,7 +516,7 @@ void CS_FreeEnumeratedVideoModes(CS_VideoMode* modes, int count) {
   std::free(modes);
 }
 
-char* CS_GetHostname() {
+char* CS_GetHostname(void) {
   return cs::ConvertToC(cs::GetHostname());
 }
 

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

@@ -504,7 +504,7 @@ void CS_FreeHttpCameraUrls(char** urls, int count);
 void CS_FreeEnumeratedProperties(CS_Property* properties, int count);
 void CS_FreeEnumeratedVideoModes(CS_VideoMode* modes, int count);
 
-char* CS_GetHostname();
+char* CS_GetHostname(void);
 
 char** CS_GetNetworkInterfaces(int* count);
 void CS_FreeNetworkInterfaces(char** interfaces, int count);

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

@@ -5,6 +5,8 @@
 #ifndef CSCORE_CSCORE_CV_H_
 #define CSCORE_CSCORE_CV_H_
 
+#include <functional>
+
 #include "cscore_c.h"
 
 #ifdef CSCORE_CSCORE_RAW_CV_H_
@@ -152,8 +154,8 @@ class CvSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrame(cv::Mat& image,
-                                   double timeout = 0.225) const;
+  [[nodiscard]]
+  uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225) const;
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -163,7 +165,8 @@ class CvSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
+  [[nodiscard]]
+  uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
 };
 
 inline CvSource::CvSource(std::string_view name, const VideoMode& mode) {

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

@@ -5,6 +5,7 @@
 #ifndef CSCORE_CSCORE_OO_H_
 #define CSCORE_CSCORE_OO_H_
 
+#include <functional>
 #include <initializer_list>
 #include <span>
 #include <string>

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

@@ -5,6 +5,7 @@
 #ifndef CSCORE_CSCORE_OO_INC_
 #define CSCORE_CSCORE_OO_INC_
 
+#include <functional>
 #include <string>
 #include <string_view>
 #include <utility>

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

@@ -5,6 +5,8 @@
 #ifndef CSCORE_CSCORE_RAW_H_
 #define CSCORE_CSCORE_RAW_H_
 
+#include <functional>
+
 #include "cscore_c.h"
 
 #ifdef __cplusplus
@@ -174,8 +176,8 @@ class RawSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrame(RawFrame& image,
-                                   double timeout = 0.225) const;
+  [[nodiscard]]
+  uint64_t GrabFrame(RawFrame& image, double timeout = 0.225) const;
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -185,7 +187,8 @@ class RawSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameNoTimeout(RawFrame& image) const;
+  [[nodiscard]]
+  uint64_t GrabFrameNoTimeout(RawFrame& image) const;
 };
 
 inline RawSource::RawSource(std::string_view name, const VideoMode& mode) {

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

@@ -9,6 +9,8 @@
 #error "Cannot include both cscore_cv.h and cscore_raw_cv.h in the same file"
 #endif
 
+#include <functional>
+
 #include <opencv2/core/mat.hpp>
 
 #include "cscore_raw.h"
@@ -111,7 +113,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225);
+  [[nodiscard]]
+  uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225);
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -121,7 +124,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameNoTimeout(cv::Mat& image);
+  [[nodiscard]]
+  uint64_t GrabFrameNoTimeout(cv::Mat& image);
 
   /**
    * Wait for the next frame and get the image.
@@ -132,8 +136,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameDirect(cv::Mat& image,
-                                         double timeout = 0.225);
+  [[nodiscard]]
+  uint64_t GrabFrameDirect(cv::Mat& image, double timeout = 0.225);
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -143,7 +147,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameNoTimeoutDirect(cv::Mat& image);
+  [[nodiscard]]
+  uint64_t GrabFrameNoTimeoutDirect(cv::Mat& image);
 
  private:
   RawFrame rawFrame;

cscore/src/main/native/objcpp/UsbCameraImplObjc.mm

@@ -328,8 +328,6 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
   @autoreleasepool {
     NSArray<AVCaptureDeviceFormat*>* formats = self.videoDevice.formats;
 
-    int count = 0;
-
     for (AVCaptureDeviceFormat* format in formats) {
       CMFormatDescriptionRef cmformat = format.formatDescription;
       CMVideoDimensions s1 = CMVideoFormatDescriptionGetDimensions(cmformat);
@@ -363,7 +361,6 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
 
       modes.emplace_back(store.mode);
       platformModes.emplace_back(store);
-      count++;
     }
   }
 

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

@@ -270,8 +270,9 @@ void UsbCameraImpl::DeviceDisconnect() {
 }
 
 static bool IsPercentageProperty(std::string_view name) {
-  if (wpi::starts_with(name, "raw_"))
+  if (wpi::starts_with(name, "raw_")) {
     name = wpi::substr(name, 4);
+  }
   return name == "Brightness" || name == "Contrast" || name == "Saturation" ||
          name == "Hue" || name == "Sharpness" || name == "Gain" ||
          name == "Exposure";

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

@@ -0,0 +1,21 @@
+// 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.cscore;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotEquals;
+
+import org.junit.jupiter.api.Test;
+
+class VideoModeTest {
+  @Test
+  void equalityTest() {
+    VideoMode a = new VideoMode(VideoMode.PixelFormat.kMJPEG, 1920, 1080, 30);
+    VideoMode b = new VideoMode(VideoMode.PixelFormat.kMJPEG, 1920, 1080, 30);
+
+    assertEquals(a, b);
+    assertNotEquals(a, null);
+  }
+}

datalogtool/.styleguide

@@ -23,6 +23,7 @@ includeOtherLibs {
   ^fmt/
   ^glass/
   ^imgui
+  ^libssh/
   ^portable-file-dialog
   ^wpi/
   ^wpigui

datalogtool/publish.gradle

@@ -34,8 +34,16 @@ model {
                             description("Creates a macOS application bundle for DataLogTool")
                             from(file("$project.projectDir/Info.plist"))
                             into(file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/DataLogTool.app/Contents"))
-                            into("MacOS") { with copySpec { from binary.executable.file } }
-                            into("Resources") { with copySpec { from icon } }
+                            into("MacOS") {
+                                with copySpec {
+                                    from binary.executable.file
+                                }
+                            }
+                            into("Resources") {
+                                with copySpec {
+                                    from icon
+                                }
+                            }
 
                             inputs.property "HasDeveloperId", project.hasProperty("developerID")
 
@@ -71,7 +79,7 @@ model {
 
                             archiveBaseName = '_M_' + zipBaseName
                             duplicatesStrategy = 'exclude'
-                            classifier = nativeUtils.getPublishClassifier(binary)
+                            archiveClassifier = nativeUtils.getPublishClassifier(binary)
 
                             from(licenseFile) {
                                 into '/'

datalogtool/src/main/native/cpp/App.cpp

@@ -4,11 +4,11 @@
 
 #include "App.h"
 
-#include <libssh/libssh.h>
-
 #include <memory>
 #include <string_view>
 
+#include <libssh/libssh.h>
+
 #define IMGUI_DEFINE_MATH_OPERATORS
 
 #include <glass/Context.h>

datalogtool/src/main/native/cpp/Downloader.cpp

@@ -4,8 +4,6 @@
 
 #include "Downloader.h"
 
-#include <libssh/sftp.h>
-
 #ifdef _WIN32
 #include <fcntl.h>
 #include <io.h>
@@ -20,6 +18,7 @@
 #include <glass/Storage.h>
 #include <imgui.h>
 #include <imgui_stdlib.h>
+#include <libssh/sftp.h>
 #include <portable-file-dialogs.h>
 #include <wpi/StringExtras.h>
 #include <wpi/fs.h>
@@ -77,15 +76,15 @@ void Downloader::DisplayRemoteDirSelector() {
 
   ImGui::SameLine();
   if (ImGui::Button("Deselect All")) {
-    for (auto&& download : m_downloadList) {
-      download.enabled = false;
+    for (auto&& download : m_fileList) {
+      download.selected = false;
     }
   }
 
   ImGui::SameLine();
   if (ImGui::Button("Select All")) {
-    for (auto&& download : m_downloadList) {
-      download.enabled = true;
+    for (auto&& download : m_fileList) {
+      download.selected = true;
     }
   }
 
@@ -138,6 +137,27 @@ void Downloader::DisplayLocalDirSelector() {
       m_cv.notify_all();
     }
   }
+
+  ImGui::PushStyleColor(ImGuiCol_Button, IM_COL32(180, 0, 0, 255));
+  ImGui::PushStyleColor(ImGuiCol_ButtonHovered, IM_COL32(210, 0, 0, 255));
+  ImGui::PushStyleColor(ImGuiCol_ButtonActive, IM_COL32(255, 0, 0, 255));
+  if (ImGui::Button("Delete WITHOUT Downloading")) {
+    ImGui::OpenPopup("DeleteConfirm");
+  }
+  ImGui::PopStyleColor(3);
+  if (ImGui::BeginPopup("DeleteConfirm")) {
+    ImGui::TextUnformatted("Are you sure? This will NOT download the files");
+    if (ImGui::Button("DELETE")) {
+      m_state = kDelete;
+      m_cv.notify_all();
+      ImGui::CloseCurrentPopup();
+    }
+    ImGui::SameLine();
+    if (ImGui::Button("Cancel")) {
+      ImGui::CloseCurrentPopup();
+    }
+    ImGui::EndPopup();
+  }
 }
 
 size_t Downloader::DisplayFiles() {
@@ -148,11 +168,15 @@ size_t Downloader::DisplayFiles() {
           ImGuiTableFlags_Borders | ImGuiTableFlags_SizingStretchProp)) {
     ImGui::TableSetupColumn("File");
     ImGui::TableSetupColumn("Size");
-    ImGui::TableSetupColumn("Download");
+    ImGui::TableSetupColumn((m_state == kDownload || m_state == kDownloadDone ||
+                             m_state == kDelete || m_state == kDeleteDone)
+                                ? "Status"
+                                : "Selected");
     ImGui::TableHeadersRow();
-    for (auto&& download : m_downloadList) {
-      if ((m_state == kDownload || m_state == kDownloadDone) &&
-          !download.enabled) {
+    for (auto&& file : m_fileList) {
+      if ((m_state == kDownload || m_state == kDownloadDone ||
+           m_state == kDelete || m_state == kDeleteDone) &&
+          !file.selected) {
         continue;
       }
 
@@ -160,20 +184,24 @@ size_t Downloader::DisplayFiles() {
 
       ImGui::TableNextRow();
       ImGui::TableNextColumn();
-      ImGui::TextUnformatted(download.name.c_str());
+      ImGui::TextUnformatted(file.name.c_str());
       ImGui::TableNextColumn();
-      auto sizeText = fmt::format("{}", download.size);
+      auto sizeText = fmt::format("{}", file.size);
       ImGui::TextUnformatted(sizeText.c_str());
       ImGui::TableNextColumn();
       if (m_state == kDownload || m_state == kDownloadDone) {
-        if (!download.status.empty()) {
-          ImGui::TextUnformatted(download.status.c_str());
+        if (!file.status.empty()) {
+          ImGui::TextUnformatted(file.status.c_str());
         } else {
-          ImGui::ProgressBar(download.complete);
+          ImGui::ProgressBar(file.complete);
+        }
+      } else if (m_state == kDelete || m_state == kDeleteDone) {
+        if (!file.status.empty()) {
+          ImGui::TextUnformatted(file.status.c_str());
         }
       } else {
-        auto checkboxLabel = fmt::format("##{}", download.name);
-        ImGui::Checkbox(checkboxLabel.c_str(), &download.enabled);
+        auto checkboxLabel = fmt::format("##{}", file.name);
+        ImGui::Checkbox(checkboxLabel.c_str(), &file.selected);
       }
     }
     ImGui::EndTable();
@@ -224,6 +252,17 @@ void Downloader::Display() {
         }
       }
       break;
+    case kDelete:
+    case kDeleteDone:
+      DisplayDisconnectButton();
+      DisplayFiles();
+      if (m_state == kDeleteDone) {
+        if (ImGui::Button("Deletion complete!")) {
+          m_state = kGetFiles;
+          m_cv.notify_all();
+        }
+      }
+      break;
     default:
       break;
   }
@@ -274,7 +313,7 @@ void Downloader::ThreadMain() {
             }
             m_error = ex.what();
             m_dirList.clear();
-            m_downloadList.clear();
+            m_fileList.clear();
             m_state = kConnected;
             break;
           }
@@ -284,7 +323,7 @@ void Downloader::ThreadMain() {
           lock.lock();
 
           m_dirList.clear();
-          m_downloadList.clear();
+          m_fileList.clear();
           for (auto&& attr : fileList) {
             if (attr.type == SSH_FILEXFER_TYPE_DIRECTORY) {
               if (attr.name != ".") {
@@ -293,7 +332,7 @@ void Downloader::ThreadMain() {
             } else if (attr.type == SSH_FILEXFER_TYPE_REGULAR &&
                        (attr.flags & SSH_FILEXFER_ATTR_SIZE) != 0 &&
                        wpi::ends_with(attr.name, ".wpilog")) {
-              m_downloadList.emplace_back(attr.name, attr.size);
+              m_fileList.emplace_back(attr.name, attr.size);
             }
           }
 
@@ -305,20 +344,20 @@ void Downloader::ThreadMain() {
           m_state = kDisconnected;
           break;
         case kDownload: {
-          for (auto&& download : m_downloadList) {
+          for (auto&& file : m_fileList) {
             if (m_state != kDownload) {
               // user aborted
               break;
             }
-            if (!download.enabled) {
+            if (!file.selected) {
               continue;
             }
 
             auto remoteFilename = fmt::format(
                 "{}{}{}", m_remoteDir,
-                wpi::ends_with(m_remoteDir, '/') ? "" : "/", download.name);
-            auto localFilename = fs::path{m_localDir} / download.name;
-            uint64_t fileSize = download.size;
+                wpi::ends_with(m_remoteDir, '/') ? "" : "/", file.name);
+            auto localFilename = fs::path{m_localDir} / file.name;
+            uint64_t fileSize = file.size;
 
             lock.unlock();
 
@@ -329,14 +368,14 @@ void Downloader::ThreadMain() {
             if (ec) {
               // failed to open
               lock.lock();
-              download.status = ec.message();
+              file.status = ec.message();
               continue;
             }
             int ofd = fs::FileToFd(of, ec, fs::OF_None);
             if (ofd == -1 || ec) {
               // failed to convert to fd
               lock.lock();
-              download.status = ec.message();
+              file.status = ec.message();
               continue;
             }
 
@@ -356,12 +395,12 @@ void Downloader::ThreadMain() {
                   close(ofd);
                   fs::remove(localFilename, ec);
                   lock.lock();
-                  download.status = "error writing local file";
+                  file.status = "error writing local file";
                   goto err;
                 }
                 total += copied;
                 lock.lock();
-                download.complete = static_cast<float>(total) / fileSize;
+                file.complete = static_cast<float>(total) / fileSize;
                 lock.unlock();
               }
 
@@ -381,7 +420,7 @@ void Downloader::ThreadMain() {
                 fs::remove(localFilename, ec);
               }
               lock.lock();
-              download.status = ex.what();
+              file.status = ex.what();
               if (ex.err == SSH_FX_OK || ex.err == SSH_FX_CONNECTION_LOST) {
                 throw;
               }
@@ -395,6 +434,39 @@ void Downloader::ThreadMain() {
           }
           break;
         }
+        case kDelete: {
+          for (auto&& file : m_fileList) {
+            if (m_state != kDelete) {
+              // user aborted
+              break;
+            }
+            if (!file.selected) {
+              continue;
+            }
+
+            auto remoteFilename = fmt::format(
+                "{}{}{}", m_remoteDir,
+                wpi::ends_with(m_remoteDir, '/') ? "" : "/", file.name);
+
+            lock.unlock();
+            try {
+              session->Unlink(remoteFilename);
+            } catch (sftp::Exception& ex) {
+              lock.lock();
+              file.status = ex.what();
+              if (ex.err == SSH_FX_OK || ex.err == SSH_FX_CONNECTION_LOST) {
+                throw;
+              }
+              continue;
+            }
+            lock.lock();
+            file.status = "Deleted";
+          }
+          if (m_state == kDelete) {
+            m_state = kDeleteDone;
+          }
+          break;
+        }
         default:
           break;
       }

datalogtool/src/main/native/cpp/Downloader.h

@@ -45,6 +45,8 @@ class Downloader {
     kGetFiles,
     kDownload,
     kDownloadDone,
+    kDelete,
+    kDeleteDone,
     kExit
   } m_state = kDisconnected;
   std::condition_variable m_cv;
@@ -60,17 +62,16 @@ class Downloader {
   bool& m_deleteAfter;
 
   std::vector<std::string> m_dirList;
-  struct DownloadState {
-    DownloadState(std::string_view name, uint64_t size)
-        : name{name}, size{size} {}
+  struct FileState {
+    FileState(std::string_view name, uint64_t size) : name{name}, size{size} {}
 
     std::string name;
     uint64_t size;
-    bool enabled = true;
+    bool selected = true;
     float complete = 0.0;
     std::string status;
   };
-  std::vector<DownloadState> m_downloadList;
+  std::vector<FileState> m_fileList;
 
   std::string m_error;
 

datalogtool/src/main/native/cpp/Sftp.h

@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <libssh/libssh.h>
-#include <libssh/sftp.h>
-
 #include <span>
 #include <stdexcept>
 #include <string>
 #include <string_view>
 #include <vector>
 
+#include <libssh/libssh.h>
+#include <libssh/sftp.h>
+
 namespace sftp {
 
 struct Attributes {

docs/build.gradle

@@ -13,6 +13,7 @@ evaluationDependsOn(':wpilibc')
 evaluationDependsOn(':wpilibj')
 evaluationDependsOn(':wpimath')
 evaluationDependsOn(':wpinet')
+evaluationDependsOn(':wpiunits')
 evaluationDependsOn(':wpiutil')
 
 def baseArtifactIdCpp = 'documentation'
@@ -67,18 +68,13 @@ doxygen {
     cppIncludeRoots << '../ntcore/build/generated/main/native/include/'
 
     if (project.hasProperty('docWarningsAsErrors')) {
-        // C++20 shims
-        exclude 'wpi/ghc/filesystem.hpp'
-
-        // Drake
-        exclude 'drake/common/**'
-
         // Eigen
         exclude 'Eigen/**'
         exclude 'unsupported/**'
 
         // LLVM
         exclude 'wpi/AlignOf.h'
+        exclude 'wpi/Casting.h'
         exclude 'wpi/Chrono.h'
         exclude 'wpi/Compiler.h'
         exclude 'wpi/ConvertUTF.h'
@@ -89,6 +85,7 @@ doxygen {
         exclude 'wpi/Errc.h'
         exclude 'wpi/Errno.h'
         exclude 'wpi/ErrorHandling.h'
+        exclude 'wpi/bit.h'
         exclude 'wpi/fs.h'
         exclude 'wpi/FunctionExtras.h'
         exclude 'wpi/function_ref.h'
@@ -175,7 +172,9 @@ doxygen {
     enable_preprocessing true
     macro_expansion true
     expand_only_predef true
-    predefined "WPI_DEPRECATED(x)=[[deprecated(x)]]"
+    predefined "WPI_DEPRECATED(x)=[[deprecated(x)]]\"\\\n" +
+            "\"__cplusplus\"\\\n" +
+            "\"HAL_ENUM(name)=enum name : int32_t"
 
     if (project.hasProperty('docWarningsAsErrors')) {
         warn_as_error 'FAIL_ON_WARNINGS'

fieldImages/CMakeLists.txt

@@ -25,7 +25,7 @@ endif()
 GENERATE_RESOURCES(src/main/native/resources/edu/wpi/first/fields generated/main/cpp FIELDS fields field_images_resources_src)
 
 
-add_library(fieldImages ${field_images_resources_src})
+add_library(fieldImages src/main/native/cpp/fields.cpp ${field_images_resources_src})
 set_target_properties(fieldImages PROPERTIES DEBUG_POSTFIX "d")
 
 set_property(TARGET fieldImages PROPERTY FOLDER "libraries")

fieldImages/build.gradle

@@ -14,9 +14,9 @@ if (!project.hasProperty('onlylinuxathena')) {
     }
 
     dependencies {
-        implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
-        implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
-        implementation "com.fasterxml.jackson.core:jackson-databind:2.12.4"
+        implementation "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
+        implementation "com.fasterxml.jackson.core:jackson-core:2.15.2"
+        implementation "com.fasterxml.jackson.core:jackson-databind:2.15.2"
     }
 
     ext {
@@ -52,7 +52,7 @@ if (!project.hasProperty('onlylinuxathena')) {
                 sources {
                     cpp {
                         source {
-                            srcDirs "$buildDir/generated/main/cpp"
+                            srcDirs 'src/main/native/cpp', "$buildDir/generated/main/cpp"
                             include '**/*.cpp'
                         }
                         exportedHeaders {

fieldImages/publish.gradle

@@ -9,7 +9,7 @@ def outputsFolder = file("$project.buildDir/outputs")
 task cppSourcesZip(type: Zip) {
     destinationDirectory = outputsFolder
     archiveBaseName = cppZipBaseName
-    classifier = "sources"
+    archiveClassifier = "sources"
 
     from(licenseFile) {
         into '/'
@@ -26,7 +26,7 @@ task cppSourcesZip(type: Zip) {
 task cppHeadersZip(type: Zip) {
     destinationDirectory = outputsFolder
     archiveBaseName = cppZipBaseName
-    classifier = "headers"
+    archiveClassifier = "headers"
 
     from(licenseFile) {
         into '/'

fieldImages/src/main/native/cpp/fields.cpp

@@ -0,0 +1,48 @@
+// 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 "fields/fields.h"
+
+#include "fields/2018-powerup.h"
+#include "fields/2019-deepspace.h"
+#include "fields/2020-infiniterecharge.h"
+#include "fields/2021-barrel.h"
+#include "fields/2021-bounce.h"
+#include "fields/2021-galacticsearcha.h"
+#include "fields/2021-galacticsearchb.h"
+#include "fields/2021-infiniterecharge.h"
+#include "fields/2021-slalom.h"
+#include "fields/2022-rapidreact.h"
+#include "fields/2023-chargedup.h"
+
+using namespace fields;
+
+static const Field kFields[] = {
+    {"2023 Charged Up", GetResource_2023_chargedup_json,
+     GetResource_2023_field_png},
+    {"2022 Rapid React", GetResource_2022_rapidreact_json,
+     GetResource_2022_field_png},
+    {"2021 Barrel Racing Path", GetResource_2021_barrelracingpath_json,
+     GetResource_2021_barrel_png},
+    {"2021 Bounce Path", GetResource_2021_bouncepath_json,
+     GetResource_2021_bounce_png},
+    {"2021 Galactic Search A", GetResource_2021_galacticsearcha_json,
+     GetResource_2021_galacticsearcha_png},
+    {"2021 Galactic Search B", GetResource_2021_galacticsearchb_json,
+     GetResource_2021_galacticsearchb_png},
+    {"2021 Infinite Recharge", GetResource_2021_infiniterecharge_json,
+     GetResource_2021_field_png},
+    {"2021 Slalom Path", GetResource_2021_slalompath_json,
+     GetResource_2021_slalom_png},
+    {"2020 Infinite Recharge", GetResource_2020_infiniterecharge_json,
+     GetResource_2020_field_png},
+    {"2019 Destination: Deep Space", GetResource_2019_deepspace_json,
+     GetResource_2019_field_jpg},
+    {"2018 Power Up", GetResource_2018_powerup_json,
+     GetResource_2018_field_jpg},
+};
+
+std::span<const Field> fields::GetFields() {
+  return kFields;
+}

fieldImages/src/main/native/include/fields/fields.h

@@ -0,0 +1,20 @@
+// 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 <span>
+#include <string_view>
+
+namespace fields {
+
+struct Field {
+  const char* name;
+  std::string_view (*getJson)();
+  std::string_view (*getImage)();
+};
+
+std::span<const Field> GetFields();
+
+}  // namespace fields

glass/.styleguide

@@ -22,6 +22,7 @@ includeOtherLibs {
   ^GLFW
   ^cscore
   ^fmt/
+  ^fields/
   ^frc/
   ^imgui
   ^networktables/

glass/CMakeLists.txt

@@ -16,7 +16,7 @@ set_property(TARGET libglass PROPERTY POSITION_INDEPENDENT_CODE ON)
 set_property(TARGET libglass PROPERTY FOLDER "libraries")
 
 wpilib_target_warnings(libglass)
-target_link_libraries(libglass PUBLIC wpigui wpimath wpiutil)
+target_link_libraries(libglass PUBLIC wpigui wpimath wpiutil fieldImages)
 
 target_include_directories(libglass PUBLIC
                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/lib/native/include>

glass/build.gradle

@@ -113,6 +113,7 @@ if (!project.hasProperty('onlylinuxathena')) {
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                     lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
                     lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                    lib project: ':fieldImages', library: 'fieldImages', linkage: 'shared'
                     nativeUtils.useRequiredLibrary(it, 'imgui')
                 }
                 appendDebugPathToBinaries(binaries)
@@ -144,6 +145,7 @@ if (!project.hasProperty('onlylinuxathena')) {
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                     lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
                     lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                    lib project: ':fieldImages', library: 'fieldImages', linkage: 'shared'
                     nativeUtils.useRequiredLibrary(it, 'imgui')
                 }
                 appendDebugPathToBinaries(binaries)
@@ -183,6 +185,7 @@ if (!project.hasProperty('onlylinuxathena')) {
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                     lib project: ':wpimath', library: 'wpimath', linkage: 'static'
                     lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                    lib project: ':fieldImages', library: 'fieldImages', linkage: 'static'
                     nativeUtils.useRequiredLibrary(it, 'opencv_static')
                     nativeUtils.useRequiredLibrary(it, 'imgui')
                     if (it.targetPlatform.operatingSystem.isWindows()) {

glass/publish.gradle

@@ -17,7 +17,7 @@ def outputsFolder = file("$project.buildDir/outputs")
 task libCppSourcesZip(type: Zip) {
     destinationDirectory = outputsFolder
     archiveBaseName = libZipBaseName
-    classifier = "sources"
+    archiveClassifier = "sources"
 
     from(licenseFile) { into '/' }
     from('src/lib/native/cpp') { into '/' }
@@ -26,7 +26,7 @@ task libCppSourcesZip(type: Zip) {
 task libCppHeadersZip(type: Zip) {
     destinationDirectory = outputsFolder
     archiveBaseName = libZipBaseName
-    classifier = "headers"
+    archiveClassifier = "headers"
 
     from(licenseFile) { into '/' }
     from('src/lib/native/include') { into '/' }
@@ -35,7 +35,7 @@ task libCppHeadersZip(type: Zip) {
 task libntCppSourcesZip(type: Zip) {
     destinationDirectory = outputsFolder
     archiveBaseName = libntZipBaseName
-    classifier = "sources"
+    archiveClassifier = "sources"
 
     from(licenseFile) { into '/' }
     from('src/libnt/native/cpp') { into '/' }
@@ -44,7 +44,7 @@ task libntCppSourcesZip(type: Zip) {
 task libntCppHeadersZip(type: Zip) {
     destinationDirectory = outputsFolder
     archiveBaseName = libntZipBaseName
-    classifier = "headers"
+    archiveClassifier = "headers"
 
     from(licenseFile) { into '/' }
     from('src/libnt/native/include') { into '/' }
@@ -89,8 +89,16 @@ model {
                             description("Creates a macOS application bundle for Glass")
                             from(file("$project.projectDir/Info.plist"))
                             into(file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/Glass.app/Contents"))
-                            into("MacOS") { with copySpec { from binary.executable.file } }
-                            into("Resources") { with copySpec { from icon } }
+                            into("MacOS") {
+                                with copySpec {
+                                    from binary.executable.file
+                                }
+                            }
+                            into("Resources") {
+                                with copySpec {
+                                    from icon
+                                }
+                            }
 
                             inputs.property "HasDeveloperId", project.hasProperty("developerID")
 
@@ -126,7 +134,7 @@ model {
 
                             archiveBaseName = '_M_' + zipBaseName
                             duplicatesStrategy = 'exclude'
-                            classifier = nativeUtils.getPublishClassifier(binary)
+                            archiveClassifier = nativeUtils.getPublishClassifier(binary)
 
                             from(licenseFile) {
                                 into '/'

glass/src/app/native/cpp/main.cpp

@@ -53,6 +53,7 @@ static bool gKeyEdit = false;
 static int* gEnterKey;
 static void (*gPrevKeyCallback)(GLFWwindow*, int, int, int, int);
 static bool gNetworkTablesDebugLog = false;
+static unsigned int gPrevMode = NT_NET_MODE_NONE;
 
 static void RemapEnterKeyCallback(GLFWwindow* window, int key, int scancode,
                                   int action, int mods) {
@@ -70,26 +71,46 @@ static void RemapEnterKeyCallback(GLFWwindow* window, int key, int scancode,
   }
 }
 
+/**
+ * Generates the proper title bar title based on current instance state and
+ * event.
+ */
+static std::string MakeTitle(NT_Inst inst, nt::Event event) {
+  auto mode = nt::GetNetworkMode(inst);
+  if (mode & NT_NET_MODE_SERVER) {
+    auto numClients = nt::GetConnections(inst).size();
+    return fmt::format("Glass - {} Client{} Connected", numClients,
+                       (numClients == 1 ? "" : "s"));
+  } else if (mode & NT_NET_MODE_CLIENT3 || mode & NT_NET_MODE_CLIENT4) {
+    if (event.Is(NT_EVENT_CONNECTED)) {
+      return fmt::format("Glass - Connected ({})",
+                         event.GetConnectionInfo()->remote_ip);
+    }
+  }
+  return "Glass - DISCONNECTED";
+}
+
 static void NtInitialize() {
   auto inst = nt::GetDefaultInstance();
   auto poller = nt::CreateListenerPoller(inst);
   nt::AddPolledListener(poller, inst, NT_EVENT_CONNECTION | NT_EVENT_IMMEDIATE);
   nt::AddPolledLogger(poller, 0, 100);
-  gui::AddEarlyExecute([poller] {
+  gui::AddEarlyExecute([inst, poller] {
     auto win = gui::GetSystemWindow();
     if (!win) {
       return;
     }
+    bool updateTitle = false;
+    nt::Event connectionEvent;
+    if (nt::GetNetworkMode(inst) != gPrevMode) {
+      gPrevMode = nt::GetNetworkMode(inst);
+      updateTitle = true;
+    }
+
     for (auto&& event : nt::ReadListenerQueue(poller)) {
-      if (auto connInfo = event.GetConnectionInfo()) {
-        // update window title when connection status changes
-        if ((event.flags & NT_EVENT_CONNECTED) != 0) {
-          glfwSetWindowTitle(
-              win, fmt::format("Glass - Connected ({})", connInfo->remote_ip)
-                       .c_str());
-        } else {
-          glfwSetWindowTitle(win, "Glass - DISCONNECTED");
-        }
+      if (event.Is(NT_EVENT_CONNECTION)) {
+        updateTitle = true;
+        connectionEvent = event;
       } else if (auto msg = event.GetLogMessage()) {
         const char* level = "";
         if (msg->level >= NT_LOG_CRITICAL) {
@@ -105,6 +126,10 @@ static void NtInitialize() {
             "{}{} ({}:{})\n", level, msg->message, msg->filename, msg->line));
       }
     }
+
+    if (updateTitle) {
+      glfwSetWindowTitle(win, MakeTitle(inst, connectionEvent).c_str());
+    }
   });
 
   gNetworkTablesLogWindow = std::make_unique<glass::Window>(

glass/src/lib/native/cpp/Storage.cpp

@@ -4,7 +4,7 @@
 
 #include "glass/Storage.h"
 
-#include <type_traits>
+#include <concepts>
 
 #include <imgui.h>
 #include <wpi/StringExtras.h>
@@ -14,7 +14,7 @@ using namespace glass;
 
 template <typename To>
 bool ConvertFromString(To* out, std::string_view str) {
-  if constexpr (std::is_same_v<To, bool>) {
+  if constexpr (std::same_as<To, bool>) {
     if (str == "true") {
       *out = true;
     } else if (str == "false") {
@@ -24,7 +24,7 @@ bool ConvertFromString(To* out, std::string_view str) {
     } else {
       return false;
     }
-  } else if constexpr (std::is_floating_point_v<To>) {
+  } else if constexpr (std::floating_point<To>) {
     if (auto val = wpi::parse_float<To>(str)) {
       *out = val.value();
     } else {
@@ -95,10 +95,14 @@ static inline bool ConvertString(Storage::Value* value) {
 template <typename From, typename To>
 static void ConvertArray(std::vector<To>** outPtr, std::vector<From>** inPtr) {
   if (*inPtr) {
-    std::vector<To>* tmp;
-    tmp = new std::vector<To>{(*inPtr)->begin(), (*inPtr)->end()};
-    delete *inPtr;
-    *outPtr = tmp;
+    if (*outPtr) {
+      (*outPtr)->assign((*inPtr)->begin(), (*inPtr)->end());
+    } else {
+      std::vector<To>* tmp;
+      tmp = new std::vector<To>{(*inPtr)->begin(), (*inPtr)->end()};
+      delete *inPtr;
+      *outPtr = tmp;
+    }
   } else {
     *outPtr = nullptr;
   }
@@ -300,7 +304,7 @@ Storage& Storage::GetChild(std::string_view label_id) {
     childPtr = std::make_unique<Value>();
   }
   if (childPtr->type != Value::kChild) {
-    childPtr->type = Value::kChild;
+    childPtr->Reset(Value::kChild);
     childPtr->child = new Storage;
   }
   return *childPtr->child;
@@ -630,22 +634,46 @@ void Storage::ClearValues() {
         value.stringVal = value.stringDefault;
         break;
       case Value::kIntArray:
-        *value.intArray = *value.intArrayDefault;
+        if (value.intArrayDefault) {
+          *value.intArray = *value.intArrayDefault;
+        } else {
+          value.intArray->clear();
+        }
         break;
       case Value::kInt64Array:
-        *value.int64Array = *value.int64ArrayDefault;
+        if (value.int64ArrayDefault) {
+          *value.int64Array = *value.int64ArrayDefault;
+        } else {
+          value.int64Array->clear();
+        }
         break;
       case Value::kBoolArray:
-        *value.boolArray = *value.boolArrayDefault;
+        if (value.boolArrayDefault) {
+          *value.boolArray = *value.boolArrayDefault;
+        } else {
+          value.boolArray->clear();
+        }
         break;
       case Value::kFloatArray:
-        *value.floatArray = *value.floatArrayDefault;
+        if (value.floatArrayDefault) {
+          *value.floatArray = *value.floatArrayDefault;
+        } else {
+          value.floatArray->clear();
+        }
         break;
       case Value::kDoubleArray:
-        *value.doubleArray = *value.doubleArrayDefault;
+        if (value.doubleArrayDefault) {
+          *value.doubleArray = *value.doubleArrayDefault;
+        } else {
+          value.doubleArray->clear();
+        }
         break;
       case Value::kStringArray:
-        *value.stringArray = *value.stringArrayDefault;
+        if (value.stringArrayDefault) {
+          *value.stringArray = *value.stringArrayDefault;
+        } else {
+          value.stringArray->clear();
+        }
         break;
       case Value::kChild:
         value.child->Clear();

glass/src/lib/native/cpp/other/Field2D.cpp

@@ -11,6 +11,7 @@
 #include <string_view>
 #include <utility>
 
+#include <fields/fields.h>
 #include <fmt/format.h>
 #include <frc/geometry/Pose2d.h>
 #include <frc/geometry/Rotation2d.h>
@@ -237,10 +238,12 @@ class FieldInfo {
  private:
   void Reset();
   bool LoadImageImpl(const std::string& fn);
-  void LoadJson(std::string_view jsonfile);
+  bool LoadJson(wpi::raw_istream& is, std::string_view filename);
+  void LoadJsonFile(std::string_view jsonfile);
 
   std::unique_ptr<pfd::open_file> m_fileOpener;
 
+  std::string& m_builtin;
   std::string& m_filename;
   gui::Texture m_texture;
 
@@ -340,7 +343,8 @@ static bool InputPose(frc::Pose2d* pose) {
 }
 
 FieldInfo::FieldInfo(Storage& storage)
-    : m_filename{storage.GetString("image")},
+    : m_builtin{storage.GetString("builtin")},
+      m_filename{storage.GetString("image")},
       m_width{storage.GetFloat("width", kDefaultWidth.to<float>())},
       m_height{storage.GetFloat("height", kDefaultHeight.to<float>())},
       m_top{storage.GetInt("top", 0)},
@@ -349,7 +353,25 @@ FieldInfo::FieldInfo(Storage& storage)
       m_right{storage.GetInt("right", -1)} {}
 
 void FieldInfo::DisplaySettings() {
-  if (ImGui::Button("Choose image...")) {
+  ImGui::SetNextItemWidth(ImGui::GetFontSize() * 10);
+  if (ImGui::BeginCombo("Image",
+                        m_builtin.empty() ? "Custom" : m_builtin.c_str())) {
+    if (ImGui::Selectable("Custom", m_builtin.empty())) {
+      Reset();
+    }
+    for (auto&& field : fields::GetFields()) {
+      bool selected = field.name == m_builtin;
+      if (ImGui::Selectable(field.name, selected)) {
+        Reset();
+        m_builtin = field.name;
+      }
+      if (selected) {
+        ImGui::SetItemDefaultFocus();
+      }
+    }
+    ImGui::EndCombo();
+  }
+  if (m_builtin.empty() && ImGui::Button("Load image...")) {
     m_fileOpener = std::make_unique<pfd::open_file>(
         "Choose field image", "",
         std::vector<std::string>{"Image File",
@@ -370,6 +392,7 @@ void FieldInfo::DisplaySettings() {
 
 void FieldInfo::Reset() {
   m_texture = gui::Texture{};
+  m_builtin.clear();
   m_filename.clear();
   m_imageWidth = 0;
   m_imageHeight = 0;
@@ -384,7 +407,7 @@ void FieldInfo::LoadImage() {
     auto result = m_fileOpener->result();
     if (!result.empty()) {
       if (wpi::ends_with(result[0], ".json")) {
-        LoadJson(result[0]);
+        LoadJsonFile(result[0]);
       } else {
         LoadImageImpl(result[0].c_str());
         m_top = 0;
@@ -395,33 +418,47 @@ void FieldInfo::LoadImage() {
     }
     m_fileOpener.reset();
   }
-  if (!m_texture && !m_filename.empty()) {
-    if (!LoadImageImpl(m_filename)) {
-      m_filename.clear();
+  if (!m_texture) {
+    if (!m_builtin.empty()) {
+      for (auto&& field : fields::GetFields()) {
+        if (field.name == m_builtin) {
+          auto jsonstr = field.getJson();
+          wpi::raw_mem_istream is{jsonstr.data(), jsonstr.size()};
+          auto imagedata = field.getImage();
+          auto texture = gui::Texture::CreateFromImage(
+              reinterpret_cast<const unsigned char*>(imagedata.data()),
+              imagedata.size());
+          if (texture && LoadJson(is, {})) {
+            m_texture = std::move(texture);
+            m_imageWidth = m_texture.GetWidth();
+            m_imageHeight = m_texture.GetHeight();
+          } else {
+            m_builtin.clear();
+          }
+        }
+      }
+    } else if (!m_filename.empty()) {
+      if (!LoadImageImpl(m_filename)) {
+        m_filename.clear();
+      }
     }
   }
 }
 
-void FieldInfo::LoadJson(std::string_view jsonfile) {
-  std::error_code ec;
-  wpi::raw_fd_istream f(jsonfile, ec);
-  if (ec) {
-    std::fputs("GUI: could not open field JSON file\n", stderr);
-    return;
-  }
-
+bool FieldInfo::LoadJson(wpi::raw_istream& is, std::string_view filename) {
   // parse file
   wpi::json j;
   try {
-    j = wpi::json::parse(f);
+    j = wpi::json::parse(is);
   } catch (const wpi::json::parse_error& e) {
     fmt::print(stderr, "GUI: JSON: could not parse: {}\n", e.what());
+    return false;
   }
 
   // top level must be an object
   if (!j.is_object()) {
     std::fputs("GUI: JSON: does not contain a top object\n", stderr);
-    return;
+    return false;
   }
 
   // image filename
@@ -430,7 +467,7 @@ void FieldInfo::LoadJson(std::string_view jsonfile) {
     image = j.at("field-image").get<std::string>();
   } catch (const wpi::json::exception& e) {
     fmt::print(stderr, "GUI: JSON: could not read field-image: {}\n", e.what());
-    return;
+    return false;
   }
 
   // corners
@@ -443,7 +480,7 @@ void FieldInfo::LoadJson(std::string_view jsonfile) {
   } catch (const wpi::json::exception& e) {
     fmt::print(stderr, "GUI: JSON: could not read field-corners: {}\n",
                e.what());
-    return;
+    return false;
   }
 
   // size
@@ -454,7 +491,7 @@ void FieldInfo::LoadJson(std::string_view jsonfile) {
     height = j.at("field-size").at(1).get<float>();
   } catch (const wpi::json::exception& e) {
     fmt::print(stderr, "GUI: JSON: could not read field-size: {}\n", e.what());
-    return;
+    return false;
   }
 
   // units for size
@@ -463,7 +500,7 @@ void FieldInfo::LoadJson(std::string_view jsonfile) {
     unit = j.at("field-unit").get<std::string>();
   } catch (const wpi::json::exception& e) {
     fmt::print(stderr, "GUI: JSON: could not read field-unit: {}\n", e.what());
-    return;
+    return false;
   }
 
   // convert size units to meters
@@ -472,22 +509,35 @@ void FieldInfo::LoadJson(std::string_view jsonfile) {
     height = units::convert<units::feet, units::meters>(height);
   }
 
-  // the image filename is relative to the json file
-  auto pathname = fs::path{jsonfile}.replace_filename(image).string();
+  if (!filename.empty()) {
+    // the image filename is relative to the json file
+    auto pathname = fs::path{filename}.replace_filename(image).string();
 
-  // load field image
-  if (!LoadImageImpl(pathname.c_str())) {
-    return;
+    // load field image
+    if (!LoadImageImpl(pathname.c_str())) {
+      return false;
+    }
+    m_filename = pathname;
   }
 
   // save to field info
-  m_filename = pathname;
   m_top = top;
   m_left = left;
   m_bottom = bottom;
   m_right = right;
   m_width = width;
   m_height = height;
+  return true;
+}
+
+void FieldInfo::LoadJsonFile(std::string_view jsonfile) {
+  std::error_code ec;
+  wpi::raw_fd_istream f(jsonfile, ec);
+  if (ec) {
+    std::fputs("GUI: could not open field JSON file\n", stderr);
+    return;
+  }
+  LoadJson(f, jsonfile);
 }
 
 bool FieldInfo::LoadImageImpl(const std::string& fn) {

glass/src/lib/native/cpp/other/Plot.cpp

@@ -135,6 +135,8 @@ class Plot {
     }
   }
 
+  void SetColor(const ImVec4& color) { m_backgroundColor.SetColor(color); }
+
  private:
   void EmitSettingsLimits(int axis);
   void DragDropAccept(PlotView& view, size_t i, int yAxis);
@@ -143,6 +145,9 @@ class Plot {
 
   std::string& m_name;
   bool& m_visible;
+  static constexpr float kDefaultBackgroundColor[4] = {0.0, 0.0, 0.0,
+                                                       IMPLOT_AUTO};
+  ColorSetting m_backgroundColor;
   bool& m_showPause;
   bool& m_lockPrevX;
   bool& m_legend;
@@ -484,6 +489,8 @@ Plot::Plot(Storage& storage)
     : m_seriesStorage{storage.GetChildArray("series")},
       m_name{storage.GetString("name")},
       m_visible{storage.GetBool("visible", true)},
+      m_backgroundColor{
+          storage.GetFloatArray("backgroundColor", kDefaultBackgroundColor)},
       m_showPause{storage.GetBool("showPause", true)},
       m_lockPrevX{storage.GetBool("lockPrevX", false)},
       m_legend{storage.GetBool("legend", true)},
@@ -580,6 +587,11 @@ void Plot::EmitPlot(PlotView& view, double now, bool paused, size_t i) {
                           (m_mousePosition ? 0 : ImPlotFlags_NoMouseText);
 
   if (ImPlot::BeginPlot(label, ImVec2(-1, m_height), plotFlags)) {
+    if (m_backgroundColor.GetColorFloat()[3] == IMPLOT_AUTO) {
+      SetColor(ImGui::GetStyleColorVec4(ImGuiCol_WindowBg));
+    }
+    ImPlot::PushStyleColor(ImPlotCol_PlotBg, m_backgroundColor.GetColor());
+
     // setup legend
     if (m_legend) {
       ImPlotLegendFlags legendFlags =
@@ -656,6 +668,8 @@ void Plot::EmitPlot(PlotView& view, double now, bool paused, size_t i) {
     m_xaxisRange = ImPlot::GetPlotLimits().X;
 
     ImPlotPlot* plot = ImPlot::GetCurrentPlot();
+
+    ImPlot::PopStyleColor();
     ImPlot::EndPlot();
 
     // copy plot settings back to storage
@@ -715,6 +729,12 @@ void Plot::EmitSettings(size_t i) {
   ImGui::Text("Edit plot name:");
   ImGui::InputText("##editname", &m_name);
   ImGui::Checkbox("Visible", &m_visible);
+  m_backgroundColor.ColorEdit3("Background color",
+                               ImGuiColorEditFlags_NoInputs);
+  ImGui::SameLine();
+  if (ImGui::Button("Default")) {
+    SetColor(ImGui::GetStyleColorVec4(ImGuiCol_WindowBg));
+  }
   ImGui::Checkbox("Show Pause Button", &m_showPause);
   if (i != 0) {
     ImGui::Checkbox("Lock X-axis to previous plot", &m_lockPrevX);

glass/src/lib/native/include/glass/Context.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <stdint.h>
+
 #include <functional>
 #include <string>
 #include <string_view>

glass/src/libnt/native/cpp/NetworkTables.cpp

@@ -5,6 +5,7 @@
 #include "glass/networktables/NetworkTables.h"
 
 #include <cinttypes>
+#include <concepts>
 #include <cstdio>
 #include <cstring>
 #include <initializer_list>
@@ -82,9 +83,8 @@ static std::string IntegerArrayToString(std::span<const int64_t> in) {
   return fmt::format("[{:d}]", fmt::join(in, ","));
 }
 
-template <typename T>
+template <std::floating_point T>
 static std::string FloatArrayToString(std::span<const T> in) {
-  static_assert(std::is_same_v<T, float> || std::is_same_v<T, double>);
   return fmt::format("[{:.6f}]", fmt::join(in, ","));
 }
 
@@ -729,9 +729,8 @@ static bool StringToIntegerArray(std::string_view in,
   return true;
 }
 
-template <typename T>
+template <std::floating_point T>
 static bool StringToFloatArray(std::string_view in, std::vector<T>* out) {
-  static_assert(std::is_same_v<T, float> || std::is_same_v<T, double>);
   in = wpi::trim(in);
   if (in.empty()) {
     return false;

glass/src/libnt/native/cpp/NetworkTablesSettings.cpp

@@ -141,23 +141,45 @@ bool NetworkTablesSettings::Display() {
     case 1:
     case 2: {
       ImGui::InputText("Team/IP", &m_serverTeam);
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip("Team number or IP/MDNS address of server");
+      }
       int* port = m_mode.GetValue() == 1 ? &m_port4 : &m_port3;
       if (ImGui::InputInt("Port", port)) {
         LimitPortRange(port);
       }
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip("TCP Port - leave this at the default");
+      }
       ImGui::SameLine();
       if (ImGui::SmallButton("Default")) {
         *port = m_mode.GetValue() == 1 ? NT_DEFAULT_PORT4 : NT_DEFAULT_PORT3;
       }
       ImGui::InputText("Network Identity", &m_clientName);
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip(
+            "Arbitrary name used to identify clients on the network. Must not "
+            "be blank.");
+      }
       ImGui::Checkbox("Get Address from DS", &m_dsClient);
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip("Attempt to fetch server IP from Driver Station");
+      }
       break;
     }
     case 3:
       ImGui::InputText("Listen Address", &m_listenAddress);
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip(
+            "Address for server to listen on. Leave blank to listen on all "
+            "interfaces.");
+      }
       if (ImGui::InputInt("NT3 port", &m_port3)) {
         LimitPortRange(&m_port3);
       }
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip("TCP Port for NT3. Leave at default if unsure.");
+      }
       ImGui::SameLine();
       if (ImGui::SmallButton("Default##default3")) {
         m_port3 = NT_DEFAULT_PORT3;
@@ -165,11 +187,17 @@ bool NetworkTablesSettings::Display() {
       if (ImGui::InputInt("NT4 port", &m_port4)) {
         LimitPortRange(&m_port4);
       }
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip("TCP Port for NT4. Leave at default if unsure.");
+      }
       ImGui::SameLine();
       if (ImGui::SmallButton("Default##default4")) {
         m_port4 = NT_DEFAULT_PORT4;
       }
       ImGui::InputText("Persistent Filename", &m_persistentFilename);
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip("File for storage of persistent entries");
+      }
       break;
     default:
       break;

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.1-bin.zip
+networkTimeout=10000
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

gradlew

@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,10 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
-
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -143,12 +140,16 @@ fi
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,6 +194,10 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
 # Collect all arguments for the java command;
 #   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
 #     shell script including quotes and variable substitutions, so put them in

gradlew.bat

@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 

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

@@ -4,14 +4,59 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Accelerometer HAL JNI methods.
+ *
+ * @see "hal/Accelerometer.h"
+ */
 public class AccelerometerJNI extends JNIWrapper {
+  /**
+   * Sets the accelerometer to active or standby mode.
+   *
+   * <p>It must be in standby mode to change any configuration.
+   *
+   * @see "HAL_SetAccelerometerActive"
+   * @param active true to set to active, false for standby
+   */
   public static native void setAccelerometerActive(boolean active);
 
+  /**
+   * Sets the range of values that can be measured (either 2, 4, or 8 g-forces).
+   *
+   * <p>The accelerometer should be in standby mode when this is called.
+   *
+   * @see "HAL_SetAccelerometerRange(int range)"
+   * @param range the accelerometer range
+   */
   public static native void setAccelerometerRange(int range);
 
+  /**
+   * Gets the x-axis acceleration.
+   *
+   * <p>This is a floating point value in units of 1 g-force.
+   *
+   * @see "HAL_GetAccelerometerX()"
+   * @return the X acceleration
+   */
   public static native double getAccelerometerX();
 
+  /**
+   * Gets the y-axis acceleration.
+   *
+   * <p>This is a floating point value in units of 1 g-force.
+   *
+   * @see "HAL_GetAccelerometerY()"
+   * @return the Y acceleration
+   */
   public static native double getAccelerometerY();
 
+  /**
+   * Gets the z-axis acceleration.
+   *
+   * <p>This is a floating point value in units of 1 g-force.
+   *
+   * @see "HAL_GetAccelerometerZ()"
+   * @return the Z acceleration
+   */
   public static native double getAccelerometerZ();
 }

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

@@ -9,6 +9,7 @@ package edu.wpi.first.hal;
 public class AccumulatorResult {
   /** The total value accumulated. */
   public long value;
+
   /** The number of sample value was accumulated over. */
   public long count;
 

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

@@ -4,21 +4,97 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Addressable LED HAL JNI Methods.
+ *
+ * @see "hal/AdressableLED.h"
+ */
 public class AddressableLEDJNI extends JNIWrapper {
+  /**
+   * Initialize Addressable LED using a PWM Digital handle.
+   *
+   * @param pwmHandle handle of the digital port for PWM
+   * @return Addressable LED handle
+   * @see "HAL_InitializeAddressableLED"
+   */
   public static native int initialize(int pwmHandle);
 
+  /**
+   * Free the Addressable LED Handle.
+   *
+   * @param handle the Addressable LED handle to free
+   * @see "HAL_FreeAddressableLED"
+   */
   public static native void free(int handle);
 
+  /**
+   * Sets the length of the LED strip.
+   *
+   * <p>The max length is 5460 LEDs.
+   *
+   * @param handle the Addressable LED handle
+   * @param length the strip length
+   * @see "HAL_SetAddressableLEDLength"
+   */
   public static native void setLength(int handle, int length);
 
+  /**
+   * Sets the led output data.
+   *
+   * <p>If the output is enabled, this will start writing the next data cycle. It is safe to call,
+   * even while output is enabled.
+   *
+   * @param handle the Addressable LED handle
+   * @param data the buffer to write
+   * @see "HAL_WriteAddressableLEDData"
+   */
   public static native void setData(int handle, byte[] data);
 
+  /**
+   * Sets the bit timing.
+   *
+   * <p>By default, the driver is set up to drive WS2812Bs, so nothing needs to be set for those.
+   *
+   * @param handle the Addressable LED handle
+   * @param highTime0NanoSeconds high time for 0 bit (default 400ns)
+   * @param lowTime0NanoSeconds low time for 0 bit (default 900ns)
+   * @param highTime1NanoSeconds high time for 1 bit (default 900ns)
+   * @param lowTime1NanoSeconds low time for 1 bit (default 600ns)
+   * @see "HAL_SetAddressableLEDBitTiming"
+   */
   public static native void setBitTiming(
-      int handle, int lowTime0, int highTime0, int lowTime1, int highTime1);
+      int handle,
+      int highTime0NanoSeconds,
+      int lowTime0NanoSeconds,
+      int highTime1NanoSeconds,
+      int lowTime1NanoSeconds);
 
-  public static native void setSyncTime(int handle, int syncTime);
+  /**
+   * Sets the sync time.
+   *
+   * <p>The sync time is the time to hold output so LEDs enable. Default set for WS2812B.
+   *
+   * @param handle the Addressable LED handle
+   * @param syncTimeMicroSeconds the sync time (default 280us)
+   * @see "HAL_SetAddressableLEDSyncTime"
+   */
+  public static native void setSyncTime(int handle, int syncTimeMicroSeconds);
 
+  /**
+   * Starts the output.
+   *
+   * <p>The output writes continuously.
+   *
+   * @param handle the Addressable LED handle
+   * @see "HAL_StartAddressableLEDOutput"
+   */
   public static native void start(int handle);
 
+  /**
+   * Stops the output.
+   *
+   * @param handle the Addressable LED handle
+   * @see "HAL_StopAddressableLEDOutput"
+   */
   public static native void stop(int handle);
 }

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

@@ -5,6 +5,7 @@
 package edu.wpi.first.hal;
 
 public enum AllianceStationID {
+  Unknown,
   Red1,
   Red2,
   Red3,

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

@@ -4,30 +4,126 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Analog Gyro JNI Functions.
+ *
+ * @see "hal/AnalogGyro.h"
+ */
 public class AnalogGyroJNI extends JNIWrapper {
+  /**
+   * Initializes an analog gyro.
+   *
+   * @param halAnalogInputHandle handle to the analog input port
+   * @return the initialized gyro handle
+   * @see "HAL_InitializeAnalogGyro"
+   */
   public static native int initializeAnalogGyro(int halAnalogInputHandle);
 
+  /**
+   * Sets up an analog gyro with the proper offsets and settings for the KOP analog gyro.
+   *
+   * @param handle the gyro handle
+   * @see "HAL_SetupAnalogGyro"
+   */
   public static native void setupAnalogGyro(int handle);
 
+  /**
+   * Frees an analog gyro.
+   *
+   * @param handle the gyro handle
+   * @see "HAL_FreeAnalogGyro"
+   */
   public static native void freeAnalogGyro(int handle);
 
+  /**
+   * Sets the analog gyro parameters to the specified values.
+   *
+   * <p>This is meant to be used if you want to reuse the values from a previous calibration.
+   *
+   * @param handle the gyro handle
+   * @param voltsPerDegreePerSecond the gyro volts scaling
+   * @param offset the gyro offset
+   * @param center the gyro center
+   * @see "HAL_SetAnalogGyroParameters"
+   */
   public static native void setAnalogGyroParameters(
       int handle, double voltsPerDegreePerSecond, double offset, int center);
 
+  /**
+   * Sets the analog gyro volts per degrees per second scaling.
+   *
+   * @param handle the gyro handle
+   * @param voltsPerDegreePerSecond the gyro volts scaling
+   * @see "HAL_SetAnalogGyroVoltsPerDegreePerSecond"
+   */
   public static native void setAnalogGyroVoltsPerDegreePerSecond(
       int handle, double voltsPerDegreePerSecond);
 
+  /**
+   * Resets the analog gyro value to 0.
+   *
+   * @param handle the gyro handle
+   * @see "HAL_ResetAnalogGyro"
+   */
   public static native void resetAnalogGyro(int handle);
 
+  /**
+   * Calibrates the analog gyro.
+   *
+   * <p>This happens by calculating the average value of the gyro over 5 seconds, and setting that
+   * as the center. Note that this call blocks for 5 seconds to perform this.
+   *
+   * @param handle the gyro handle
+   * @see "HAL_CalibrateAnalogGyro"
+   */
   public static native void calibrateAnalogGyro(int handle);
 
+  /**
+   * Sets the deadband of the analog gyro.
+   *
+   * @param handle the gyro handle
+   * @param volts the voltage deadband
+   * @see "HAL_SetAnalogGyroDeadband"
+   */
   public static native void setAnalogGyroDeadband(int handle, double volts);
 
+  /**
+   * Gets the gyro angle in degrees.
+   *
+   * @param handle the gyro handle
+   * @return the gyro angle in degrees
+   * @see "HAL_GetAnalogGyroAngle"
+   */
   public static native double getAnalogGyroAngle(int handle);
 
+  /**
+   * Gets the gyro rate in degrees/second.
+   *
+   * @param handle the gyro handle
+   * @return the gyro rate in degrees/second
+   * @see "HAL_GetAnalogGyroRate"
+   */
   public static native double getAnalogGyroRate(int handle);
 
+  /**
+   * Gets the calibrated gyro offset.
+   *
+   * <p>Can be used to not repeat a calibration but reconstruct the gyro object.
+   *
+   * @param handle the gyro handle
+   * @return the gryo offset
+   * @see "HAL_GetAnalogGyroOffset"
+   */
   public static native double getAnalogGyroOffset(int handle);
 
+  /**
+   * Gets the calibrated gyro center.
+   *
+   * <p>Can be used to not repeat a calibration but reconstruct the gyro object.
+   *
+   * @param handle the gyro handle
+   * @return the gyro center
+   * @see "HAL_GetAnalogGyroCenter"
+   */
   public static native int getAnalogGyroCenter(int handle);
 }

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

@@ -4,6 +4,14 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Analog Input / Output / Accumulator / Trigger JNI Functions.
+ *
+ * @see "hal/AnalogInput.h"
+ * @see "hal/AnalogOutput.h"
+ * @see "hal/AnalogAccumulator.h"
+ * @see "hal/AnalogTrigger.h"
+ */
 public class AnalogJNI extends JNIWrapper {
   /**
    * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:58</i><br>
@@ -12,104 +20,481 @@ public class AnalogJNI extends JNIWrapper {
   public interface AnalogTriggerType {
     /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:54</i> */
     int kInWindow = 0;
+
     /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:55</i> */
     int kState = 1;
+
     /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:56</i> */
     int kRisingPulse = 2;
+
     /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:57</i> */
     int kFallingPulse = 3;
   }
 
+  /**
+   * Initializes the analog input port using the given port object.
+   *
+   * @param halPortHandle Handle to the port to initialize.
+   * @return the created analog input handle
+   * @see "HAL_InitializeAnalogInputPort"
+   */
   public static native int initializeAnalogInputPort(int halPortHandle);
 
+  /**
+   * Frees an analog input port.
+   *
+   * @param portHandle Handle to the analog port.
+   * @see "HAL_FreeAnalogInputPort"
+   */
   public static native void freeAnalogInputPort(int portHandle);
 
+  /**
+   * Initializes the analog output port using the given port object.
+   *
+   * @param halPortHandle handle to the port
+   * @return the created analog output handle
+   * @see "HAL_InitializeAnalogOutputPort"
+   */
   public static native int initializeAnalogOutputPort(int halPortHandle);
 
+  /**
+   * Frees an analog output port.
+   *
+   * @param portHandle the analog output handle
+   * @see "HAL_FreeAnalogOutputPort"
+   */
   public static native void freeAnalogOutputPort(int portHandle);
 
+  /**
+   * Checks that the analog module number is valid.
+   *
+   * @param module The analog module number.
+   * @return Analog module is valid and present
+   * @see "HAL_CheckAnalogModule"
+   */
   public static native boolean checkAnalogModule(byte module);
 
+  /**
+   * Checks that the analog output channel number is valid. Verifies that the analog channel number
+   * is one of the legal channel numbers. Channel numbers are 0-based.
+   *
+   * @param channel The analog output channel number.
+   * @return Analog channel is valid
+   * @see "HAL_CheckAnalogInputChannel"
+   */
   public static native boolean checkAnalogInputChannel(int channel);
 
   public static native boolean checkAnalogOutputChannel(int channel);
 
+  /**
+   * Indicates the analog input is used by a simulated device.
+   *
+   * @param handle the analog input handle
+   * @param device simulated device handle
+   * @see "HAL_SetAnalogInputSimDevice"
+   */
   public static native void setAnalogInputSimDevice(int handle, int device);
 
   public static native void setAnalogOutput(int portHandle, double voltage);
 
   public static native double getAnalogOutput(int portHandle);
 
+  /**
+   * Sets the sample rate.
+   *
+   * <p>This is a global setting for the Athena and effects all channels.
+   *
+   * @param samplesPerSecond The number of samples per channel per second.
+   * @see "HAL_SetAnalogSampleRate"
+   */
   public static native void setAnalogSampleRate(double samplesPerSecond);
 
+  /**
+   * Gets the current sample rate.
+   *
+   * <p>This assumes one entry in the scan list. This is a global setting for the Athena and effects
+   * all channels.
+   *
+   * @return Sample rate.
+   * @see "HAL_GetAnalogSampleRate"
+   */
   public static native double getAnalogSampleRate();
 
+  /**
+   * Sets the number of averaging bits.
+   *
+   * <p>This sets the number of averaging bits. The actual number of averaged samples is 2**bits.
+   * Use averaging to improve the stability of your measurement at the expense of sampling rate. The
+   * averaging is done automatically in the FPGA.
+   *
+   * @param analogPortHandle Handle to the analog port to configure.
+   * @param bits Number of bits to average.
+   * @see "HAL_SetAnalogAverageBits"
+   */
   public static native void setAnalogAverageBits(int analogPortHandle, int bits);
 
+  /**
+   * Gets the number of averaging bits.
+   *
+   * <p>This gets the number of averaging bits from the FPGA. The actual number of averaged samples
+   * is 2**bits. The averaging is done automatically in the FPGA.
+   *
+   * @param analogPortHandle Handle to the analog port to use.
+   * @return Bits to average.
+   * @see "HAL_GetAnalogAverageBits"
+   */
   public static native int getAnalogAverageBits(int analogPortHandle);
 
+  /**
+   * Sets the number of oversample bits.
+   *
+   * <p>This sets the number of oversample bits. The actual number of oversampled values is 2**bits.
+   * Use oversampling to improve the resolution of your measurements at the expense of sampling
+   * rate. The oversampling is done automatically in the FPGA.
+   *
+   * @param analogPortHandle Handle to the analog port to use.
+   * @param bits Number of bits to oversample.
+   * @see "HAL_SetAnalogOversampleBits"
+   */
   public static native void setAnalogOversampleBits(int analogPortHandle, int bits);
 
+  /**
+   * Gets the number of oversample bits.
+   *
+   * <p>This gets the number of oversample bits from the FPGA. The actual number of oversampled
+   * values is 2**bits. The oversampling is done automatically in the FPGA.
+   *
+   * @param analogPortHandle Handle to the analog port to use.
+   * @return Bits to oversample.
+   * @see "HAL_GetAnalogOversampleBits"
+   */
   public static native int getAnalogOversampleBits(int analogPortHandle);
 
+  /**
+   * Gets a sample straight from the channel on this module.
+   *
+   * <p>The sample is a 12-bit value representing the 0V to 5V range of the A/D converter in the
+   * module. The units are in A/D converter codes. Use GetVoltage() to get the analog value in
+   * calibrated units.
+   *
+   * @param analogPortHandle Handle to the analog port to use.
+   * @return A sample straight from the channel on this module.
+   * @see "HAL_GetAnalogValue"
+   */
   public static native short getAnalogValue(int analogPortHandle);
 
+  /**
+   * Gets a sample from the output of the oversample and average engine for the channel.
+   *
+   * <p>The sample is 12-bit + the value configured in SetOversampleBits(). The value configured in
+   * SetAverageBits() will cause this value to be averaged 2**bits number of samples. This is not a
+   * sliding window. The sample will not change until 2**(OversampleBits + AverageBits) samples have
+   * been acquired from the module on this channel. Use GetAverageVoltage() to get the analog value
+   * in calibrated units.
+   *
+   * @param analogPortHandle Handle to the analog port to use.
+   * @return A sample from the oversample and average engine for the channel.
+   * @see "HAL_GetAnalogAverageValue"
+   */
   public static native int getAnalogAverageValue(int analogPortHandle);
 
+  /**
+   * Converts a voltage to a raw value for a specified channel.
+   *
+   * <p>This process depends on the calibration of each channel, so the channel must be specified.
+   *
+   * <p>todo This assumes raw values. Oversampling not supported as is.
+   *
+   * @param analogPortHandle Handle to the analog port to use.
+   * @param voltage The voltage to convert.
+   * @return The raw value for the channel.
+   * @see "HAL_GetAnalogVoltsToValue"
+   */
   public static native int getAnalogVoltsToValue(int analogPortHandle, double voltage);
 
+  /**
+   * Get the analog voltage from a raw value.
+   *
+   * @param analogPortHandle Handle to the analog port the values were read from.
+   * @param value The raw analog value
+   * @return The voltage relating to the value
+   * @see "HAL_GetAnalogValueToVolts"
+   */
   public static native double getAnalogValueToVolts(int analogPortHandle, int value);
 
+  /**
+   * Gets a scaled sample straight from the channel on this module.
+   *
+   * <p>The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight()
+   * and GetOffset().
+   *
+   * @param analogPortHandle Handle to the analog port to use.
+   * @return A scaled sample straight from the channel on this module.
+   * @see "HAL_GetAnalogVoltage"
+   */
   public static native double getAnalogVoltage(int analogPortHandle);
 
+  /**
+   * Gets a scaled sample from the output of the oversample and average engine for the channel.
+   *
+   * <p>The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight()
+   * and GetOffset(). Using oversampling will cause this value to be higher resolution, but it will
+   * update more slowly. Using averaging will cause this value to be more stable, but it will update
+   * more slowly.
+   *
+   * @param analogPortHandle Handle to the analog port to use.
+   * @return A scaled sample from the output of the oversample and average engine for the channel.
+   * @see "HAL_GetAnalogAverageVoltage"
+   */
   public static native double getAnalogAverageVoltage(int analogPortHandle);
 
+  /**
+   * Gets the factory scaling least significant bit weight constant. The least significant bit
+   * weight constant for the channel that was calibrated in manufacturing and stored in an eeprom in
+   * the module.
+   *
+   * <p>Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
+   *
+   * @param analogPortHandle Handle to the analog port to use.
+   * @return Least significant bit weight.
+   * @see "HAL_GetAnalogLSBWeight"
+   */
   public static native int getAnalogLSBWeight(int analogPortHandle);
 
+  /**
+   * Gets the factory scaling offset constant. The offset constant for the channel that was
+   * calibrated in manufacturing and stored in an eeprom in the module.
+   *
+   * <p>Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
+   *
+   * @param analogPortHandle Handle to the analog port to use.
+   * @return Offset constant.
+   * @see "HAL_GetAnalogOffset"
+   */
   public static native int getAnalogOffset(int analogPortHandle);
 
+  /**
+   * Is the channel attached to an accumulator.
+   *
+   * @param analogPortHandle Handle to the analog port.
+   * @return The analog channel is attached to an accumulator.
+   * @see "HAL_IsAccumulatorChannel"
+   */
   public static native boolean isAccumulatorChannel(int analogPortHandle);
 
+  /**
+   * Initialize the accumulator.
+   *
+   * @param analogPortHandle Handle to the analog port.
+   * @see "HAL_InitAccumulator"
+   */
   public static native void initAccumulator(int analogPortHandle);
 
+  /**
+   * Resets the accumulator to the initial value.
+   *
+   * @param analogPortHandle Handle to the analog port.
+   * @see "HAL_ResetAccumulator"
+   */
   public static native void resetAccumulator(int analogPortHandle);
 
+  /**
+   * Set the center value of the accumulator.
+   *
+   * <p>The center value is subtracted from each A/D value before it is added to the accumulator.
+   * This is used for the center value of devices like gyros and accelerometers to make integration
+   * work and to take the device offset into account when integrating.
+   *
+   * <p>This center value is based on the output of the oversampled and averaged source from channel
+   * 1. Because of this, any non-zero oversample bits will affect the size of the value for this
+   * field.
+   *
+   * @param analogPortHandle Handle to the analog port.
+   * @param center The center value of the accumulator.
+   * @see "HAL_SetAccumulatorCenter"
+   */
   public static native void setAccumulatorCenter(int analogPortHandle, int center);
 
+  /**
+   * Set the accumulator's deadband.
+   *
+   * @param analogPortHandle Handle to the analog port.
+   * @param deadband The deadband of the accumulator.
+   * @see "HAL_SetAccumulatorDeadband"
+   */
   public static native void setAccumulatorDeadband(int analogPortHandle, int deadband);
 
+  /**
+   * Read the accumulated value.
+   *
+   * <p>Read the value that has been accumulating on channel 1. The accumulator is attached after
+   * the oversample and average engine.
+   *
+   * @param analogPortHandle Handle to the analog port.
+   * @return The 64-bit value accumulated since the last Reset().
+   * @see "HAL_GetAccumulatorValue"
+   */
   public static native long getAccumulatorValue(int analogPortHandle);
 
+  /**
+   * Read the number of accumulated values.
+   *
+   * <p>Read the count of the accumulated values since the accumulator was last Reset().
+   *
+   * @param analogPortHandle Handle to the analog port.
+   * @return The number of times samples from the channel were accumulated.
+   * @see "HAL_GetAccumulatorCount"
+   */
   public static native int getAccumulatorCount(int analogPortHandle);
 
+  /**
+   * Read the accumulated value and the number of accumulated values atomically.
+   *
+   * <p>This function reads the value and count from the FPGA atomically. This can be used for
+   * averaging.
+   *
+   * @param analogPortHandle Handle to the analog port.
+   * @param result Accumulator result.
+   * @see "HAL_GetAccumulatorOutput"
+   */
   public static native void getAccumulatorOutput(int analogPortHandle, AccumulatorResult result);
 
+  /**
+   * Initializes an analog trigger.
+   *
+   * @param analogInputHandle the analog input to use for triggering
+   * @return the created analog trigger handle
+   * @see "HAL_InitializeAnalogTrigger"
+   */
   public static native int initializeAnalogTrigger(int analogInputHandle);
 
+  /**
+   * Initializes an analog trigger with a Duty Cycle input.
+   *
+   * @param dutyCycleHandle the analog input to use for duty cycle
+   * @return tbe created analog trigger handle
+   * @see "HAL_InitializeAnalogTriggerDutyCycle"
+   */
   public static native int initializeAnalogTriggerDutyCycle(int dutyCycleHandle);
 
+  /**
+   * Frees an analog trigger.
+   *
+   * @param analogTriggerHandle the trigger handle
+   * @see "HAL_CleanAnalogTrigger"
+   */
   public static native void cleanAnalogTrigger(int analogTriggerHandle);
 
+  /**
+   * Sets the raw ADC upper and lower limits of the analog trigger.
+   *
+   * <p>HAL_SetAnalogTriggerLimitsVoltage or HAL_SetAnalogTriggerLimitsDutyCycle is likely better in
+   * most cases.
+   *
+   * @param analogTriggerHandle the trigger handle
+   * @param lower the lower ADC value
+   * @param upper the upper ADC value
+   * @see "HAL_SetAnalogTriggerLimitsRaw"
+   */
   public static native void setAnalogTriggerLimitsRaw(
       int analogTriggerHandle, int lower, int upper);
 
+  /**
+   * Sets the upper and lower limits of the analog trigger.
+   *
+   * <p>The limits are given as floating point duty cycle values.
+   *
+   * @param analogTriggerHandle the trigger handle
+   * @param lower the lower duty cycle value
+   * @param higher the upper duty cycle value
+   * @see "HAL_SetAnalogTriggerLimitsDutyCycle"
+   */
   public static native void setAnalogTriggerLimitsDutyCycle(
       int analogTriggerHandle, double lower, double higher);
 
+  /**
+   * Sets the upper and lower limits of the analog trigger.
+   *
+   * <p>The limits are given as floating point voltage values.
+   *
+   * @param analogTriggerHandle the trigger handle
+   * @param lower the lower voltage value
+   * @param upper the upper voltage value
+   * @see "HAL_SetAnalogTriggerLimitsVoltage"
+   */
   public static native void setAnalogTriggerLimitsVoltage(
       int analogTriggerHandle, double lower, double upper);
 
+  /**
+   * Configures the analog trigger to use the averaged vs. raw values.
+   *
+   * <p>If the value is true, then the averaged value is selected for the analog trigger, otherwise
+   * the immediate value is used.
+   *
+   * <p>This is not allowed to be used if filtered mode is set. This is not allowed to be used with
+   * Duty Cycle based inputs.
+   *
+   * @param analogTriggerHandle the trigger handle
+   * @param useAveragedValue true to use averaged values, false for raw
+   * @see "HAL_SetAnalogTriggerAveraged"
+   */
   public static native void setAnalogTriggerAveraged(
       int analogTriggerHandle, boolean useAveragedValue);
 
+  /**
+   * Configures the analog trigger to use a filtered value.
+   *
+   * <p>The analog trigger will operate with a 3 point average rejection filter. This is designed to
+   * help with 360 degree pot applications for the period where the pot crosses through zero.
+   *
+   * <p>This is not allowed to be used if averaged mode is set.
+   *
+   * @param analogTriggerHandle the trigger handle
+   * @param useFilteredValue true to use filtered values, false for average or raw
+   * @see "HAL_SetAnalogTriggerFiltered"
+   */
   public static native void setAnalogTriggerFiltered(
       int analogTriggerHandle, boolean useFilteredValue);
 
+  /**
+   * Returns the InWindow output of the analog trigger.
+   *
+   * <p>True if the analog input is between the upper and lower limits.
+   *
+   * @param analogTriggerHandle the trigger handle
+   * @return the InWindow output of the analog trigger
+   * @see "HAL_GetAnalogTriggerInWindow"
+   */
   public static native boolean getAnalogTriggerInWindow(int analogTriggerHandle);
 
+  /**
+   * Returns the TriggerState output of the analog trigger.
+   *
+   * <p>True if above upper limit. False if below lower limit. If in Hysteresis, maintain previous
+   * state.
+   *
+   * @param analogTriggerHandle the trigger handle
+   * @return the TriggerState output of the analog trigger
+   * @see "HAL_GetAnalogTriggerTriggerState"
+   */
   public static native boolean getAnalogTriggerTriggerState(int analogTriggerHandle);
 
+  /**
+   * Gets the state of the analog trigger output.
+   *
+   * @param analogTriggerHandle the trigger handle
+   * @param type the type of trigger to trigger on
+   * @return the state of the analog trigger output
+   * @see "HAL_GetAnalogTriggerOutput"
+   */
   public static native boolean getAnalogTriggerOutput(int analogTriggerHandle, int type);
 
+  /**
+   * Get the FPGA index for the AnlogTrigger.
+   *
+   * @param analogTriggerHandle the trigger handle
+   * @return the FPGA index
+   * @see "HAL_GetAnalogTriggerFPGAIndex"
+   */
   public static native int getAnalogTriggerFPGAIndex(int analogTriggerHandle);
 }

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

@@ -4,31 +4,177 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * CAN API HAL JNI Functions.
+ *
+ * @see "hal/CANAPI.h"
+ */
 public class CANAPIJNI extends JNIWrapper {
+  /**
+   * Reads the current value of the millisecond-resolution timer that the CAN API functions use as a
+   * time base.
+   *
+   * @return Current value of timer used as a base time by the CAN API in milliseconds.
+   * @see "HAL_GetCANPacketBaseTime"
+   */
+  public static native long getCANPacketBaseTime();
+
+  /**
+   * Initializes a CAN device.
+   *
+   * <p>These follow the FIRST standard CAN layout.
+   * https://docs.wpilib.org/en/stable/docs/software/can-devices/can-addressing.html
+   *
+   * @param manufacturer the can manufacturer
+   * @param deviceId the device ID (0-63)
+   * @param deviceType the device type
+   * @return the created CAN handle
+   * @see "HAL_InitializeCAN"
+   */
   public static native int initializeCAN(int manufacturer, int deviceId, int deviceType);
 
+  /**
+   * Frees a CAN device.
+   *
+   * @param handle the CAN handle
+   * @see "HAL_CleanCAN"
+   */
   public static native void cleanCAN(int handle);
 
+  /**
+   * Writes a packet to the CAN device with a specific ID.
+   *
+   * <p>This ID is 10 bits.
+   *
+   * @param handle the CAN handle
+   * @param data the data to write (0-8 bytes)
+   * @param apiId the ID to write (0-1023 bits)
+   * @see "HAL_WriteCANPacket"
+   */
   public static native void writeCANPacket(int handle, byte[] data, int apiId);
 
+  /**
+   * Writes a repeating packet to the CAN device with a specific ID.
+   *
+   * <p>This ID is 10 bits.
+   *
+   * <p>The RoboRIO will automatically repeat the packet at the specified interval
+   *
+   * @param handle the CAN handle
+   * @param data the data to write (0-8 bytes)
+   * @param apiId the ID to write (0-1023)
+   * @param repeatMs the period to repeat in ms
+   * @see "HAL_WriteCANPacketRepeating"
+   */
   public static native void writeCANPacketRepeating(
       int handle, byte[] data, int apiId, int repeatMs);
 
+  /**
+   * Writes an RTR frame of the specified length to the CAN device with the specific ID.
+   *
+   * <p>By spec, the length must be equal to the length sent by the other device, otherwise behavior
+   * is unspecified.
+   *
+   * @param handle the CAN handle
+   * @param length the length of data to request (0-8)
+   * @param apiId the ID to write (0-1023)
+   * @see "HAL_WriteCANRTRFrame"
+   */
   public static native void writeCANRTRFrame(int handle, int length, int apiId);
 
+  /**
+   * Writes a packet to the CAN device with a specific ID without throwing on error.
+   *
+   * <p>This ID is 10 bits.
+   *
+   * @param handle the CAN handle
+   * @param data the data to write (0-8 bytes)
+   * @param apiId the ID to write (0-1023 bits)
+   * @return Error status variable. 0 on success.
+   * @see "HAL_WriteCANPacket"
+   */
   public static native int writeCANPacketNoThrow(int handle, byte[] data, int apiId);
 
+  /**
+   * Writes a repeating packet to the CAN device with a specific ID without throwing on error.
+   *
+   * <p>This ID is 10 bits.
+   *
+   * <p>The RoboRIO will automatically repeat the packet at the specified interval
+   *
+   * @param handle the CAN handle
+   * @param data the data to write (0-8 bytes)
+   * @param apiId the ID to write (0-1023)
+   * @param repeatMs the period to repeat in ms
+   * @return Error status variable. 0 on success.
+   * @see "HAL_WriteCANPacketRepeating"
+   */
   public static native int writeCANPacketRepeatingNoThrow(
       int handle, byte[] data, int apiId, int repeatMs);
 
+  /**
+   * Writes an RTR frame of the specified length to the CAN device with the specific ID without
+   * throwing on error.
+   *
+   * <p>By spec, the length must be equal to the length sent by the other device, otherwise behavior
+   * is unspecified.
+   *
+   * @param handle the CAN handle
+   * @param length the length of data to request (0-8)
+   * @param apiId the ID to write (0-1023)
+   * @return Error status variable. 0 on success.
+   * @see "HAL_WriteCANRTRFrame"
+   */
   public static native int writeCANRTRFrameNoThrow(int handle, int length, int apiId);
 
+  /**
+   * Stops a repeating packet with a specific ID.
+   *
+   * <p>This ID is 10 bits.
+   *
+   * @param handle the CAN handle
+   * @param apiId the ID to stop repeating (0-1023)
+   * @see "HAL_StopCANPacketRepeating"
+   */
   public static native void stopCANPacketRepeating(int handle, int apiId);
 
+  /**
+   * Reads a new CAN packet.
+   *
+   * <p>This will only return properly once per packet received. Multiple calls without receiving
+   * another packet will return false.
+   *
+   * @param handle the CAN handle
+   * @param apiId the ID to read (0-1023)
+   * @param data the packet data (8 bytes)
+   * @return true on success, false on error
+   * @see "HAL_ReadCANPacketNew"
+   */
   public static native boolean readCANPacketNew(int handle, int apiId, CANData data);
 
+  /**
+   * Reads a CAN packet. The will continuously return the last packet received, without accounting
+   * for packet age.
+   *
+   * @param handle the CAN handle
+   * @param apiId the ID to read (0-1023)
+   * @param data the packet data (8 bytes)
+   * @return true on success, false on error
+   * @see "HAL_ReadCANPacketLatest"
+   */
   public static native boolean readCANPacketLatest(int handle, int apiId, CANData data);
 
+  /**
+   * Reads a CAN packet. The will return the last packet received until the packet is older then the
+   * requested timeout. Then it will return false.
+   *
+   * @param handle the CAN handle
+   * @param apiId the ID to read (0-1023)
+   * @param timeoutMs the timeout time for the packet
+   * @param data the packet data (8 bytes)
+   * @return true on success, false on error
+   * @see "HAL_ReadCANPacketTimeout"
+   */
   public static native boolean readCANPacketTimeout(
       int handle, int apiId, int timeoutMs, CANData data);
 }

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

@@ -6,16 +6,21 @@ package edu.wpi.first.hal;
 
 @SuppressWarnings("MemberName")
 public class CANData {
+  /** Contents of the CAN frame. */
   public final byte[] data = new byte[8];
+
+  /** Length of the frame in bytes. */
   public int length;
+
+  /** CAN frame timestamp in milliseconds. */
   public long timestamp;
 
   /**
    * API used from JNI to set the data.
    *
    * @param length Length of packet in bytes.
-   * @param timestamp CAN frame timestamp in microseconds.
-   * @return Buffer containing CAN frame.
+   * @param timestamp CAN frame timestamp in milliseconds.
+   * @return Buffer to place CAN frame data in.
    */
   @SuppressWarnings("PMD.MethodReturnsInternalArray")
   public byte[] setData(int length, long timestamp) {

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

@@ -4,48 +4,221 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * CTRE Pneumatic Control Module (PCM) Functions.
+ *
+ * @see "CTREPCM.h"
+ */
 public class CTREPCMJNI extends JNIWrapper {
+  /**
+   * Initializes a PCM.
+   *
+   * @param module the CAN ID to initialize
+   * @return the created PH handle
+   * @see "HAL_InitializeCTREPCM"
+   */
   public static native int initialize(int module);
 
+  /**
+   * Frees a PCM handle.
+   *
+   * @param handle the PCMhandle
+   * @see "HAL_FreeCTREPCM"
+   */
   public static native void free(int handle);
 
+  /**
+   * Checks if a solenoid channel number is valid.
+   *
+   * @param channel the channel to check
+   * @return true if the channel is valid, otherwise false
+   */
   public static native boolean checkSolenoidChannel(int channel);
 
+  /**
+   * Get whether compressor is turned on.
+   *
+   * @param handle the PCM handle
+   * @return true if the compressor is turned on
+   * @see "HAL_GetCTREPCMCompressor"
+   */
   public static native boolean getCompressor(int handle);
 
+  /**
+   * Enables the compressor closed loop control using the digital pressure switch. The compressor
+   * will turn on when the pressure switch indicates that the system is not full, and will turn off
+   * when the pressure switch indicates that the system is full.
+   *
+   * @param handle the PCM handle
+   * @param enabled true to enable closed loop control
+   * @see "HAL_SetCTREPCMClosedLoopControl"
+   */
   public static native void setClosedLoopControl(int handle, boolean enabled);
 
+  /**
+   * Get whether the PCM closed loop control is enabled.
+   *
+   * @param handle the PCM handle
+   * @return True if closed loop control is enabled, otherwise false.
+   */
   public static native boolean getClosedLoopControl(int handle);
 
+  /**
+   * Returns the state of the pressure switch.
+   *
+   * @param handle the PCM handle
+   * @return True if pressure switch indicates that the system is full, otherwise false.
+   * @see "HAL_GetCTREPCMPressureSwitch"
+   */
   public static native boolean getPressureSwitch(int handle);
 
+  /**
+   * Returns the current drawn by the compressor.
+   *
+   * @param handle the PCM handle
+   * @return The current drawn by the compressor in amps.
+   * @see "HAL_GetCTREPCMCompressorCurrent"
+   */
   public static native double getCompressorCurrent(int handle);
 
+  /**
+   * Return whether the compressor current is currently too high.
+   *
+   * @param handle the PCM handle
+   * @return True if the compressor current is too high, otherwise false.
+   * @see getCompressorCurrentTooHighStickyFault
+   * @see "HAL_GetCTREPCMCompressorCurrentTooHighFault"
+   */
   public static native boolean getCompressorCurrentTooHighFault(int handle);
 
+  /**
+   * Returns whether the compressor current has been too high since sticky faults were last cleared.
+   * This fault is persistent and can be cleared by clearAllStickyFaults()
+   *
+   * @param handle the PCM handle
+   * @return True if the compressor current has been too high since sticky faults were last cleared.
+   * @see getCompressorCurrentTooHighFault
+   * @see "HAL_GetCTREPCMCompressorCurrentTooHighStickyFault("
+   */
   public static native boolean getCompressorCurrentTooHighStickyFault(int handle);
 
+  /**
+   * Returns whether the compressor is currently shorted.
+   *
+   * @param handle the PCM handle
+   * @return True if the compressor is currently shorted, otherwise false.
+   * @see getCompressorCurrentTooHighStickyFault
+   * @see "HAL_GetCTREPCMCompressorShortedStickyFault"
+   */
   public static native boolean getCompressorShortedFault(int handle);
 
+  /**
+   * Returns whether the compressor has been shorted since sticky faults were last cleared. This
+   * fault is persistent and can be cleared by clearAllStickyFaults()
+   *
+   * @param handle the PCM handle
+   * @return True if the compressor has been shorted since sticky faults were last cleared,
+   *     otherwise false.
+   * @see getCompressorShortedFault
+   * @see "HAL_GetCTREPCMCompressorShortedFault"
+   */
   public static native boolean getCompressorShortedStickyFault(int handle);
 
+  /**
+   * Returns whether the compressor is currently disconnected.
+   *
+   * @param handle the PCM handle
+   * @return True if compressor is currently disconnected, otherwise false.
+   * @see getCompressorShortedStickyFault
+   * @see "HAL_GetCTREPCMCompressorNotConnectedFault"
+   */
   public static native boolean getCompressorNotConnectedFault(int handle);
 
+  /**
+   * Returns whether the compressor has been disconnected since sticky faults were last cleared.
+   * This fault is persistent and can be cleared by clearAllStickyFaults()
+   *
+   * @param handle the PCM handle
+   * @return True if the compressor has been disconnected since sticky faults were last cleared,
+   *     otherwise false.
+   * @see getCompressorNotConnectedFault
+   * @see "HAL_GetCTREPCMCompressorNotConnectedStickyFault"
+   */
   public static native boolean getCompressorNotConnectedStickyFault(int handle);
 
+  /**
+   * Gets a bitmask of solenoid values.
+   *
+   * @param handle the PCM handle
+   * @return solenoid values
+   * @see "HAL_GetCTREPCMSolenoids"
+   */
   public static native int getSolenoids(int handle);
 
+  /**
+   * Sets solenoids on a pneumatics module.
+   *
+   * @param handle the PCM handle
+   * @param mask bitmask to set
+   * @param values solenoid values
+   * @see "HAL_SetCTREPCMSolenoids"
+   */
   public static native void setSolenoids(int handle, int mask, int values);
 
+  /**
+   * Get a bitmask of disabled solenoids.
+   *
+   * @param handle the PCM handle
+   * @return bitmask of disabled solenoids
+   * @see "HAL_GetCTREPCMSolenoidDisabledList"
+   */
   public static native int getSolenoidDisabledList(int handle);
 
+  /**
+   * Returns whether the solenoid is currently reporting a voltage fault.
+   *
+   * @param handle the PCM handle
+   * @return True if solenoid is reporting a fault, otherwise false.
+   * @see getSolenoidVoltageStickyFault
+   * @see "HAL_GetCTREPCMSolenoidVoltageFault"
+   */
   public static native boolean getSolenoidVoltageFault(int handle);
 
+  /**
+   * Returns whether the solenoid has reported a voltage fault since sticky faults were last
+   * cleared. This fault is persistent and can be cleared by clearAllStickyFaults()
+   *
+   * @param handle the PCM handle
+   * @return True if solenoid is reporting a fault, otherwise false.
+   * @see getSolenoidVoltageFault
+   * @see "HAL_GetCTREPCMSolenoidVoltageStickyFault"
+   */
   public static native boolean getSolenoidVoltageStickyFault(int handle);
 
+  /**
+   * Clears all sticky faults on this device.
+   *
+   * @param handle the PCM handle
+   * @see "HAL_ClearAllCTREPCMStickyFaults"
+   */
   public static native void clearAllStickyFaults(int handle);
 
+  /**
+   * Fire a single solenoid shot.
+   *
+   * @param handle the PCM handle
+   * @param index solenoid index
+   * @see "HAL_FireCTREPCMOneShot"
+   */
   public static native void fireOneShot(int handle, int index);
 
+  /**
+   * Set the duration for a single solenoid shot.
+   *
+   * @param handle the PCM handle
+   * @param index solenoid index
+   * @param durMs shot duration in ms
+   * @see "HAL_SetCTREPCMOneShotDuration"
+   */
   public static native void setOneShotDuration(int handle, int index, int durMs);
 }

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

@@ -4,6 +4,17 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Constants HAL JNI functions.
+ *
+ * @see "hal/Constants.h"
+ */
 public class ConstantsJNI extends JNIWrapper {
+  /**
+   * Gets the number of FPGA system clock ticks per microsecond.
+   *
+   * @return the number of clock ticks per microsecond
+   * @see "HAL_GetSystemClockTicksPerMicrosecond"
+   */
   public static native int getSystemClockTicksPerMicrosecond();
 }

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

@@ -6,59 +6,277 @@ package edu.wpi.first.hal;
 
 import java.nio.IntBuffer;
 
+/**
+ * Counter HAL JNI functions.
+ *
+ * @see "hal/Counter.h"
+ */
 public class CounterJNI extends JNIWrapper {
   public static final int TWO_PULSE = 0;
   public static final int SEMI_PERIOD = 1;
   public static final int PULSE_LENGTH = 2;
   public static final int EXTERNAL_DIRECTION = 3;
 
+  /**
+   * Initializes a counter.
+   *
+   * @param mode the counter mode
+   * @param index the compressor index (output)
+   * @return the created handle
+   * @see "HAL_InitializeCounter"
+   */
   public static native int initializeCounter(int mode, IntBuffer index);
 
+  /**
+   * Frees a counter.
+   *
+   * @param counterHandle the counter handle
+   * @see "HAL_FreeCounter"
+   */
   public static native void freeCounter(int counterHandle);
 
+  /**
+   * Sets the average sample size of a counter.
+   *
+   * @param counterHandle the counter handle
+   * @param size the size of samples to average
+   * @see "HAL_SetCounterAverageSize"
+   */
   public static native void setCounterAverageSize(int counterHandle, int size);
 
+  /**
+   * Sets the source object that causes the counter to count up.
+   *
+   * @param counterHandle the counter handle
+   * @param digitalSourceHandle the digital source handle (either a HAL_AnalogTriggerHandle or a
+   *     HAL_DigitalHandle)
+   * @param analogTriggerType the analog trigger type if the source is an analog trigger
+   * @see "HAL_SetCounterUpSource"
+   */
   public static native void setCounterUpSource(
       int counterHandle, int digitalSourceHandle, int analogTriggerType);
 
+  /**
+   * Sets the up source to either detect rising edges or falling edges.
+   *
+   * <p>Note that both are allowed to be set true at the same time without issues.
+   *
+   * @param counterHandle the counter handle
+   * @param risingEdge true to trigger on rising
+   * @param fallingEdge true to trigger on falling
+   * @see "HAL_SetCounterUpSourceEdge"
+   */
   public static native void setCounterUpSourceEdge(
       int counterHandle, boolean risingEdge, boolean fallingEdge);
 
+  /**
+   * Disables the up counting source to the counter.
+   *
+   * @param counterHandle the counter handle
+   * @see "HAL_ClearCounterUpSource"
+   */
   public static native void clearCounterUpSource(int counterHandle);
 
+  /**
+   * Sets the source object that causes the counter to count down.
+   *
+   * @param counterHandle the counter handle
+   * @param digitalSourceHandle the digital source handle (either a HAL_AnalogTriggerHandle or a
+   *     HAL_DigitalHandle)
+   * @param analogTriggerType the analog trigger type if the source is an analog trigger
+   * @see "HAL_SetCounterDownSource"
+   */
   public static native void setCounterDownSource(
       int counterHandle, int digitalSourceHandle, int analogTriggerType);
 
+  /**
+   * Sets the down source to either detect rising edges or falling edges. Note that both are allowed
+   * to be set true at the same time without issues.
+   *
+   * @param counterHandle the counter handle
+   * @param risingEdge true to trigger on rising
+   * @param fallingEdge true to trigger on falling
+   * @see "HAL_SetCounterDownSourceEdge"
+   */
   public static native void setCounterDownSourceEdge(
       int counterHandle, boolean risingEdge, boolean fallingEdge);
 
+  /**
+   * Disables the down counting source to the counter.
+   *
+   * @param counterHandle the counter handle
+   * @see "HAL_ClearCounterDownSource"
+   */
   public static native void clearCounterDownSource(int counterHandle);
 
+  /**
+   * Sets standard up / down counting mode on this counter.
+   *
+   * <p>Up and down counts are sourced independently from two inputs.
+   *
+   * @param counterHandle the counter handle
+   * @see "HAL_SetCounterUpDownMode"
+   */
   public static native void setCounterUpDownMode(int counterHandle);
 
+  /**
+   * Sets directional counting mode on this counter.
+   *
+   * <p>The direction is determined by the B input, with counting happening with the A input.
+   *
+   * @param counterHandle the counter handle
+   * @see "HAL_SetCounterExternalDirectionMode"
+   */
   public static native void setCounterExternalDirectionMode(int counterHandle);
 
+  /**
+   * Sets Semi-period mode on this counter.
+   *
+   * <p>The counter counts up based on the time the input is triggered. High or Low depends on the
+   * highSemiPeriod parameter.
+   *
+   * @param counterHandle the counter handle
+   * @param highSemiPeriod true for counting when the input is high, false for low
+   * @see "HAL_SetCounterSemiPeriodMode"
+   */
   public static native void setCounterSemiPeriodMode(int counterHandle, boolean highSemiPeriod);
 
+  /**
+   * Configures the counter to count in up or down based on the length of the input pulse.
+   *
+   * <p>This mode is most useful for direction sensitive gear tooth sensors.
+   *
+   * @param counterHandle the counter handle
+   * @param threshold The pulse length beyond which the counter counts the opposite direction
+   *     (seconds)
+   * @see "HAL_SetCounterPulseLengthMode"
+   */
   public static native void setCounterPulseLengthMode(int counterHandle, double threshold);
 
+  /**
+   * Gets the Samples to Average which specifies the number of samples of the timer to average when
+   * calculating the period. Perform averaging to account for mechanical imperfections or as
+   * oversampling to increase resolution.
+   *
+   * @param counterHandle the counter handle
+   * @return SamplesToAverage The number of samples being averaged (from 1 to 127)
+   * @see "HAL_GetCounterSamplesToAverage"
+   */
   public static native int getCounterSamplesToAverage(int counterHandle);
 
+  /**
+   * Sets the Samples to Average which specifies the number of samples of the timer to average when
+   * calculating the period. Perform averaging to account for mechanical imperfections or as
+   * oversampling to increase resolution.
+   *
+   * @param counterHandle the counter handle
+   * @param samplesToAverage The number of samples to average from 1 to 127
+   * @see "HAL_SetCounterSamplesToAverage"
+   */
   public static native void setCounterSamplesToAverage(int counterHandle, int samplesToAverage);
 
+  /**
+   * Resets the Counter to zero.
+   *
+   * <p>Sets the counter value to zero. This does not effect the running state of the counter, just
+   * sets the current value to zero.
+   *
+   * @param counterHandle the counter handle
+   * @see "HAL_ResetCounter"
+   */
   public static native void resetCounter(int counterHandle);
 
+  /**
+   * Reads the current counter value.
+   *
+   * <p>Reads the value at this instant. It may still be running, so it reflects the current value.
+   * Next time it is read, it might have a different value.
+   *
+   * @param counterHandle the counter handle
+   * @return the current counter value
+   * @see "HAL_GetCounter"
+   */
   public static native int getCounter(int counterHandle);
 
+  /**
+   * Gets the Period of the most recent count.
+   *
+   * <p>Returns the time interval of the most recent count. This can be used for velocity
+   * calculations to determine shaft speed.
+   *
+   * @param counterHandle the counter handle
+   * @return the period of the last two pulses in units of seconds
+   * @see "HAL_GetCounterPeriod"
+   */
   public static native double getCounterPeriod(int counterHandle);
 
+  /**
+   * Sets the maximum period where the device is still considered "moving".
+   *
+   * <p>Sets the maximum period where the device is considered moving. This value is used to
+   * determine the "stopped" state of the counter using the HAL_GetCounterStopped method.
+   *
+   * @param counterHandle the counter handle
+   * @param maxPeriod the maximum period where the counted device is considered moving in seconds
+   * @see "HAL_SetCounterMaxPeriod"
+   */
   public static native void setCounterMaxPeriod(int counterHandle, double maxPeriod);
 
+  /**
+   * Selects whether you want to continue updating the event timer output when there are no samples
+   * captured.
+   *
+   * <p>The output of the event timer has a buffer of periods that are averaged and posted to a
+   * register on the FPGA. When the timer detects that the event source has stopped (based on the
+   * MaxPeriod) the buffer of samples to be averaged is emptied.
+   *
+   * <p>If you enable the update when empty, you will be notified of the stopped source and the
+   * event time will report 0 samples.
+   *
+   * <p>If you disable update when empty, the most recent average will remain on the output until a
+   * new sample is acquired.
+   *
+   * <p>You will never see 0 samples output (except when there have been no events since an FPGA
+   * reset) and you will likely not see the stopped bit become true (since it is updated at the end
+   * of an average and there are no samples to average).
+   *
+   * @param counterHandle the counter handle
+   * @param enabled true to enable counter updating with no samples
+   * @see "HAL_SetCounterUpdateWhenEmpty"
+   */
   public static native void setCounterUpdateWhenEmpty(int counterHandle, boolean enabled);
 
+  /**
+   * Determines if the clock is stopped.
+   *
+   * <p>Determine if the clocked input is stopped based on the MaxPeriod value set using the
+   * SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the device (and counter) are
+   * assumed to be stopped and it returns true.
+   *
+   * @param counterHandle the counter handle
+   * @return true if the most recent counter period exceeds the MaxPeriod value set by SetMaxPeriod
+   * @see "HAL_GetCounterStopped"
+   */
   public static native boolean getCounterStopped(int counterHandle);
 
+  /**
+   * Gets the last direction the counter value changed.
+   *
+   * @param counterHandle the counter handle
+   * @return the last direction the counter value changed
+   * @see "HAL_GetCounterDirection"
+   */
   public static native boolean getCounterDirection(int counterHandle);
 
+  /**
+   * Sets the Counter to return reversed sensing on the direction.
+   *
+   * <p>This allows counters to change the direction they are counting in the case of 1X and 2X
+   * quadrature encoding only. Any other counter mode isn't supported.
+   *
+   * @param counterHandle the counter handle
+   * @param reverseDirection true if the value counted should be negated.
+   * @see "HAL_SetCounterReverseDirection"
+   */
   public static native void setCounterReverseDirection(int counterHandle, boolean reverseDirection);
 }

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

@@ -4,42 +4,178 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Digital Input/Output (IO) JNI Functions.
+ *
+ * @see "hal/DIO.h"
+ */
 public class DIOJNI extends JNIWrapper {
+  /**
+   * Creates a new instance of a digital port.
+   *
+   * @param halPortHandle the port handle to create from
+   * @param input true for input, false for output
+   * @return the created digital handle
+   * @see "HAL_InitializeDIOPort"
+   */
   public static native int initializeDIOPort(int halPortHandle, boolean input);
 
+  /**
+   * Checks if a DIO channel is valid.
+   *
+   * @param channel the channel number to check
+   * @return true if the channel is valid, otherwise false
+   * @see "HAL_CheckDIOChannel"
+   */
   public static native boolean checkDIOChannel(int channel);
 
+  /**
+   * Frees a DIO port.
+   *
+   * @param dioPortHandle the DIO channel handle
+   * @see "HAL_FreeDIOPort"
+   */
   public static native void freeDIOPort(int dioPortHandle);
 
+  /**
+   * Indicates the DIO channel is used by a simulated device.
+   *
+   * @param handle the DIO channel handle
+   * @param device simulated device handle
+   * @see "HAL_SetDIOSimDevice"
+   */
   public static native void setDIOSimDevice(int handle, int device);
 
+  /**
+   * Writes a digital value to a DIO channel.
+   *
+   * @param dioPortHandle the digital port handle
+   * @param value the state to set the digital channel (if it is configured as an output)
+   * @see "HAL_SetDIO"
+   */
   public static native void setDIO(int dioPortHandle, boolean value);
 
+  /**
+   * Sets the direction of a DIO channel.
+   *
+   * @param dioPortHandle the digital port handle
+   * @param input true to set input, false for output
+   * @see "HAL_SetDIODirection"
+   */
   public static native void setDIODirection(int dioPortHandle, boolean input);
 
+  /**
+   * Reads a digital value from a DIO channel.
+   *
+   * @param dioPortHandle the digital port handle
+   * @return the state of the specified channel
+   * @see "HAL_GetDIO"
+   */
   public static native boolean getDIO(int dioPortHandle);
 
+  /**
+   * Reads the direction of a DIO channel.
+   *
+   * @param dioPortHandle the digital port handle
+   * @return true for input, false for output
+   * @see "HAL_GetDIODirection"
+   */
   public static native boolean getDIODirection(int dioPortHandle);
 
+  /**
+   * Generates a single digital pulse.
+   *
+   * <p>Write a pulse to the specified digital output channel. There can only be a single pulse
+   * going at any time.
+   *
+   * @param dioPortHandle the digital port handle
+   * @param pulseLengthSeconds the active length of the pulse (in seconds)
+   * @see "HAL_Pulse"
+   */
   public static native void pulse(int dioPortHandle, double pulseLengthSeconds);
 
+  /**
+   * Generates a single digital pulse on multiple channels.
+   *
+   * <p>Write a pulse to the channels enabled by the mask. There can only be a single pulse going at
+   * any time.
+   *
+   * @param channelMask the channel mask
+   * @param pulseLengthSeconds the active length of the pulse (in seconds)
+   * @see "HAL_PulseMultiple"
+   */
   public static native void pulseMultiple(long channelMask, double pulseLengthSeconds);
 
+  /**
+   * Checks a DIO line to see if it is currently generating a pulse.
+   *
+   * @param dioPortHandle the digital port handle
+   * @return true if a pulse is in progress, otherwise false
+   * @see "HAL_IsPulsing"
+   */
   public static native boolean isPulsing(int dioPortHandle);
 
+  /**
+   * Checks if any DIO line is currently generating a pulse.
+   *
+   * @return true if a pulse on some line is in progress
+   * @see "HAL_IsAnyPulsing"
+   */
   public static native boolean isAnyPulsing();
 
   public static native short getLoopTiming();
 
+  /**
+   * Allocates a DO PWM Generator.
+   *
+   * @return the allocated digital PWM handle
+   */
   public static native int allocateDigitalPWM();
 
+  /**
+   * Frees the resource associated with a DO PWM generator.
+   *
+   * @param pwmGenerator the digital PWM handle
+   * @see "HAL_FreeDigitalPWM"
+   */
   public static native void freeDigitalPWM(int pwmGenerator);
 
+  /**
+   * Changes the frequency of the DO PWM generator.
+   *
+   * <p>The valid range is from 0.6 Hz to 19 kHz.
+   *
+   * <p>The frequency resolution is logarithmic.
+   *
+   * @param rate the frequency to output all digital output PWM signals
+   * @see "HAL_SetDigitalPWMRate"
+   */
   public static native void setDigitalPWMRate(double rate);
 
+  /**
+   * Configures the duty-cycle of the PWM generator.
+   *
+   * @param pwmGenerator the digital PWM handle
+   * @param dutyCycle the percent duty cycle to output [0..1]
+   * @see "HAL_SetDigitalPWMDutyCycle"
+   */
   public static native void setDigitalPWMDutyCycle(int pwmGenerator, double dutyCycle);
 
+  /**
+   * Configures the digital PWM to be a PPS signal with specified duty cycle.
+   *
+   * @param pwmGenerator the digital PWM handle
+   * @param dutyCycle the percent duty cycle to output [0..1]
+   * @see "HAL_SetDigitalPWMPPS"
+   */
   public static native void setDigitalPWMPPS(int pwmGenerator, double dutyCycle);
 
+  /**
+   * Configures which DO channel the PWM signal is output on.
+   *
+   * @param pwmGenerator the digital PWM handle
+   * @param channel the channel to output on
+   * @see "HAL_SetDigitalPWMOutputChannel"
+   */
   public static native void setDigitalPWMOutputChannel(int pwmGenerator, int channel);
 }

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

@@ -4,53 +4,245 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * DMA HAL JNI functions.
+ *
+ * @see "hal/DHA.h"
+ */
 public class DMAJNI extends JNIWrapper {
+  /**
+   * Initializes an object for performing DMA transfers.
+   *
+   * @return the created dma handle
+   * @see "HAL_InitializeDMA"
+   */
   public static native int initialize();
 
+  /**
+   * Frees a DMA object.
+   *
+   * @param handle the dma handle
+   * @see "HAL_FreeDMA"
+   */
   public static native void free(int handle);
 
+  /**
+   * Pauses or unpauses a DMA transfer.
+   *
+   * <p>This can only be called while DMA is running.
+   *
+   * @param handle the dma handle
+   * @param pause true to pause transfers, false to resume.
+   * @see "HAL_SetDMAPause"
+   */
   public static native void setPause(int handle, boolean pause);
 
+  /**
+   * Sets DMA transfers to occur at a specific timed interval.
+   *
+   * <p>This will remove any external triggers. Only timed or external is supported.
+   *
+   * <p>Only 1 timed period is supported.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param handle the dma handle
+   * @param periodSeconds the period to trigger in seconds
+   * @see "HAL_SetDMATimedTrigger"
+   */
   public static native void setTimedTrigger(int handle, double periodSeconds);
 
+  /**
+   * Sets DMA transfers to occur at a specific timed interval in FPGA cycles.
+   *
+   * <p>This will remove any external triggers. Only timed or external is supported.
+   *
+   * <p>Only 1 timed period is supported
+   *
+   * <p>The FPGA currently runs at 40 MHz, but this can change.
+   * HAL_GetSystemClockTicksPerMicrosecond can be used to get a computable value for this.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param handle the dma handle
+   * @param cycles the period to trigger in FPGA cycles
+   * @see "HAL_SetDMATimedTriggerCycles"
+   */
   public static native void setTimedTriggerCycles(int handle, int cycles);
 
+  /**
+   * Adds position data for an encoder to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param handle the dma handle
+   * @param encoderHandle the encoder to add
+   * @see "HAL_AddDMAEncoder"
+   */
   public static native void addEncoder(int handle, int encoderHandle);
 
+  /**
+   * Adds timer data for an encoder to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param handle the dma handle
+   * @param encoderHandle the encoder to add
+   * @see "HAL_AddDMAEncoderPeriod"
+   */
   public static native void addEncoderPeriod(int handle, int encoderHandle);
 
+  /**
+   * Adds position data for an counter to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param handle the dma handle
+   * @param counterHandle the counter to add
+   * @see "HAL_AddDMACounter"
+   */
   public static native void addCounter(int handle, int counterHandle);
 
+  /**
+   * Adds timer data for an counter to be collected by DMA.
+   *
+   * @param handle the dma handle
+   * @param counterHandle the counter to add
+   * @see "HAL_AddDMACounterPeriod"
+   */
   public static native void addCounterPeriod(int handle, int counterHandle);
 
+  /**
+   * Adds a digital source to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param handle the dma handle
+   * @param digitalSourceHandle the digital source to add
+   * @see "HAL_AddDMADigitalSource"
+   */
   public static native void addDigitalSource(int handle, int digitalSourceHandle);
 
+  /**
+   * Adds a duty cycle input to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param handle the dma handle
+   * @param dutyCycleHandle the duty cycle input to add
+   * @see "HAL_AddDMADutyCycle"
+   */
   public static native void addDutyCycle(int handle, int dutyCycleHandle);
 
+  /**
+   * Adds an analog input to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param handle the dma handle
+   * @param analogInputHandle the analog input to add
+   * @see "HAL_AddDMAAnalogInput"
+   */
   public static native void addAnalogInput(int handle, int analogInputHandle);
 
+  /**
+   * Adds averaged data of an analog input to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param handle the dma handle
+   * @param analogInputHandle the analog input to add
+   * @see "HAL_AddDMAAveragedAnalogInput"
+   */
   public static native void addAveragedAnalogInput(int handle, int analogInputHandle);
 
+  /**
+   * Adds accumulator data of an analog input to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param handle the dma handle
+   * @param analogInputHandle the analog input to add
+   * @see "HAL_AddDMAAnalogAccumulator"
+   */
   public static native void addAnalogAccumulator(int handle, int analogInputHandle);
 
+  /**
+   * Sets DMA transfers to occur on an external trigger.
+   *
+   * <p>This will remove any timed trigger set. Only timed or external is supported.
+   *
+   * <p>Up to 8 external triggers are currently supported.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param handle the dma handle
+   * @param digitalSourceHandle the digital source handle (either a HAL_AnalogTriggerHandle or a
+   *     HAL_DigitalHandle)
+   * @param analogTriggerType the analog trigger type if the source is an analog trigger
+   * @param rising true to trigger on rising edge
+   * @param falling true to trigger on falling edge
+   * @return the index of the trigger
+   * @see "HAL_SetDMAExternalTrigger"
+   */
   public static native int setExternalTrigger(
       int handle, int digitalSourceHandle, int analogTriggerType, boolean rising, boolean falling);
 
+  /**
+   * Clear all sensors from the DMA collection list.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param handle the dma handle
+   * @see "HAL_ClearDMASensors"
+   */
   public static native void clearSensors(int handle);
 
+  /**
+   * Clear all external triggers from the DMA trigger list.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param handle the dma handle
+   * @see "HAL_ClearDMAExternalTriggers"
+   */
   public static native void clearExternalTriggers(int handle);
 
+  /**
+   * Starts DMA Collection.
+   *
+   * @param handle the dma handle
+   * @param queueDepth the number of objects to be able to queue
+   * @see "HAL_StartDMA"
+   */
   public static native void startDMA(int handle, int queueDepth);
 
+  /**
+   * Stops DMA Collection.
+   *
+   * @param handle the dma handle
+   * @see "HAL_StopDMA"
+   */
   public static native void stopDMA(int handle);
 
-  // 0-21 channelOffsets
-  // 22: capture size
-  // 23: triggerChannels (bitflags)
-  // 24: remaining
-  // 25: read status
+  /**
+   * Reads a DMA sample from the queue.
+   *
+   * @param handle the dma handle
+   * @param timeoutSeconds the time to wait for data to be queued before timing out
+   * @param buffer the sample object to place data into
+   * @param sampleStore index 0-21 channelOffsets, index 22: capture size, index 23: triggerChannels
+   *     (bitflags), index 24: remaining, index 25: read status
+   * @return timestamp of the DMA Sample
+   */
   public static native long readDMA(
       int handle, double timeoutSeconds, int[] buffer, int[] sampleStore);
 
+  /**
+   * Get the sensor DMA sample.
+   *
+   * @param handle the dma handle
+   * @return The DMA sample
+   */
   public static native DMAJNISample.BaseStore getSensorReadData(int handle);
 }

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

@@ -4,12 +4,59 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Digital Glitch Filter JNI functions.
+ *
+ * @see "hal/DIO.h"
+ */
 public class DigitalGlitchFilterJNI extends JNIWrapper {
+  /**
+   * Writes the filter index from the FPGA.
+   *
+   * <p>Set the filter index used to filter out short pulses.
+   *
+   * @param digitalPortHandle the digital port handle
+   * @param filterIndex the filter index (Must be in the range 0 - 3, where 0 means "none" and 1 - 3
+   *     means filter # filterIndex - 1)
+   * @see "HAL_SetFilterSelect"
+   */
   public static native void setFilterSelect(int digitalPortHandle, int filterIndex);
 
+  /**
+   * Reads the filter index from the FPGA.
+   *
+   * <p>Gets the filter index used to filter out short pulses.
+   *
+   * @param digitalPortHandle the digital port handle
+   * @return the filter index (Must be in the range 0 - 3, where 0 means "none" and 1 - 3 means
+   *     filter # filterIndex - 1)
+   * @see "HAL_GetFilterSelect"
+   */
   public static native int getFilterSelect(int digitalPortHandle);
 
+  /**
+   * Sets the filter period for the specified filter index.
+   *
+   * <p>Sets the filter period in FPGA cycles. Even though there are 2 different filter index
+   * domains (MXP vs HDR), ignore that distinction for now since it complicates the interface. That
+   * can be changed later.
+   *
+   * @param filterIndex the filter index, 0 - 2
+   * @param fpgaCycles the number of cycles that the signal must not transition to be counted as a
+   *     transition.
+   * @see "HAL_SetFilterPeriod"
+   */
   public static native void setFilterPeriod(int filterIndex, int fpgaCycles);
 
+  /**
+   * Gets the filter period for the specified filter index.
+   *
+   * <p>Gets the filter period in FPGA cycles. Even though there are 2 different filter index
+   * domains (MXP vs HDR), ignore that distinction for now since it complicates the interface.
+   *
+   * @param filterIndex the filter index, 0 - 2
+   * @return The number of FPGA cycles of the filter period.
+   * @see "HAL_GetFilterPeriod"
+   */
   public static native int getFilterPeriod(int filterIndex);
 }

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

@@ -6,21 +6,88 @@ package edu.wpi.first.hal;
 
 import java.nio.ByteBuffer;
 
+/**
+ * Driver Station JNI Functions.
+ *
+ * @see "hal/DriverStation.h"
+ * @see "hal/FRCUsageReporting.h"
+ */
 public class DriverStationJNI extends JNIWrapper {
+  /**
+   * Sets the program starting flag in the DS.
+   *
+   * <p>This is what changes the DS to showing robot code ready.
+   *
+   * @see "HAL_ObserveUserProgramStarting"
+   */
   public static native void observeUserProgramStarting();
 
+  /**
+   * Sets the disabled flag in the DS.
+   *
+   * <p>This is used for the DS to ensure the robot is properly responding to its state request.
+   * Ensure this gets called about every 50ms, or the robot will be disabled by the DS.
+   *
+   * @see "HAL_ObserveUserProgramDisabled"
+   */
   public static native void observeUserProgramDisabled();
 
+  /**
+   * Sets the autonomous enabled flag in the DS.
+   *
+   * <p>This is used for the DS to ensure the robot is properly responding to its state request.
+   * Ensure this gets called about every 50ms, or the robot will be disabled by the DS.
+   *
+   * @see "HAL_ObserveUserProgramAutonomous"
+   */
   public static native void observeUserProgramAutonomous();
 
+  /**
+   * Sets the teleoperated enabled flag in the DS.
+   *
+   * <p>This is used for the DS to ensure the robot is properly responding to its state request.
+   * Ensure this gets called about every 50ms, or the robot will be disabled by the DS.
+   *
+   * @see "HAL_ObserveUserProgramTeleop"
+   */
   public static native void observeUserProgramTeleop();
 
+  /**
+   * Sets the test mode flag in the DS.
+   *
+   * <p>This is used for the DS to ensure the robot is properly responding to its state request.
+   * Ensure this gets called about every 50ms, or the robot will be disabled by the DS.
+   *
+   * @see "HAL_ObserveUserProgramTest"
+   */
   public static native void observeUserProgramTest();
 
+  /**
+   * Report the usage of a resource of interest.
+   *
+   * <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
+   * char*)</code>
+   *
+   * @param resource one of the values in the tResourceType above.
+   * @param instanceNumber an index that identifies the resource instance.
+   * @see "HAL_Report"
+   */
   public static void report(int resource, int instanceNumber) {
     report(resource, instanceNumber, 0, "");
   }
 
+  /**
+   * Report the usage of a resource of interest.
+   *
+   * <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
+   * char*)</code>
+   *
+   * @param resource one of the values in the tResourceType above.
+   * @param instanceNumber an index that identifies the resource instance.
+   * @param context an optional additional context number for some cases (such as module number).
+   *     Set to 0 to omit.
+   * @see "HAL_Report"
+   */
   public static void report(int resource, int instanceNumber, int context) {
     report(resource, instanceNumber, context, "");
   }
@@ -31,19 +98,36 @@ public class DriverStationJNI extends JNIWrapper {
    * <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
    * char*)</code>
    *
-   * @param resource one of the values in the tResourceType above (max value 51).
+   * @param resource one of the values in the tResourceType above.
    * @param instanceNumber an index that identifies the resource instance.
    * @param context an optional additional context number for some cases (such as module number).
    *     Set to 0 to omit.
    * @param feature a string to be included describing features in use on a specific resource.
    *     Setting the same resource more than once allows you to change the feature string.
-   * @return TODO
+   * @return the index of the added value in NetComm
+   * @see "HAL_Report"
    */
   public static native int report(int resource, int instanceNumber, int context, String feature);
 
+  /**
+   * Gets the current control word of the driver station.
+   *
+   * <p>The control word contains the robot state.
+   *
+   * @return the control word
+   * @see "HAL_GetControlWord"
+   * @see getControlWord for a version easier to parse
+   */
   public static native int nativeGetControlWord();
 
-  @SuppressWarnings("MissingJavadocMethod")
+  /**
+   * Gets the current control word of the driver station.
+   *
+   * <p>The control work contains the robot state.
+   *
+   * @param controlWord the ControlWord to update
+   * @see "HAL_GetControlWord"
+   */
   public static void getControlWord(ControlWord controlWord) {
     int word = nativeGetControlWord();
     controlWord.update(
@@ -55,18 +139,32 @@ public class DriverStationJNI extends JNIWrapper {
         ((word >> 5) & 1) != 0);
   }
 
+  /**
+   * Gets the current alliance station ID.
+   *
+   * @return the alliance station ID int
+   * @see "HAL_GetAllianceStation"
+   */
   private static native int nativeGetAllianceStation();
 
-  public static final int kRed1AllianceStation = 0;
-  public static final int kRed2AllianceStation = 1;
-  public static final int kRed3AllianceStation = 2;
-  public static final int kBlue1AllianceStation = 3;
-  public static final int kBlue2AllianceStation = 4;
-  public static final int kBlue3AllianceStation = 5;
+  public static final int kUnknownAllianceStation = 0;
+  public static final int kRed1AllianceStation = 1;
+  public static final int kRed2AllianceStation = 2;
+  public static final int kRed3AllianceStation = 3;
+  public static final int kBlue1AllianceStation = 4;
+  public static final int kBlue2AllianceStation = 5;
+  public static final int kBlue3AllianceStation = 6;
 
-  @SuppressWarnings("MissingJavadocMethod")
+  /**
+   * Gets the current alliance station ID.
+   *
+   * @return the alliance station ID as AllianceStationID
+   * @see "HAL_GetAllianceStation"
+   */
   public static AllianceStationID getAllianceStation() {
     switch (nativeGetAllianceStation()) {
+      case kUnknownAllianceStation:
+        return AllianceStationID.Unknown;
       case kRed1AllianceStation:
         return AllianceStationID.Red1;
       case kRed2AllianceStation:
@@ -88,32 +186,156 @@ public class DriverStationJNI extends JNIWrapper {
   public static final int kMaxJoystickPOVs = 12;
   public static final int kMaxJoysticks = 6;
 
+  /**
+   * Gets the axes of a specific joystick.
+   *
+   * @param joystickNum the joystick number
+   * @param axesArray the axes values
+   * @return number of joystick axes, or 0 for error
+   * @see "HAL_GetJoystickAxes"
+   */
   public static native int getJoystickAxes(byte joystickNum, float[] axesArray);
 
+  /**
+   * Gets the axes of a specific joystick.
+   *
+   * @param joystickNum the joystick number
+   * @param rawAxesArray the raw int axes values (0-255)
+   * @return number of joystick axes, or 0 for error
+   * @see "HAL_GetJoystickAxes"
+   */
   public static native int getJoystickAxesRaw(byte joystickNum, int[] rawAxesArray);
 
+  /**
+   * Gets the POVs of a specific joystick.
+   *
+   * @param joystickNum the joystick number
+   * @param povsArray the POV values
+   * @return number of POVs, or 0 for error
+   * @see "HAL_GetJoystickPOVs"
+   */
   public static native int getJoystickPOVs(byte joystickNum, short[] povsArray);
 
+  /**
+   * Gets the buttons of a specific joystick.
+   *
+   * @param joystickNum the joystick number
+   * @param count the count of buttons
+   * @return The joystick button values
+   * @see "HAL_GetJoystickButtons"
+   */
   public static native int getJoystickButtons(byte joystickNum, ByteBuffer count);
 
+  /**
+   * Get all joystick data.
+   *
+   * @param axesArray all joystick axes
+   * @param rawAxesArray all joystick axes as int
+   * @param povsArray all povs
+   * @param buttonsAndMetadata array of long joystick axes count, long joystick povs count, long
+   *     jostick buttons count, long joystick buttons values
+   * @see "HAL_GetAllJoystickData"
+   */
   public static native void getAllJoystickData(
       float[] axesArray, byte[] rawAxesArray, short[] povsArray, long[] buttonsAndMetadata);
 
+  /**
+   * Set joystick outputs.
+   *
+   * @param joystickNum the joystick number
+   * @param outputs bitmask of outputs, 1 for on 0 for off
+   * @param leftRumble the left rumble value (0-FFFF)
+   * @param rightRumble the right rumble value (0-FFFF)
+   * @return the error code, or 0 for success
+   * @see "HAL_SetJoystickOutputs"
+   */
   public static native int setJoystickOutputs(
       byte joystickNum, int outputs, short leftRumble, short rightRumble);
 
+  /**
+   * Gets whether a specific joystick is considered to be an XBox controller.
+   *
+   * @param joystickNum the joystick number
+   * @return 1 if xbox, 0 otherwise
+   * @see "HAL_GetJoystickIsXbox"
+   */
   public static native int getJoystickIsXbox(byte joystickNum);
 
+  /**
+   * Gets the type of joystick connected.
+   *
+   * <p>This is device specific, and different depending on what system input type the joystick
+   * uses.
+   *
+   * @param joystickNum the joystick number
+   * @return the enumerated joystick type
+   * @see "HAL_GetJoystickType"
+   */
   public static native int getJoystickType(byte joystickNum);
 
+  /**
+   * Gets the name of a joystick.
+   *
+   * <p>The returned array must be freed with HAL_FreeJoystickName.
+   *
+   * @param joystickNum the joystick number
+   * @return the joystick name
+   * @see "HAL_GetJoystickName"
+   */
   public static native String getJoystickName(byte joystickNum);
 
+  /**
+   * Gets the type of a specific joystick axis.
+   *
+   * <p>This is device specific, and different depending on what system input type the joystick
+   * uses.
+   *
+   * @param joystickNum the joystick number
+   * @param axis the axis number
+   * @return the enumerated axis type
+   * @see "HAL_GetJoystickAxisType"
+   */
   public static native int getJoystickAxisType(byte joystickNum, byte axis);
 
+  /**
+   * Returns the approximate match time.
+   *
+   * <p>The FMS does not send an official match time to the robots, but does send an approximate
+   * match time. The value will count down the time remaining in the current period (auto or
+   * teleop).
+   *
+   * <p>Warning: This is not an official time (so it cannot be used to dispute ref calls or
+   * guarantee that a function will trigger before the match ends).
+   *
+   * <p>The Practice Match function of the DS approximates the behavior seen on the field.
+   *
+   * @return time remaining in current match period (auto or teleop)
+   * @see "HAL_GetMatchTime"
+   */
   public static native double getMatchTime();
 
+  /**
+   * Gets info about a specific match.
+   *
+   * @param info the match info to populate
+   * @return the error code, or 0 for success
+   * @see "HAL_GetMatchInfo"
+   */
   public static native int getMatchInfo(MatchInfoData info);
 
+  /**
+   * Sends an error to the driver station.
+   *
+   * @param isError true for error, false for warning
+   * @param errorCode the error code
+   * @param isLVCode true for a LV error code, false for a standard error code
+   * @param details the details of the error
+   * @param location the file location of the error
+   * @param callStack the callstack of the error
+   * @param printMsg true to print the error message to stdout as well as to the DS
+   * @return the error code, or 0 for success
+   * @see "HAL_SendError"
+   */
   public static native int sendError(
       boolean isError,
       int errorCode,
@@ -123,14 +345,31 @@ public class DriverStationJNI extends JNIWrapper {
       String callStack,
       boolean printMsg);
 
+  /**
+   * Sends a line to the driver station console.
+   *
+   * @param line the line to send
+   * @return the error code, or 0 for success
+   */
   public static native int sendConsoleLine(String line);
 
+  /**
+   * Refresh the DS control word.
+   *
+   * @return true if updated
+   * @see "HAL_RefreshDSData"
+   */
   public static native boolean refreshDSData();
 
   public static native void provideNewDataEventHandle(int handle);
 
   public static native void removeNewDataEventHandle(int handle);
 
+  /**
+   * Gets if outputs are enabled by the control system.
+   *
+   * @return true if outputs are enabled
+   */
   public static native boolean getOutputsActive();
 
   private DriverStationJNI() {}

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

@@ -4,18 +4,78 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * DutyCycle HAL JNI functions.
+ *
+ * @see "DutyCycle.h"
+ */
 public class DutyCycleJNI extends JNIWrapper {
+  /**
+   * Initialize a DutyCycle input.
+   *
+   * @param digitalSourceHandle the digital source to use (either a Digital Handle or a
+   *     AnalogTrigger Handle)
+   * @param analogTriggerType the analog trigger type of the source if it is an analog trigger
+   * @return the created duty cycle handle
+   * @see "HAL_InitializeDutyCycle"
+   */
   public static native int initialize(int digitalSourceHandle, int analogTriggerType);
 
+  /**
+   * Free a DutyCycle.
+   *
+   * @param handle the duty cycle handle
+   * @see "HAL_FreeDutyCycle"
+   */
   public static native void free(int handle);
 
+  /**
+   * Get the frequency of the duty cycle signal.
+   *
+   * @param handle the duty cycle handle
+   * @return frequency in Hertz
+   * @see "HAL_GetDutyCycleFrequency"
+   */
   public static native int getFrequency(int handle);
 
+  /**
+   * Get the output ratio of the duty cycle signal.
+   *
+   * <p>0 means always low, 1 means always high.
+   *
+   * @param handle the duty cycle handle
+   * @return output ratio between 0 and 1
+   * @see "HAL_GetDutyCycleOutput"
+   */
   public static native double getOutput(int handle);
 
+  /**
+   * Get the raw high time of the duty cycle signal.
+   *
+   * @param handle the duty cycle handle
+   * @return high time of last pulse in nanoseconds
+   * @see "HAL_GetDutyCycleHighTime"
+   */
   public static native int getHighTime(int handle);
 
+  /**
+   * Get the scale factor of the output.
+   *
+   * <p>An output equal to this value is always high, and then linearly scales down to 0. Divide a
+   * raw result by this in order to get the percentage between 0 and 1. Used by DMA.
+   *
+   * @param handle the duty cycle handle
+   * @return the output scale factor
+   * @see "HAL_GetDutyCycleOutputScaleFactor"
+   */
   public static native int getOutputScaleFactor(int handle);
 
+  /**
+   * Get the FPGA index for the DutyCycle.
+   *
+   * @param handle the duty cycle handle
+   * @return the FPGA index
+   * @see "HAL_GetDutyCycleFPGAIndex"
+   */
   public static native int getFPGAIndex(int handle);
 }

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

@@ -4,7 +4,24 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Encoder JNI Functions.
+ *
+ * @see "hal/Encoder.h"
+ */
 public class EncoderJNI extends JNIWrapper {
+  /**
+   * Initializes an encoder.
+   *
+   * @param digitalSourceHandleA the A source handle (either a digital or analog trigger)
+   * @param analogTriggerTypeA the analog trigger type of the A source if it is an analog trigger
+   * @param digitalSourceHandleB the B source handle (either a digital or analog trigger)
+   * @param analogTriggerTypeB the analog trigger type of the B source if it is an analog trigger
+   * @param reverseDirection true to reverse the counting direction from standard, otherwise false
+   * @param encodingType the encoding type
+   * @return the created encoder handle
+   * @see "HAL_InitializeEncoder"
+   */
   public static native int initializeEncoder(
       int digitalSourceHandleA,
       int analogTriggerTypeA,
@@ -13,50 +30,249 @@ public class EncoderJNI extends JNIWrapper {
       boolean reverseDirection,
       int encodingType);
 
+  /**
+   * Frees an encoder.
+   *
+   * @param encoderHandle the encoder handle
+   * @see "HAL_FreeEncoder"
+   */
   public static native void freeEncoder(int encoderHandle);
 
+  /**
+   * Indicates the encoder is used by a simulated device.
+   *
+   * @param handle the encoder handle
+   * @param device simulated device handle
+   * @see "HAL_SetEncoderSimDevice"
+   */
   public static native void setEncoderSimDevice(int handle, int device);
 
+  /**
+   * Gets the current counts of the encoder after encoding type scaling.
+   *
+   * <p>This is scaled by the value passed during initialization to encodingType.
+   *
+   * @param encoderHandle the encoder handle
+   * @return the current scaled count
+   * @see "HAL_GetEncoder"
+   */
   public static native int getEncoder(int encoderHandle);
 
+  /**
+   * Gets the raw counts of the encoder.
+   *
+   * <p>This is not scaled by any values.
+   *
+   * @param encoderHandle the encoder handle
+   * @return the raw encoder count
+   * @see "HAL_GetEncoderRaw"
+   */
   public static native int getEncoderRaw(int encoderHandle);
 
+  /**
+   * Gets the encoder scale value.
+   *
+   * <p>This is set by the value passed during initialization to encodingType.
+   *
+   * @param encoderHandle the encoder handle
+   * @return the encoder scale value
+   * @see "HAL_GetEncoderEncodingScale"
+   */
   public static native int getEncodingScaleFactor(int encoderHandle);
 
+  /**
+   * Reads the current encoder value.
+   *
+   * <p>Read the value at this instant. It may still be running, so it reflects the current value.
+   * Next time it is read, it might have a different value.
+   *
+   * @param encoderHandle the encoder handle
+   * @see "HAL_ResetEncoder"
+   */
   public static native void resetEncoder(int encoderHandle);
 
+  /**
+   * Gets the Period of the most recent count.
+   *
+   * <p>Returns the time interval of the most recent count. This can be used for velocity
+   * calculations to determine shaft speed.
+   *
+   * @param encoderHandle the encoder handle
+   * @return the period of the last two pulses in units of seconds
+   * @see "HAL_GetEncoderPeriod"
+   */
   public static native double getEncoderPeriod(int encoderHandle);
 
+  /**
+   * Sets the maximum period where the device is still considered "moving".
+   *
+   * <p>Sets the maximum period where the device is considered moving. This value is used to
+   * determine the "stopped" state of the encoder using the getEncoderStopped method.
+   *
+   * @param encoderHandle the encoder handle
+   * @param maxPeriod the maximum period where the counted device is considered moving in seconds
+   * @see "HAL_SetEncoderMaxPeriod"
+   */
   public static native void setEncoderMaxPeriod(int encoderHandle, double maxPeriod);
 
+  /**
+   * Determines if the clock is stopped.
+   *
+   * <p>Determines if the clocked input is stopped based on the MaxPeriod value set using the
+   * SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the device (and encoder) are
+   * assumed to be stopped and it returns true.
+   *
+   * @param encoderHandle the encoder handle
+   * @return true if the most recent encoder period exceeds the MaxPeriod value set by SetMaxPeriod
+   * @see "HAL_GetEncoderStopped"
+   */
   public static native boolean getEncoderStopped(int encoderHandle);
 
+  /**
+   * Gets the last direction the encoder value changed.
+   *
+   * @param encoderHandle the encoder handle
+   * @return the last direction the encoder value changed
+   * @see "HAL_GetEncoderDirection"
+   */
   public static native boolean getEncoderDirection(int encoderHandle);
 
+  /**
+   * Gets the current distance traveled by the encoder.
+   *
+   * <p>This is the encoder count scaled by the distance per pulse set for the encoder.
+   *
+   * @param encoderHandle the encoder handle
+   * @return the encoder distance (units are determined by the units passed to
+   *     setEncoderDistancePerPulse)
+   * @see "HAL_GetEncoderDistance"
+   */
   public static native double getEncoderDistance(int encoderHandle);
 
+  /**
+   * Gets the current rate of the encoder.
+   *
+   * <p>This is the encoder period scaled by the distance per pulse set for the encoder.
+   *
+   * @param encoderHandle the encoder handle
+   * @return the encoder rate (units are determined by the units passed to
+   *     setEncoderDistancePerPulse, time value is seconds)
+   * @see "HAL_GetEncoderRate"
+   */
   public static native double getEncoderRate(int encoderHandle);
 
+  /**
+   * Sets the minimum rate to be considered moving by the encoder.
+   *
+   * <p>Units need to match what is set by setEncoderDistancePerPulse, with time as seconds.
+   *
+   * @param encoderHandle the encoder handle
+   * @param minRate the minimum rate to be considered moving (units are determined by the units
+   *     passed to setEncoderDistancePerPulse, time value is seconds)
+   * @see "HAL_SetEncoderMinRate"
+   */
   public static native void setEncoderMinRate(int encoderHandle, double minRate);
 
+  /**
+   * Sets the distance traveled per encoder pulse. This is used as a scaling factor for the rate and
+   * distance calls.
+   *
+   * @param encoderHandle the encoder handle
+   * @param distancePerPulse the distance traveled per encoder pulse (units user defined)
+   * @see "HAL_SetEncoderDistancePerPulse"
+   */
   public static native void setEncoderDistancePerPulse(int encoderHandle, double distancePerPulse);
 
+  /**
+   * Sets if to reverse the direction of the encoder.
+   *
+   * <p>Note that this is not a toggle. It is an absolute set.
+   *
+   * @param encoderHandle the encoder handle
+   * @param reverseDirection true to reverse the direction, false to not.
+   * @see "HAL_SetEncoderReverseDirection"
+   */
   public static native void setEncoderReverseDirection(int encoderHandle, boolean reverseDirection);
 
+  /**
+   * Sets the number of encoder samples to average when calculating encoder rate.
+   *
+   * @param encoderHandle the encoder handle
+   * @param samplesToAverage the number of samples to average
+   * @see "HAL_SetEncoderSamplesToAverage"
+   */
   public static native void setEncoderSamplesToAverage(int encoderHandle, int samplesToAverage);
 
+  /**
+   * Gets the current samples to average value.
+   *
+   * @param encoderHandle the encoder handle
+   * @return the current samples to average value
+   * @see "HAL_GetEncoderSamplesToAverage"
+   */
   public static native int getEncoderSamplesToAverage(int encoderHandle);
 
+  /**
+   * Sets the source for an index pulse on the encoder.
+   *
+   * <p>The index pulse can be used to cause an encoder to reset based on an external input.
+   *
+   * @param encoderHandle the encoder handle
+   * @param digitalSourceHandle the index source handle (either a HAL_AnalogTriggerHandle or a
+   *     HAL_DigitalHandle)
+   * @param analogTriggerType the analog trigger type if the source is an analog trigger
+   * @param indexingType the index triggering type
+   * @see "HAL_SetEncoderIndexSource"
+   */
   public static native void setEncoderIndexSource(
       int encoderHandle, int digitalSourceHandle, int analogTriggerType, int indexingType);
 
+  /**
+   * Gets the FPGA index of the encoder.
+   *
+   * @param encoderHandle the encoder handle
+   * @return the FPGA index of the encoder
+   * @see "HAL_GetEncoderFPGAIndex"
+   */
   public static native int getEncoderFPGAIndex(int encoderHandle);
 
+  /**
+   * Gets the encoder scale value.
+   *
+   * <p>This is set by the value passed during initialization to encodingType.
+   *
+   * @param encoderHandle the encoder handle
+   * @return the encoder scale value
+   * @see "HAL_GetEncoderEncodingScale"
+   */
   public static native int getEncoderEncodingScale(int encoderHandle);
 
+  /**
+   * Gets the decoding scale factor of the encoder.
+   *
+   * <p>This is used to perform the scaling from raw to type scaled values.
+   *
+   * @param encoderHandle the encoder handle
+   * @return the scale value for the encoder
+   * @see "HAL_GetEncoderDecodingScaleFactor"
+   */
   public static native double getEncoderDecodingScaleFactor(int encoderHandle);
 
+  /**
+   * Gets the user set distance per pulse of the encoder.
+   *
+   * @param encoderHandle the encoder handle
+   * @return the set distance per pulse
+   * @see "HAL_GetEncoderDistancePerPulse"
+   */
   public static native double getEncoderDistancePerPulse(int encoderHandle);
 
+  /**
+   * Gets the encoding type of the encoder.
+   *
+   * @param encoderHandle the encoder handle
+   * @return the encoding type
+   * @see "HAL_GetEncoderEncodingType"
+   */
   public static native int getEncoderEncodingType(int encoderHandle);
 }

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

@@ -8,18 +8,71 @@ import java.util.ArrayList;
 import java.util.List;
 
 /**
- * JNI Wrapper for HAL<br>
- * .
+ * JNI Wrapper for Hardware Abstraction Layer (HAL).
+ *
+ * @see "hal/HALBase.h"
+ * @see "hal/Main.h"
+ * @see "hal/FRCUsageReporting.h"
  */
 public final class HAL extends JNIWrapper {
+  /**
+   * Call this to start up HAL. This is required for robot programs.
+   *
+   * <p>This must be called before any other HAL functions. Failure to do so will result in
+   * undefined behavior, and likely segmentation faults. This means that any statically initialized
+   * variables in a program MUST call this function in their constructors if they want to use other
+   * HAL calls.
+   *
+   * <p>The common parameters are 500 for timeout and 0 for mode.
+   *
+   * <p>This function is safe to call from any thread, and as many times as you wish. It internally
+   * guards from any reentrancy.
+   *
+   * <p>The applicable modes are: 0: Try to kill an existing HAL from another program, if not
+   * successful, error. 1: Force kill a HAL from another program. 2: Just warn if another hal exists
+   * and cannot be killed. Will likely result in undefined behavior.
+   *
+   * @param timeout the initialization timeout (ms)
+   * @param mode the initialization mode (see remarks)
+   * @return true if initialization was successful, otherwise false.
+   * @see "HAL_Initialize"
+   */
   public static native boolean initialize(int timeout, int mode);
 
+  /**
+   * Call this to shut down HAL.
+   *
+   * <p>This must be called at termination of the robot program to avoid potential segmentation
+   * faults with simulation extensions at exit.
+   *
+   * @see "HAL_Shutdown"
+   */
   public static native void shutdown();
 
+  /**
+   * Returns true if HAL_SetMain() has been called.
+   *
+   * @return True if HAL_SetMain() has been called, false otherwise.
+   * @see "HAL_HasMain"
+   */
   public static native boolean hasMain();
 
+  /**
+   * Runs the main function provided to HAL_SetMain().
+   *
+   * <p>If HAL_SetMain() has not been called, simply sleeps until exitMain() is called.
+   *
+   * @see "HAL_RunMain"
+   */
   public static native void runMain();
 
+  /**
+   * Causes HAL_RunMain() to exit.
+   *
+   * <p>If HAL_SetMain() has been called, this calls the exit function provided to that function.
+   *
+   * @see "HAL_ExitMain"
+   */
   public static native void exitMain();
 
   private static native void simPeriodicBeforeNative();
@@ -113,22 +166,100 @@ public final class HAL extends JNIWrapper {
     }
   }
 
+  /**
+   * Gets if the system is in a browned out state.
+   *
+   * @return true if the system is in a low voltage brown out, false otherwise
+   * @see "HAL_GetBrownedOut"
+   */
   public static native boolean getBrownedOut();
 
+  /**
+   * Gets if the system outputs are currently active.
+   *
+   * @return true if the system outputs are active, false if disabled
+   * @see "HAL_GetSystemActive"
+   */
   public static native boolean getSystemActive();
 
+  /**
+   * Gets the current state of the Robot Signal Light (RSL).
+   *
+   * @return The current state of the RSL- true if on, false if off
+   * @see "HAL_GetRSLState"
+   */
+  public static native boolean getRSLState();
+
+  /**
+   * Gets a port handle for a specific channel and module.
+   *
+   * <p>This is expected to be used for PCMs, as the roboRIO does not work with modules anymore.
+   *
+   * <p>The created handle does not need to be freed.
+   *
+   * @param module the module number
+   * @param channel the channel number
+   * @return the created port
+   * @see "HAL_GetPortWithModule"
+   */
   public static native int getPortWithModule(byte module, byte channel);
 
+  /**
+   * Gets a port handle for a specific channel.
+   *
+   * <p>The created handle does not need to be freed.
+   *
+   * @param channel the channel number
+   * @return the created port
+   * @see "HAL_GetPort"
+   */
   public static native int getPort(byte channel);
 
+  /**
+   * Report the usage of a resource of interest.
+   *
+   * <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
+   * char*)</code>
+   *
+   * @param resource one of the values in the tResourceType above.
+   * @param instanceNumber an index that identifies the resource instance.
+   * @see "HAL_Report"
+   */
   public static void report(int resource, int instanceNumber) {
     report(resource, instanceNumber, 0, "");
   }
 
+  /**
+   * Report the usage of a resource of interest.
+   *
+   * <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
+   * char*)</code>
+   *
+   * @param resource one of the values in the tResourceType above.
+   * @param instanceNumber an index that identifies the resource instance.
+   * @param context an optional additional context number for some cases (such as module number).
+   *     Set to 0 to omit.
+   * @see "HAL_Report"
+   */
   public static void report(int resource, int instanceNumber, int context) {
     report(resource, instanceNumber, context, "");
   }
 
+  /**
+   * Report the usage of a resource of interest.
+   *
+   * <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
+   * char*)</code>
+   *
+   * @param resource one of the values in the tResourceType above.
+   * @param instanceNumber an index that identifies the resource instance.
+   * @param context an optional additional context number for some cases (such as module number).
+   *     Set to 0 to omit.
+   * @param feature a string to be included describing features in use on a specific resource.
+   *     Setting the same resource more than once allows you to change the feature string.
+   * @return the index of the added value in NetComm
+   * @see "HAL_Report"
+   */
   public static int report(int resource, int instanceNumber, int context, String feature) {
     return DriverStationJNI.report(resource, instanceNumber, context, feature);
   }

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

@@ -4,6 +4,11 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Hardware Abstraction Layer (HAL) Utilities JNI Functions.
+ *
+ * @see "hal/HALBase.h"
+ */
 public final class HALUtil extends JNIWrapper {
   public static final int NULL_PARAMETER = -1005;
   public static final int SAMPLE_RATE_TOO_HIGH = 1001;
@@ -18,26 +23,100 @@ public final class HALUtil extends JNIWrapper {
   public static final int RUNTIME_ROBORIO2 = 1;
   public static final int RUNTIME_SIMULATION = 2;
 
+  /**
+   * Returns the FPGA Version number.
+   *
+   * <p>For now, expect this to be competition year.
+   *
+   * @return FPGA Version number.
+   * @see "HAL_GetFPGAVersion"
+   */
   public static native short getFPGAVersion();
 
+  /**
+   * Returns the FPGA Revision number.
+   *
+   * <p>The format of the revision is 3 numbers. The 12 most significant bits are the Major
+   * Revision. the next 8 bits are the Minor Revision. The 12 least significant bits are the Build
+   * Number.
+   *
+   * @return FPGA Revision number.
+   * @see "HAL_GetFPGARevision"
+   */
   public static native int getFPGARevision();
 
+  /**
+   * Returns the roboRIO serial number.
+   *
+   * @return The roboRIO serial number.
+   * @see "HAL_GetSerialNumber"
+   */
   public static native String getSerialNumber();
 
+  /**
+   * Returns the comments from the roboRIO web interface.
+   *
+   * @return The comments string.
+   * @see "HAL_GetComments"
+   */
   public static native String getComments();
 
+  /**
+   * Reads the microsecond-resolution timer on the FPGA.
+   *
+   * @return The current time in microseconds according to the FPGA (since FPGA reset).
+   */
   public static native long getFPGATime();
 
+  /**
+   * Returns the runtime type of the HAL.
+   *
+   * @return HAL Runtime Type
+   * @see RUNTIME_ROBORIO
+   * @see RUNTIME_ROBORIO2
+   * @see RUNTIME_SIMULATION
+   * @see "HAL_GetRuntimeType"
+   */
   public static native int getHALRuntimeType();
 
+  /**
+   * Gets the state of the "USER" button on the roboRIO.
+   *
+   * @return true if the button is currently pressed down
+   * @see "HAL_GetFPGAButton"
+   */
   public static native boolean getFPGAButton();
 
+  /**
+   * Gets the error message for a specific status code.
+   *
+   * @param code the status code
+   * @return the error message for the code. This does not need to be freed.
+   * @see "HAL_GetErrorMessage"
+   */
   public static native String getHALErrorMessage(int code);
 
+  /**
+   * Get the last HAL error code.
+   *
+   * @return error code
+   */
   public static native int getHALErrno();
 
+  /**
+   * Returns the textual description of the system error code.
+   *
+   * @param errno errno to get description of
+   * @return description of errno
+   * @see "std:strerror"
+   */
   public static native String getHALstrerror(int errno);
 
+  /**
+   * Gets the error message for the last HAL error.
+   *
+   * @return the error message for the code.
+   */
   public static String getHALstrerror() {
     return getHALstrerror(getHALErrno());
   }

hal/src/main/java/edu/wpi/first/hal/I2CJNI.java

@@ -6,9 +6,38 @@ package edu.wpi.first.hal;
 
 import java.nio.ByteBuffer;
 
+/**
+ * I2C HAL JNI functions.
+ *
+ * @see "I2C.h"
+ */
 public class I2CJNI extends JNIWrapper {
+  /**
+   * Initializes the I2C port.
+   *
+   * <p>Opens the port if necessary and saves the handle. If opening the MXP port, also sets up the
+   * channel functions appropriately.
+   *
+   * @param port The port to open, 0 for the on-board, 1 for the MXP.
+   * @see "HAL_InitializeI2C"
+   */
   public static native void i2CInitialize(int port);
 
+  /**
+   * Generic I2C read/write transaction.
+   *
+   * <p>This is a lower-level interface to the I2C hardware giving you more control over each
+   * transaction.
+   *
+   * @param port The I2C port, 0 for the on-board, 1 for the MXP.
+   * @param address The address of the register on the device to be read/written.
+   * @param dataToSend Buffer of data to send as part of the transaction.
+   * @param sendSize Number of bytes to send as part of the transaction.
+   * @param dataReceived Buffer to read data into.
+   * @param receiveSize Number of bytes to read from the device.
+   * @return &gt;= 0 on success or -1 on transfer abort.
+   * @see "HAL_TransactionI2C"
+   */
   public static native int i2CTransaction(
       int port,
       byte address,
@@ -17,6 +46,21 @@ public class I2CJNI extends JNIWrapper {
       ByteBuffer dataReceived,
       byte receiveSize);
 
+  /**
+   * Generic I2C read/write transaction.
+   *
+   * <p>This is a lower-level interface to the I2C hardware giving you more control over each
+   * transaction.
+   *
+   * @param port The I2C port, 0 for the on-board, 1 for the MXP.
+   * @param address The address of the register on the device to be read/written.
+   * @param dataToSend Buffer of data to send as part of the transaction.
+   * @param sendSize Number of bytes to send as part of the transaction.
+   * @param dataReceived Buffer to read data into.
+   * @param receiveSize Number of bytes to read from the device.
+   * @return &gt;= 0 on success or -1 on transfer abort.
+   * @see "HAL_TransactionI2C"
+   */
   public static native int i2CTransactionB(
       int port,
       byte address,
@@ -25,14 +69,70 @@ public class I2CJNI extends JNIWrapper {
       byte[] dataReceived,
       byte receiveSize);
 
+  /**
+   * Executes a write transaction with the device.
+   *
+   * <p>Writes a single byte to a register on a device and wait until the transaction is complete.
+   *
+   * @param port The I2C port, 0 for the on-board, 1 for the MXP.
+   * @param address The address of the register on the device to be written.
+   * @param dataToSend The byte to write to the register on the device.
+   * @param sendSize Number of bytes to send.
+   * @return &gt;= 0 on success or -1 on transfer abort.
+   * @see "HAL_WriteI2C"
+   */
   public static native int i2CWrite(int port, byte address, ByteBuffer dataToSend, byte sendSize);
 
+  /**
+   * Executes a write transaction with the device.
+   *
+   * <p>Writes a single byte to a register on a device and wait until the transaction is complete.
+   *
+   * @param port The I2C port, 0 for the on-board, 1 for the MXP.
+   * @param address The address of the register on the device to be written.
+   * @param dataToSend The byte to write to the register on the device.
+   * @param sendSize Number of bytes to send.
+   * @return &gt;= 0 on success or -1 on transfer abort.
+   * @see "HAL_WriteI2C"
+   */
   public static native int i2CWriteB(int port, byte address, byte[] dataToSend, byte sendSize);
 
+  /**
+   * Executes a read transaction with the device.
+   *
+   * <p>Reads bytes from a device. Most I2C devices will auto-increment the register pointer
+   * internally allowing you to read consecutive registers on a device in a single transaction.
+   *
+   * @param port The I2C port, 0 for the on-board, 1 for the MXP.
+   * @param address The register to read first in the transaction.
+   * @param dataReceived A ByteBuffer to store the data read from the device.
+   * @param receiveSize The number of bytes to read in the transaction.
+   * @return &gt;= 0 on success or -1 on transfer abort.
+   * @see "HAL_ReadI2C"
+   */
   public static native int i2CRead(
       int port, byte address, ByteBuffer dataReceived, byte receiveSize);
 
+  /**
+   * Executes a read transaction with the device.
+   *
+   * <p>Reads bytes from a device. Most I2C devices will auto-increment the register pointer
+   * internally allowing you to read consecutive registers on a device in a single transaction.
+   *
+   * @param port The I2C port, 0 for the on-board, 1 for the MXP.
+   * @param address The register to read first in the transaction.
+   * @param dataReceived A byte array to store the data read from the device.
+   * @param receiveSize The number of bytes to read in the transaction.
+   * @return &gt;= 0 on success or -1 on transfer abort.
+   * @see "HAL_ReadI2C"
+   */
   public static native int i2CReadB(int port, byte address, byte[] dataReceived, byte receiveSize);
 
+  /**
+   * Closes an I2C port.
+   *
+   * @param port The I2C port, 0 for the on-board, 1 for the MXP.
+   * @see "HAL_CloseI2C"
+   */
   public static native void i2CClose(int port);
 }

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

@@ -4,28 +4,113 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Interrupt HAL JNI functions.
+ *
+ * @see "hal/Interrupts.h"
+ */
 public class InterruptJNI extends JNIWrapper {
   public static final int HalInvalidHandle = 0;
 
+  /**
+   * Initializes an interrupt.
+   *
+   * @return the created interrupt handle
+   * @see "HAL_InitializeInterrupts"
+   */
   public static native int initializeInterrupts();
 
+  /**
+   * Frees an interrupt.
+   *
+   * @param interruptHandle the interrupt handle
+   * @see "HAL_CleanInterrupts"
+   */
   public static native void cleanInterrupts(int interruptHandle);
 
+  /**
+   * Waits for the defined interrupt to occur.
+   *
+   * @param interruptHandle the interrupt handle
+   * @param timeout timeout in seconds
+   * @param ignorePrevious if true, ignore interrupts that happened before waitForInterrupt was
+   *     called
+   * @return the mask of interrupts that fired
+   * @see "HAL_WaitForInterrupt"
+   */
   public static native long waitForInterrupt(
       int interruptHandle, double timeout, boolean ignorePrevious);
 
+  /**
+   * Waits for any interrupt covered by the mask to occur.
+   *
+   * @param interruptHandle the interrupt handle to use for the context
+   * @param mask the mask of interrupts to wait for
+   * @param timeout timeout in seconds
+   * @param ignorePrevious if true, ignore interrupts that happened before waitForInterrupt was
+   *     called
+   * @return the mask of interrupts that fired
+   * @see "HAL_WaitForMultipleInterrupts"
+   */
   public static native long waitForMultipleInterrupts(
       int interruptHandle, long mask, double timeout, boolean ignorePrevious);
 
+  /**
+   * Returns the timestamp for the rising interrupt that occurred most recently.
+   *
+   * <p>This is in the same time domain as getFPGATime(). It only contains the bottom 32 bits of the
+   * timestamp. If your robot has been running for over 1 hour, you will need to fill in the upper
+   * 32 bits yourself.
+   *
+   * @param interruptHandle the interrupt handle
+   * @return timestamp in microseconds since FPGA Initialization
+   */
   public static native long readInterruptRisingTimestamp(int interruptHandle);
 
+  /**
+   * Returns the timestamp for the falling interrupt that occurred most recently.
+   *
+   * <p>This is in the same time domain as getFPGATime(). It only contains the bottom 32 bits of the
+   * timestamp. If your robot has been running for over 1 hour, you will need to fill in the upper
+   * 32 bits yourself.
+   *
+   * @param interruptHandle the interrupt handle
+   * @return timestamp in microseconds since FPGA Initialization
+   */
   public static native long readInterruptFallingTimestamp(int interruptHandle);
 
+  /**
+   * Requests interrupts on a specific digital source.
+   *
+   * @param interruptHandle the interrupt handle
+   * @param digitalSourceHandle the digital source handle (either a HAL_AnalogTriggerHandle or a
+   *     HAL_DigitalHandle)
+   * @param analogTriggerType the trigger type if the source is an AnalogTrigger
+   * @see "HAL_RequestInterrupts"
+   */
   public static native void requestInterrupts(
       int interruptHandle, int digitalSourceHandle, int analogTriggerType);
 
+  /**
+   * Sets the edges to trigger the interrupt on.
+   *
+   * <p>Note that both edges triggered is a valid configuration.
+   *
+   * @param interruptHandle the interrupt handle
+   * @param risingEdge true for triggering on rising edge
+   * @param fallingEdge true for triggering on falling edge
+   * @see "HAL_SetInterruptUpSourceEdge"
+   */
   public static native void setInterruptUpSourceEdge(
       int interruptHandle, boolean risingEdge, boolean fallingEdge);
 
+  /**
+   * Releases a waiting interrupt.
+   *
+   * <p>This will release both rising and falling waiters.
+   *
+   * @param interruptHandle the interrupt handle to release
+   * @see "HAL_ReleaseWaitingInterrupt"
+   */
   public static native void releaseWaitingInterrupt(int interruptHandle);
 }

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

@@ -9,22 +9,34 @@ package edu.wpi.first.hal;
  *
  * <p>This class is not meant for direct use by teams. Instead, the edu.wpi.first.wpilibj.Notifier
  * class, which corresponds to the C++ Notifier class, should be used.
+ *
+ * @see "hal/Notifier.h"
  */
 public class NotifierJNI extends JNIWrapper {
   /**
-   * Initializes the notifier.
+   * Initializes a notifier.
    *
-   * @return True on success.
+   * <p>A notifier is an FPGA controller timer that triggers at requested intervals based on the
+   * FPGA time. This can be used to make precise control loops.
+   *
+   * @return the created notifier
+   * @see "HAL_InitializeNotifier"
    */
   public static native int initializeNotifier();
 
   /**
    * Sets the HAL notifier thread priority.
    *
+   * <p>The HAL notifier thread is responsible for managing the FPGA's notifier interrupt and waking
+   * up user's Notifiers when it's their time to run. Giving the HAL notifier thread real-time
+   * priority helps ensure the user's real-time Notifiers, if any, are notified to run in a timely
+   * manner.
+   *
    * @param realTime Set to true to set a real-time priority, false for standard priority.
    * @param priority Priority to set the thread to. For real-time, this is 1-99 with 99 being
    *     highest. For non-real-time, this is forced to 0. See "man 7 sched" for more details.
    * @return True on success.
+   * @see "HAL_SetNotifierThreadPriority"
    */
   public static native boolean setHALThreadPriority(boolean realTime, int priority);
 
@@ -33,44 +45,60 @@ public class NotifierJNI extends JNIWrapper {
    *
    * @param notifierHandle Notifier handle.
    * @param name Notifier name.
+   * @see "HAL_SetNotifierName"
    */
   public static native void setNotifierName(int notifierHandle, String name);
 
   /**
-   * Wakes up the waiter with time=0. Note: after this function is called, all calls to
-   * waitForNotifierAlarm() will immediately start returning 0.
+   * Stops a notifier from running.
    *
-   * @param notifierHandle Notifier handle.
+   * <p>This will cause any call into waitForNotifierAlarm to return with time = 0.
+   *
+   * @param notifierHandle the notifier handle
+   * @see "HAL_StopNotifier"
    */
   public static native void stopNotifier(int notifierHandle);
 
   /**
-   * Deletes the notifier object when we are done with it.
+   * Cleans a notifier.
    *
-   * @param notifierHandle Notifier handle.
+   * <p>Note this also stops a notifier if it is already running.
+   *
+   * @param notifierHandle the notifier handle
+   * @see "HAL_CleanNotifier"
    */
   public static native void cleanNotifier(int notifierHandle);
 
   /**
-   * Sets the notifier to wake up the waiter at triggerTime microseconds.
+   * Updates the trigger time for a notifier.
    *
-   * @param notifierHandle Notifier handle.
-   * @param triggerTime Trigger time in microseconds.
+   * <p>Note that this time is an absolute time relative to getFPGATime()
+   *
+   * @param notifierHandle the notifier handle
+   * @param triggerTime the updated trigger time
+   * @see "HAL_UpdateNotifierAlarm"
    */
   public static native void updateNotifierAlarm(int notifierHandle, long triggerTime);
 
   /**
-   * Cancels any pending wakeups set by updateNotifierAlarm(). Does NOT wake up any waiters.
+   * Cancels the next notifier alarm.
    *
-   * @param notifierHandle Notifier handle.
+   * <p>This does not cause waitForNotifierAlarm to return.
+   *
+   * @param notifierHandle the notifier handle
+   * @see "HAL_CancelNotifierAlarm"
    */
   public static native void cancelNotifierAlarm(int notifierHandle);
 
   /**
-   * Block until woken up by an alarm (or stop).
+   * Waits for the next alarm for the specific notifier.
    *
-   * @param notifierHandle Notifier handle.
-   * @return Time when woken up.
+   * <p>This is a blocking call until either the time elapses or stopNotifier gets called. If the
+   * latter occurs, this function will return zero and any loops using this function should exit.
+   * Failing to do so can lead to use-after-frees.
+   *
+   * @param notifierHandle the notifier handle
+   * @return the FPGA time the notifier returned
    */
   public static native long waitForNotifierAlarm(int notifierHandle);
 }

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

@@ -15,18 +15,18 @@ public class PWMConfigDataResult {
     this.min = min;
   }
 
-  /** The maximum PWM value. */
+  /** The maximum PWM value in microseconds. */
   public int max;
 
-  /** The deadband maximum PWM value. */
+  /** The deadband maximum PWM value in microseconds. */
   public int deadbandMax;
 
-  /** The center PWM value. */
+  /** The center PWM value in microseconds. */
   public int center;
 
-  /** The deadband minimum PWM value. */
+  /** The deadband minimum PWM value in microseconds. */
   public int deadbandMin;
 
-  /** The minimum PWM value. */
+  /** The minimum PWM value in microseconds. */
   public int min;
 }

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

@@ -11,7 +11,7 @@ public class PWMJNI extends DIOJNI {
 
   public static native void freePWMPort(int pwmPortHandle);
 
-  public static native void setPWMConfigRaw(
+  public static native void setPWMConfigMicroseconds(
       int pwmPortHandle,
       int maxPwm,
       int deadbandMaxPwm,
@@ -19,27 +19,19 @@ public class PWMJNI extends DIOJNI {
       int deadbandMinPwm,
       int minPwm);
 
-  public static native void setPWMConfig(
-      int pwmPortHandle,
-      double maxPwm,
-      double deadbandMaxPwm,
-      double centerPwm,
-      double deadbandMinPwm,
-      double minPwm);
-
-  public static native PWMConfigDataResult getPWMConfigRaw(int pwmPortHandle);
+  public static native PWMConfigDataResult getPWMConfigMicroseconds(int pwmPortHandle);
 
   public static native void setPWMEliminateDeadband(int pwmPortHandle, boolean eliminateDeadband);
 
   public static native boolean getPWMEliminateDeadband(int pwmPortHandle);
 
-  public static native void setPWMRaw(int pwmPortHandle, short value);
+  public static native void setPulseTimeMicroseconds(int pwmPortHandle, int microsecondPulseTime);
 
   public static native void setPWMSpeed(int pwmPortHandle, double speed);
 
   public static native void setPWMPosition(int pwmPortHandle, double position);
 
-  public static native short getPWMRaw(int pwmPortHandle);
+  public static native int getPulseTimeMicroseconds(int pwmPortHandle);
 
   public static native double getPWMSpeed(int pwmPortHandle);
 
@@ -49,5 +41,7 @@ public class PWMJNI extends DIOJNI {
 
   public static native void latchPWMZero(int pwmPortHandle);
 
+  public static native void setAlwaysHighMode(int pwmPortHandle);
+
   public static native void setPWMPeriodScale(int pwmPortHandle, int squelchMask);
 }

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

@@ -4,48 +4,185 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Ports HAL JNI functions.
+ *
+ * @see "hal/Ports.h"
+ */
 public class PortsJNI extends JNIWrapper {
+  /**
+   * Gets the number of analog accumulators in the current system.
+   *
+   * @return the number of analog accumulators
+   * @see "HAL_GetNumAccumulators"
+   */
   public static native int getNumAccumulators();
 
+  /**
+   * Gets the number of analog triggers in the current system.
+   *
+   * @return the number of analog triggers
+   * @see "HAL_GetNumAnalogTriggers"
+   */
   public static native int getNumAnalogTriggers();
 
+  /**
+   * Gets the number of analog inputs in the current system.
+   *
+   * @return the number of analog inputs
+   * @see "HAL_GetNumAnalogInputs"
+   */
   public static native int getNumAnalogInputs();
 
+  /**
+   * Gets the number of analog outputs in the current system.
+   *
+   * @return the number of analog outputs
+   * @see "HAL_GetNumAnalogOutputs"
+   */
   public static native int getNumAnalogOutputs();
 
+  /**
+   * Gets the number of counters in the current system.
+   *
+   * @return the number of counters
+   * @see "HAL_GetNumCounters"
+   */
   public static native int getNumCounters();
 
+  /**
+   * Gets the number of digital headers in the current system.
+   *
+   * @return the number of digital headers
+   * @see "HAL_GetNumDigitalHeaders"
+   */
   public static native int getNumDigitalHeaders();
 
+  /**
+   * Gets the number of PWM headers in the current system.
+   *
+   * @return the number of PWM headers
+   * @see "HAL_GetNumPWMHeaders"
+   */
   public static native int getNumPWMHeaders();
 
+  /**
+   * Gets the number of digital channels in the current system.
+   *
+   * @return the number of digital channels
+   * @see "HAL_GetNumDigitalChannels"
+   */
   public static native int getNumDigitalChannels();
 
+  /**
+   * Gets the number of PWM channels in the current system.
+   *
+   * @return the number of PWM channels
+   * @see "HAL_GetNumPWMChannels"
+   */
   public static native int getNumPWMChannels();
 
+  /**
+   * Gets the number of digital IO PWM outputs in the current system.
+   *
+   * @return the number of digital IO PWM outputs
+   * @see "HAL_GetNumDigitalPWMOutputs"
+   */
   public static native int getNumDigitalPWMOutputs();
 
+  /**
+   * Gets the number of quadrature encoders in the current system.
+   *
+   * @return the number of quadrature encoders
+   * @see "HAL_GetNumEncoders"
+   */
   public static native int getNumEncoders();
 
+  /**
+   * Gets the number of interrupts in the current system.
+   *
+   * @return the number of interrupts
+   * @see "HAL_GetNumInterrupts"
+   */
   public static native int getNumInterrupts();
 
+  /**
+   * Gets the number of relay channels in the current system.
+   *
+   * @return the number of relay channels
+   * @see "HAL_GetNumRelayChannels"
+   */
   public static native int getNumRelayChannels();
 
+  /**
+   * Gets the number of relay headers in the current system.
+   *
+   * @return the number of relay headers
+   * @see "HAL_GetNumRelayHeaders"
+   */
   public static native int getNumRelayHeaders();
 
+  /**
+   * Gets the number of PCM modules in the current system.
+   *
+   * @return the number of PCM modules
+   * @see "HAL_GetNumCTREPCMModules"
+   */
   public static native int getNumCTREPCMModules();
 
+  /**
+   * Gets the number of solenoid channels in the current system.
+   *
+   * @return the number of solenoid channels
+   * @see "HAL_GetNumCTRESolenoidChannels"
+   */
   public static native int getNumCTRESolenoidChannels();
 
+  /**
+   * Gets the number of PDP modules in the current system.
+   *
+   * @return the number of PDP modules
+   * @see "HAL_GetNumCTREPDPModules"
+   */
   public static native int getNumCTREPDPModules();
 
+  /**
+   * Gets the number of PDP channels in the current system.
+   *
+   * @return the number of PDP channels
+   * @see "HAL_GetNumCTREPDPChannels"
+   */
   public static native int getNumCTREPDPChannels();
 
+  /**
+   * Gets the number of PDH modules in the current system.
+   *
+   * @return the number of PDH modules
+   * @see "HAL_GetNumREVPDHModules"
+   */
   public static native int getNumREVPDHModules();
 
+  /**
+   * Gets the number of PDH channels in the current system.
+   *
+   * @return the number of PDH channels
+   * @see "HAL_GetNumREVPDHChannels"
+   */
   public static native int getNumREVPDHChannels();
 
+  /**
+   * Gets the number of PH modules in the current system.
+   *
+   * @return the number of PH modules
+   * @see "HAL_GetNumREVPHModules"
+   */
   public static native int getNumREVPHModules();
 
+  /**
+   * Gets the number of PH channels in the current system.
+   *
+   * @return the number of PH channels
+   * @see "HAL_GetNumREVPHChannels"
+   */
   public static native int getNumREVPHChannels();
 }

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

@@ -4,69 +4,282 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Power Distribution JNI Functions.
+ *
+ * @see "hal/PowerDistribution.h"
+ */
 public class PowerDistributionJNI extends JNIWrapper {
   public static final int AUTOMATIC_TYPE = 0;
   public static final int CTRE_TYPE = 1;
   public static final int REV_TYPE = 2;
   public static final int DEFAULT_MODULE = -1;
 
+  /**
+   * Initializes a Power Distribution Panel.
+   *
+   * @param module the module number to initialize
+   * @param type the type of module to initialize
+   * @return the created PowerDistribution handle
+   * @see "HAL_InitializePowerDistribution"
+   */
   public static native int initialize(int module, int type);
 
+  /**
+   * Cleans a PowerDistribution module.
+   *
+   * @param handle the module handle
+   * @see "HAL_CleanPowerDistribution"
+   */
   public static native void free(int handle);
 
+  /**
+   * Gets the module number for a specific handle.
+   *
+   * @param handle the module handle
+   * @return the module number
+   * @see "HAL_GetPowerDistributionModuleNumber"
+   */
   public static native int getModuleNumber(int handle);
 
+  /**
+   * Checks if a PowerDistribution module is valid.
+   *
+   * @param module the module to check
+   * @param type the type of module
+   * @return true if the module is valid, otherwise false
+   * @see "HAL_CheckPowerDistributionModule"
+   */
   public static native boolean checkModule(int module, int type);
 
+  /**
+   * Checks if a PowerDistribution channel is valid.
+   *
+   * @param handle the module handle
+   * @param channel the channel to check
+   * @return true if the channel is valid, otherwise false
+   * @see "HAL_CheckPowerDistributionChannel"
+   */
   public static native boolean checkChannel(int handle, int channel);
 
+  /**
+   * Gets the type of PowerDistribution module.
+   *
+   * @param handle the module handle
+   * @return the type of module
+   * @see "HAL_GetPowerDistributionType"
+   */
   public static native int getType(int handle);
 
+  /**
+   * Gets the number of channels for this handle.
+   *
+   * @param handle the handle
+   * @return number of channels
+   * @see "HAL_GetPowerDistributionNumChannels"
+   */
   public static native int getNumChannels(int handle);
 
+  /**
+   * Gets the temperature of the PowerDistribution.
+   *
+   * @param handle the module handle
+   * @return the module temperature (celsius)
+   * @see "HAL_GetPowerDistributionTemperature"
+   */
   public static native double getTemperature(int handle);
 
+  /**
+   * Gets the PowerDistribution input voltage.
+   *
+   * @param handle the module handle
+   * @return the input voltage (volts)
+   * @see "HAL_GetPowerDistributionVoltage"
+   */
   public static native double getVoltage(int handle);
 
+  /**
+   * Gets the current of a specific PowerDistribution channel.
+   *
+   * @param handle the module handle
+   * @param channel the channel
+   * @return the channel current (amps)
+   * @see "HAL_GetPowerDistributionChannelCurrent"
+   */
   public static native double getChannelCurrent(int handle, int channel);
 
+  /**
+   * Gets the current of all channels on the PowerDistribution.
+   *
+   * <p>The array must be large enough to hold all channels.
+   *
+   * @param handle the module handle
+   * @param currents the currents
+   * @see "HAL_GetPowerDistributionAllChannelCurrents"
+   */
   public static native void getAllCurrents(int handle, double[] currents);
 
+  /**
+   * Gets the total current of the PowerDistribution.
+   *
+   * @param handle the module handle
+   * @return the total current (amps)
+   * @see "HAL_GetPowerDistributionTotalCurrent"
+   */
   public static native double getTotalCurrent(int handle);
 
+  /**
+   * Gets the total power of the PowerDistribution.
+   *
+   * @param handle the module handle
+   * @return the total power (watts)
+   * @see "HAL_GetPowerDistributionTotalPower"
+   */
   public static native double getTotalPower(int handle);
 
+  /**
+   * Gets the total energy of the PowerDistribution.
+   *
+   * @param handle the module handle
+   * @return the total energy (joules)
+   * @see "HAL_GetPowerDistributionTotalEnergy"
+   */
   public static native double getTotalEnergy(int handle);
 
+  /**
+   * Resets the PowerDistribution accumulated energy.
+   *
+   * @param handle the module handle
+   * @see "HAL_ClearPowerDistributionStickyFaults"
+   */
   public static native void resetTotalEnergy(int handle);
 
+  /**
+   * Clears any PowerDistribution sticky faults.
+   *
+   * @param handle the module handle
+   * @see "HAL_ClearPowerDistributionStickyFaults"
+   */
   public static native void clearStickyFaults(int handle);
 
+  /**
+   * Returns true if switchable channel is powered on.
+   *
+   * <p>This is a REV PDH-specific function. This function will no-op on CTRE PDP.
+   *
+   * @param handle the module handle
+   * @return the state of the switchable channel
+   * @see "HAL_GetPowerDistributionSwitchableChannel"
+   */
   public static native boolean getSwitchableChannel(int handle);
 
+  /**
+   * Power on/off switchable channel.
+   *
+   * <p>This is a REV PDH-specific function. This function will no-op on CTRE PDP.
+   *
+   * @param handle the module handle
+   * @param enabled true to turn on switchable channel
+   * @see "HAL_SetPowerDistributionSwitchableChannel"
+   */
   public static native void setSwitchableChannel(int handle, boolean enabled);
 
+  /**
+   * Gets the PowerDistribution input voltage without throwing any errors.
+   *
+   * @param handle the module handle
+   * @return the input voltage (volts)
+   * @see "HAL_GetPowerDistributionVoltage"
+   */
   public static native double getVoltageNoError(int handle);
 
+  /**
+   * Gets the current of a specific PowerDistribution channel without throwing any errors.
+   *
+   * @param handle the module handle
+   * @param channel the channel
+   * @return the channel current (amps)
+   * @see "HAL_GetPowerDistributionChannelCurrent"
+   */
   public static native double getChannelCurrentNoError(int handle, int channel);
 
+  /**
+   * Gets the total current of the PowerDistribution without throwing any errors.
+   *
+   * @param handle the module handle
+   * @return the total current (amps)
+   * @see "HAL_GetPowerDistributionTotalCurrent"
+   */
   public static native double getTotalCurrentNoError(int handle);
 
+  /**
+   * Returns true if switchable channel is powered on without throwing any errors.
+   *
+   * <p>This is a REV PDH-specific function. This function will no-op on CTRE PDP.
+   *
+   * @param handle the module handle
+   * @return the state of the switchable channel
+   * @see "HAL_GetPowerDistributionSwitchableChannel"
+   */
   public static native boolean getSwitchableChannelNoError(int handle);
 
+  /**
+   * Power on/off switchable channel without throwing any errors.
+   *
+   * <p>This is a REV PDH-specific function. This function will no-op on CTRE PDP.
+   *
+   * @param handle the module handle
+   * @param enabled true to turn on switchable channel
+   * @see "HAL_SetPowerDistributionSwitchableChannel"
+   */
   public static native void setSwitchableChannelNoError(int handle, boolean enabled);
 
+  /**
+   * Get the current faults of the PowerDistribution.
+   *
+   * @param handle the module handle
+   * @return the current faults
+   * @see "HAL_GetPowerDistributionFaults"
+   */
   public static native int getFaultsNative(int handle);
 
+  /**
+   * Get the current faults of the PowerDistribution.
+   *
+   * @param handle the module handle
+   * @return the current faults
+   * @see "HAL_GetPowerDistributionFaults"
+   */
   public static PowerDistributionFaults getFaults(int handle) {
     return new PowerDistributionFaults(getFaultsNative(handle));
   }
 
+  /**
+   * Gets the sticky faults of the PowerDistribution.
+   *
+   * @param handle the module handle
+   * @return the sticky faults
+   * @see "HAL_GetPowerDistributionStickyFaults"
+   */
   public static native int getStickyFaultsNative(int handle);
 
+  /**
+   * Gets the sticky faults of the PowerDistribution.
+   *
+   * @param handle the module handle
+   * @return the sticky faults
+   * @see "HAL_GetPowerDistributionStickyFaults"
+   */
   public static PowerDistributionStickyFaults getStickyFaults(int handle) {
     return new PowerDistributionStickyFaults(getStickyFaultsNative(handle));
   }
 
+  /**
+   * Get the version of the PowerDistribution.
+   *
+   * @param handle the module handle
+   * @return version
+   * @see "HAL_GetPowerDistributionVersion"
+   */
   public static native PowerDistributionVersion getVersion(int handle);
 }

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

@@ -4,36 +4,167 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Power HAL JNI Functions.
+ *
+ * @see "Power.h"
+ */
 public class PowerJNI extends JNIWrapper {
+  /**
+   * Gets the roboRIO input voltage.
+   *
+   * @return the input voltage (volts)
+   * @see "HAL_GetVinVoltage"
+   */
   public static native double getVinVoltage();
 
+  /**
+   * Gets the roboRIO input current.
+   *
+   * @return the input current (amps)
+   * @see "HAL_GetVinCurrent"
+   */
   public static native double getVinCurrent();
 
+  /**
+   * Gets the 6V rail voltage.
+   *
+   * @return the 6V rail voltage (volts)
+   * @see "HAL_GetUserVoltage6V"
+   */
   public static native double getUserVoltage6V();
 
+  /**
+   * Gets the 6V rail current.
+   *
+   * @return the 6V rail current (amps)
+   * @see "HAL_GetUserCurrent6V"
+   */
   public static native double getUserCurrent6V();
 
+  /**
+   * Enables or disables the 6V rail.
+   *
+   * @param enabled whether the rail should be enabled
+   */
+  public static native void setUserEnabled6V(boolean enabled);
+
+  /**
+   * Gets the active state of the 6V rail.
+   *
+   * @return true if the rail is active, otherwise false
+   * @see "HAL_GetUserActive6V"
+   */
   public static native boolean getUserActive6V();
 
+  /**
+   * Gets the fault count for the 6V rail.
+   *
+   * @return the number of 6V fault counts
+   * @see "HAL_GetUserCurrentFaults6V"
+   */
   public static native int getUserCurrentFaults6V();
 
+  /**
+   * Gets the 5V rail voltage.
+   *
+   * @return the 5V rail voltage (volts)
+   * @see "HAL_GetUserVoltage5V"
+   */
   public static native double getUserVoltage5V();
 
+  /**
+   * Gets the 5V rail current.
+   *
+   * @return the 5V rail current (amps)
+   * @see "HAL_GetUserCurrent5V"
+   */
   public static native double getUserCurrent5V();
 
+  /**
+   * Enables or disables the 5V rail.
+   *
+   * @param enabled whether the rail should be enabled
+   */
+  public static native void setUserEnabled5V(boolean enabled);
+
+  /**
+   * Gets the active state of the 5V rail.
+   *
+   * @return true if the rail is active, otherwise false
+   * @see "HAL_GetUserActive5V"
+   */
   public static native boolean getUserActive5V();
 
+  /**
+   * Gets the fault count for the 5V rail.
+   *
+   * @return the number of 5V fault counts
+   * @see "HAL_GetUserCurrentFaults5V"
+   */
   public static native int getUserCurrentFaults5V();
 
+  /**
+   * Gets the 3V3 rail voltage.
+   *
+   * @return the 3V3 rail voltage (volts)
+   * @see "HAL_GetUserVoltage3V3"
+   */
   public static native double getUserVoltage3V3();
 
+  /**
+   * Gets the 3V3 rail current.
+   *
+   * @return the 3V3 rail current (amps)
+   * @see "HAL_GetUserCurrent3V3"
+   */
   public static native double getUserCurrent3V3();
 
+  /**
+   * Enables or disables the 3V3 rail.
+   *
+   * @param enabled whether the rail should be enabled
+   */
+  public static native void setUserEnabled3V3(boolean enabled);
+
+  /**
+   * Gets the active state of the 3V3 rail.
+   *
+   * @return true if the rail is active, otherwise false
+   * @see "HAL_GetUserActive3V3"
+   */
   public static native boolean getUserActive3V3();
 
+  /**
+   * Gets the fault count for the 3V3 rail.
+   *
+   * @return the number of 3V3 fault counts
+   * @see "HAL_GetUserCurrentFaults3V3"
+   */
   public static native int getUserCurrentFaults3V3();
 
+  /**
+   * Set the voltage the roboRIO will brownout and disable all outputs.
+   *
+   * <p>Note that this only does anything on the roboRIO 2. On the roboRIO it is a no-op.
+   *
+   * @param voltage The brownout voltage
+   * @see "HAL_SetBrownoutVoltage"
+   */
   public static native void setBrownoutVoltage(double voltage);
 
+  /**
+   * Get the current brownout voltage setting.
+   *
+   * @return The brownout voltage
+   * @see "HAL_GetBrownoutVoltage"
+   */
   public static native double getBrownoutVoltage();
+
+  /**
+   * Get the current CPU temperature in degrees Celsius.
+   *
+   * @return current CPU temperature in degrees Celsius
+   */
+  public static native double getCPUTemp();
 }

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

@@ -56,27 +56,27 @@ public class REVPHFaults {
    * @param faults the fault bitfields
    */
   public REVPHFaults(int faults) {
-    Channel0Fault = (faults & 0x1) != 0;
-    Channel1Fault = (faults & 0x2) != 0;
-    Channel2Fault = (faults & 0x4) != 0;
-    Channel3Fault = (faults & 0x8) != 0;
-    Channel4Fault = (faults & 0x10) != 0;
-    Channel5Fault = (faults & 0x20) != 0;
-    Channel6Fault = (faults & 0x40) != 0;
-    Channel7Fault = (faults & 0x80) != 0;
-    Channel8Fault = (faults & 0x100) != 0;
-    Channel9Fault = (faults & 0x200) != 0;
-    Channel10Fault = (faults & 0x400) != 0;
-    Channel11Fault = (faults & 0x800) != 0;
-    Channel12Fault = (faults & 0x1000) != 0;
-    Channel13Fault = (faults & 0x2000) != 0;
-    Channel14Fault = (faults & 0x4000) != 0;
-    Channel15Fault = (faults & 0x8000) != 0;
-    CompressorOverCurrent = (faults & 0x8000) != 0;
-    CompressorOpen = (faults & 0x10000) != 0;
-    SolenoidOverCurrent = (faults & 0x20000) != 0;
-    Brownout = (faults & 0x40000) != 0;
-    CanWarning = (faults & 0x80000) != 0;
-    HardwareFault = (faults & 0x100000) != 0;
+    Channel0Fault = (faults & (1 << 0)) != 0;
+    Channel1Fault = (faults & (1 << 1)) != 0;
+    Channel2Fault = (faults & (1 << 2)) != 0;
+    Channel3Fault = (faults & (1 << 3)) != 0;
+    Channel4Fault = (faults & (1 << 4)) != 0;
+    Channel5Fault = (faults & (1 << 5)) != 0;
+    Channel6Fault = (faults & (1 << 6)) != 0;
+    Channel7Fault = (faults & (1 << 7)) != 0;
+    Channel8Fault = (faults & (1 << 8)) != 0;
+    Channel9Fault = (faults & (1 << 9)) != 0;
+    Channel10Fault = (faults & (1 << 10)) != 0;
+    Channel11Fault = (faults & (1 << 11)) != 0;
+    Channel12Fault = (faults & (1 << 12)) != 0;
+    Channel13Fault = (faults & (1 << 13)) != 0;
+    Channel14Fault = (faults & (1 << 14)) != 0;
+    Channel15Fault = (faults & (1 << 15)) != 0;
+    CompressorOverCurrent = (faults & (1 << 16)) != 0;
+    CompressorOpen = (faults & (1 << 17)) != 0;
+    SolenoidOverCurrent = (faults & (1 << 18)) != 0;
+    Brownout = (faults & (1 << 19)) != 0;
+    CanWarning = (faults & (1 << 20)) != 0;
+    HardwareFault = (faults & (1 << 21)) != 0;
   }
 }

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

@@ -4,20 +4,64 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * REV Pneumatic Hub (PH) HAL JNI functions.
+ *
+ * @see "REVPH.h"
+ */
 public class REVPHJNI extends JNIWrapper {
   public static final int COMPRESSOR_CONFIG_TYPE_DISABLED = 0;
   public static final int COMPRESSOR_CONFIG_TYPE_DIGITAL = 1;
   public static final int COMPRESSOR_CONFIG_TYPE_ANALOG = 2;
   public static final int COMPRESSOR_CONFIG_TYPE_HYBRID = 3;
 
+  /**
+   * Initializes a PH.
+   *
+   * @param module the CAN ID to initialize
+   * @return the created PH handle
+   * @see "HAL_InitializeREVP"
+   */
   public static native int initialize(int module);
 
+  /**
+   * Frees a PH handle.
+   *
+   * @param handle the PH handle
+   * @see "HAL_FreeREVPH"
+   */
   public static native void free(int handle);
 
+  /**
+   * Checks if a solenoid channel number is valid.
+   *
+   * @param channel the channel to check
+   * @return true if the channel is valid, otherwise false
+   * @see "HAL_CheckREVPHSolenoidChannel"
+   */
   public static native boolean checkSolenoidChannel(int channel);
 
+  /**
+   * Get whether compressor is turned on.
+   *
+   * @param handle the PH handle
+   * @return true if the compressor is turned on
+   * @see "HAL_GetREVPHCompressor"
+   */
   public static native boolean getCompressor(int handle);
 
+  /**
+   * Send compressor configuration to the PH.
+   *
+   * @param handle the PH handle
+   * @param minAnalogVoltage The compressor will turn on when the analog pressure sensor voltage
+   *     drops below this value
+   * @param maxAnalogVoltage The compressor will turn off when the analog pressure sensor reaches
+   *     this value.
+   * @param forceDisable Disable Compressor
+   * @param useDigital use the digital pressure switch
+   * @see "HAL_SetREVPHCompressorConfig"
+   */
   public static native void setCompressorConfig(
       int handle,
       double minAnalogVoltage,
@@ -25,51 +69,221 @@ public class REVPHJNI extends JNIWrapper {
       boolean forceDisable,
       boolean useDigital);
 
+  /**
+   * Disable Compressor.
+   *
+   * @param handle the PH handle
+   * @see "HAL_SetREVPHClosedLoopControlDisabled"
+   */
   public static native void setClosedLoopControlDisabled(int handle);
 
+  /**
+   * Enables the compressor in digital mode using the digital pressure switch. The compressor will
+   * turn on when the pressure switch indicates that the system is not full, and will turn off when
+   * the pressure switch indicates that the system is full.
+   *
+   * @param handle the PH handle
+   * @see "HAL_SetREVPHClosedLoopControlDigital"
+   */
   public static native void setClosedLoopControlDigital(int handle);
 
+  /**
+   * Enables the compressor in analog mode. This mode uses an analog pressure sensor connected to
+   * analog channel 0 to cycle the compressor. The compressor will turn on when the pressure drops
+   * below minAnalogVoltage and will turn off when the pressure reaches maxAnalogVoltage. This mode
+   * is only supported by the REV PH with the REV Analog Pressure Sensor connected to analog channel
+   * 0.
+   *
+   * @param handle the PH handle
+   * @param minAnalogVoltage The compressor will turn on when the analog pressure sensor voltage
+   *     drops below this value
+   * @param maxAnalogVoltage The compressor will turn off when the analog pressure sensor reaches
+   *     this value.
+   * @see "HAL_SetREVPHClosedLoopControlAnalog"
+   */
   public static native void setClosedLoopControlAnalog(
       int handle, double minAnalogVoltage, double maxAnalogVoltage);
 
+  /**
+   * Enables the compressor in hybrid mode. This mode uses both a digital pressure switch and an
+   * analog pressure sensor connected to analog channel 0 to cycle the compressor.
+   *
+   * <p>The compressor will turn on when \a both:
+   *
+   * <p>- The digital pressure switch indicates the system is not full AND - The analog pressure
+   * sensor indicates that the pressure in the system is below the specified minimum pressure.
+   *
+   * <p>The compressor will turn off when \a either:
+   *
+   * <p>- The digital pressure switch is disconnected or indicates that the system is full OR - The
+   * pressure detected by the analog sensor is greater than the specified maximum pressure.
+   *
+   * @param handle the PH handle
+   * @param minAnalogVoltage The compressor will turn on when the analog pressure sensor voltage
+   *     drops below this value and the pressure switch indicates that the system is not full.
+   * @param maxAnalogVoltage The compressor will turn off when the analog pressure sensor reaches
+   *     this value or the pressure switch is disconnected or indicates that the system is full.
+   * @see "HAL_SetREVPHClosedLoopControlHybrid"
+   */
   public static native void setClosedLoopControlHybrid(
       int handle, double minAnalogVoltage, double maxAnalogVoltage);
 
+  /**
+   * Get compressor configuration from the PH.
+   *
+   * @param handle the PH handle
+   * @return compressor configuration
+   * @see "HAL_GetREVPHCompressorConfig"
+   */
   public static native int getCompressorConfig(int handle);
 
+  /**
+   * Returns the state of the digital pressure switch.
+   *
+   * @param handle the PH handle
+   * @return True if pressure switch indicates that the system is full, otherwise false.
+   * @see "HAL_GetREVPHPressureSwitch"
+   */
   public static native boolean getPressureSwitch(int handle);
 
+  /**
+   * Returns the raw voltage of the specified analog input channel.
+   *
+   * @param handle the PH handle
+   * @param channel The analog input channel to read voltage from.
+   * @return The voltage of the specified analog input channel in volts.
+   * @see "HAL_GetREVPHAnalogVoltage"
+   */
   public static native double getAnalogVoltage(int handle, int channel);
 
+  /**
+   * Returns the current drawn by the compressor.
+   *
+   * @param handle the PH handle
+   * @return The current drawn by the compressor in amps.
+   * @see "HAL_GetREVPHCompressorCurrent"
+   */
   public static native double getCompressorCurrent(int handle);
 
+  /**
+   * Gets a bitmask of solenoid values.
+   *
+   * @param handle the PH handle
+   * @return solenoid values
+   * @see "HAL_GetREVPHSolenoids"
+   */
   public static native int getSolenoids(int handle);
 
+  /**
+   * Sets solenoids on a PH.
+   *
+   * @param handle the PH handle
+   * @param mask bitmask to set
+   * @param values solenoid values
+   * @see "HAL_SetREVPHSolenoids"
+   */
   public static native void setSolenoids(int handle, int mask, int values);
 
+  /**
+   * Fire a single solenoid shot for the specified duration.
+   *
+   * @param handle the PH handle
+   * @param index solenoid index
+   * @param durMs shot duration in ms
+   * @see "HAL_FireREVPHOneShot"
+   */
   public static native void fireOneShot(int handle, int index, int durMs);
 
+  /**
+   * Clears the sticky faults.
+   *
+   * @param handle the PH handle
+   * @see "HAL_ClearREVPHStickyFaults"
+   */
   public static native void clearStickyFaults(int handle);
 
+  /**
+   * Returns the current input voltage for the PH.
+   *
+   * @param handle the PH handle
+   * @return The input voltage in volts.
+   * @see "HAL_GetREVPHVoltage"
+   */
   public static native double getInputVoltage(int handle);
 
+  /**
+   * Returns the current voltage of the regulated 5v supply.
+   *
+   * @param handle the PH handle
+   * @return The current voltage of the 5v supply in volts.
+   * @see "HAL_GetREVPH5VVoltage"
+   */
   public static native double get5VVoltage(int handle);
 
+  /**
+   * Returns the total current drawn by all solenoids.
+   *
+   * @param handle the PH handle
+   * @return Total current drawn by all solenoids in amps.
+   * @see "HAL_GetREVPHSolenoidCurrent"
+   */
   public static native double getSolenoidCurrent(int handle);
 
+  /**
+   * Returns the current voltage of the solenoid power supply.
+   *
+   * @param handle the PH handle
+   * @return The current voltage of the solenoid power supply in volts.
+   * @see "HAL_GetREVPHSolenoidVoltage"
+   */
   public static native double getSolenoidVoltage(int handle);
 
+  /**
+   * Returns the sticky faults currently active on this device.
+   *
+   * @param handle the PH handle
+   * @return The sticky faults.
+   * @see "HAL_GetREVPHStickyFaults"
+   */
   public static native int getStickyFaultsNative(int handle);
 
+  /**
+   * Returns the sticky faults currently active on this device.
+   *
+   * @param handle the PH handle
+   * @return The sticky faults.
+   * @see "HAL_GetREVPHStickyFaults"
+   */
   public static REVPHStickyFaults getStickyFaults(int handle) {
     return new REVPHStickyFaults(getStickyFaultsNative(handle));
   }
 
+  /**
+   * Returns the faults currently active on the PH.
+   *
+   * @param handle the PH handle
+   * @return The faults.
+   * @see "HAL_GetREVPHFaults"
+   */
   public static native int getFaultsNative(int handle);
 
+  /**
+   * Returns the faults currently active on the PH.
+   *
+   * @param handle the PH handle
+   * @return The faults.
+   * @see "HAL_GetREVPHFaults"
+   */
   public static REVPHFaults getFaults(int handle) {
     return new REVPHFaults(getFaultsNative(handle));
   }
 
+  /**
+   * Returns the hardware and firmware versions of the PH.
+   *
+   * @param handle the PH handle
+   * @return The hardware and firmware versions.
+   * @see "HAL_GetREVPHVersion"
+   */
   public static native REVPHVersion getVersion(int handle);
 }

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

@@ -4,14 +4,57 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Relay Output HAL JNI Functions.
+ *
+ * @see "hal/Relay.h"
+ */
 public class RelayJNI extends DIOJNI {
+  /**
+   * Initializes a relay.
+   *
+   * <p>Note this call will only initialize either the forward or reverse port of the relay. If you
+   * need both, you will need to initialize 2 relays.
+   *
+   * @param halPortHandle the port handle to initialize
+   * @param forward true for the forward port, false for the reverse port
+   * @return the created relay handle
+   * @see "HAL_InitializeRelayPort"
+   */
   public static native int initializeRelayPort(int halPortHandle, boolean forward);
 
+  /**
+   * Frees a relay port.
+   *
+   * @param relayPortHandle the relay handle
+   * @see "HAL_FreeRelayPort"
+   */
   public static native void freeRelayPort(int relayPortHandle);
 
+  /**
+   * Checks if a relay channel is valid.
+   *
+   * @param channel the channel to check
+   * @return true if the channel is valid, otherwise false
+   * @see "HAL_CheckRelayChannel"
+   */
   public static native boolean checkRelayChannel(int channel);
 
+  /**
+   * Sets the state of a relay output.
+   *
+   * @param relayPortHandle the relay handle
+   * @param on true for on, false for off
+   * @see "HAL_SetRelay"
+   */
   public static native void setRelay(int relayPortHandle, boolean on);
 
+  /**
+   * Gets the current state of the relay channel.
+   *
+   * @param relayPortHandle the relay handle
+   * @return true for on, false for off
+   * @see "HAL_GetRelay"
+   */
   public static native boolean getRelay(int relayPortHandle);
 }

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

@@ -6,6 +6,11 @@ package edu.wpi.first.hal;
 
 import java.nio.ByteBuffer;
 
+/**
+ * SPI HAL JNI functions.
+ *
+ * @see "SPI.h"
+ */
 public class SPIJNI extends JNIWrapper {
   public static final int INVALID_PORT = -1;
   public static final int ONBOARD_CS0_PORT = 0;
@@ -19,40 +24,198 @@ public class SPIJNI extends JNIWrapper {
   public static final int SPI_MODE2 = 2;
   public static final int SPI_MODE3 = 3;
 
+  /**
+   * Initializes the SPI port. Opens the port if necessary and saves the handle.
+   *
+   * <p>If opening the MXP port, also sets up the channel functions appropriately.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS3, 4 for MXP
+   * @see "HAL_InitializeSPI"
+   */
   public static native void spiInitialize(int port);
 
+  /**
+   * Performs an SPI send/receive transaction.
+   *
+   * <p>This is a lower-level interface to the spi hardware giving you more control over each
+   * transaction.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+   * @param dataToSend Buffer of data to send as part of the transaction.
+   * @param dataReceived Buffer to read data into.
+   * @param size Number of bytes to transfer. [0..7]
+   * @return Number of bytes transferred, -1 for error
+   * @see "HAL_TransactionSPI"
+   */
   public static native int spiTransaction(
       int port, ByteBuffer dataToSend, ByteBuffer dataReceived, byte size);
 
+  /**
+   * Performs an SPI send/receive transaction.
+   *
+   * <p>This is a lower-level interface to the spi hardware giving you more control over each
+   * transaction.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+   * @param dataToSend Buffer of data to send as part of the transaction.
+   * @param dataReceived Buffer to read data into.
+   * @param size Number of bytes to transfer. [0..7]
+   * @return Number of bytes transferred, -1 for error
+   * @see "HAL_TransactionSPI"
+   */
   public static native int spiTransactionB(
       int port, byte[] dataToSend, byte[] dataReceived, byte size);
 
+  /**
+   * Executes a write transaction with the device.
+   *
+   * <p>Writes to a device and wait until the transaction is complete.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+   * @param dataToSend The data to write to the register on the device.
+   * @param sendSize The number of bytes to be written
+   * @return The number of bytes written. -1 for an error
+   * @see "HAL_WriteSPI"
+   */
   public static native int spiWrite(int port, ByteBuffer dataToSend, byte sendSize);
 
+  /**
+   * Executes a write transaction with the device.
+   *
+   * <p>Writes to a device and wait until the transaction is complete.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+   * @param dataToSend The data to write to the register on the device.
+   * @param sendSize The number of bytes to be written
+   * @return The number of bytes written. -1 for an error
+   * @see "HAL_WriteSPI"
+   */
   public static native int spiWriteB(int port, byte[] dataToSend, byte sendSize);
 
+  /**
+   * Executes a read from the device.
+   *
+   * <p>This method does not write any data out to the device.
+   *
+   * <p>Most spi devices will require a register address to be written before they begin returning
+   * data.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+   * @param initiate initiates a transaction when true. Just reads when false.
+   * @param dataReceived A pointer to the array of bytes to store the data read from the device.
+   * @param size The number of bytes to read in the transaction. [1..7]
+   * @return Number of bytes read. -1 for error.
+   * @see "HAL_ReadSPI"
+   */
   public static native int spiRead(int port, boolean initiate, ByteBuffer dataReceived, byte size);
 
+  /**
+   * Executes a read from the device.
+   *
+   * <p>This method does not write any data out to the device.
+   *
+   * <p>Most spi devices will require a register address to be written before they begin returning
+   * data.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+   * @param initiate initiates a transaction when true. Just reads when false.
+   * @param dataReceived A pointer to the array of bytes to store the data read from the device.
+   * @param size The number of bytes to read in the transaction. [1..7]
+   * @return Number of bytes read. -1 for error.
+   * @see "HAL_ReadSPI"
+   */
   public static native int spiReadB(int port, boolean initiate, byte[] dataReceived, byte size);
 
+  /**
+   * Closes the SPI port.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+   * @see "HAL_CloseSPI"
+   */
   public static native void spiClose(int port);
 
+  /**
+   * Sets the clock speed for the SPI bus.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+   * @param speed The speed in Hz (500KHz-10MHz)
+   * @see "HAL_SetSPISpeed"
+   */
   public static native void spiSetSpeed(int port, int speed);
 
+  /**
+   * Sets the SPI Mode.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+   * @param mode The SPI mode to use
+   * @see "HAL_SetSPIMode"
+   */
   public static native void spiSetMode(int port, int mode);
 
+  /**
+   * Gets the SPI Mode.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+   * @return The SPI mode currently set
+   * @see "HAL_GetSPIMode"
+   */
   public static native int spiGetMode(int port);
 
+  /**
+   * Sets the CS Active high for a SPI port.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+   * @see "HAL_SetSPIChipSelectActiveHigh"
+   */
   public static native void spiSetChipSelectActiveHigh(int port);
 
+  /**
+   * Sets the CS Active low for a SPI port.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
+   * @see "HAL_SetSPIChipSelectActiveLow"
+   */
   public static native void spiSetChipSelectActiveLow(int port);
 
+  /**
+   * Initializes the SPI automatic accumulator.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
+   * @param bufferSize The accumulator buffer size.
+   * @see "HAL_InitSPIAuto"
+   */
   public static native void spiInitAuto(int port, int bufferSize);
 
+  /**
+   * Frees an SPI automatic accumulator.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
+   * @see "HAL_FreeSPIAuto"
+   */
   public static native void spiFreeAuto(int port);
 
+  /**
+   * Sets the period for automatic SPI accumulation.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
+   * @param period The accumulation period (seconds).
+   * @see "HAL_StartSPIAutoRate"
+   */
   public static native void spiStartAutoRate(int port, double period);
 
+  /**
+   * Starts the auto SPI accumulator on a specific trigger.
+   *
+   * <p>Note that triggering on both rising and falling edges is a valid configuration.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
+   * @param digitalSourceHandle The trigger source to use (Either HAL_AnalogTriggerHandle or
+   *     HAL_DigitalHandle).
+   * @param analogTriggerType The analog trigger type, if the source is an analog trigger.
+   * @param triggerRising Trigger on the rising edge if true.
+   * @param triggerFalling Trigger on the falling edge if true.
+   * @see "HAL_StartSPIAutoTrigger"
+   */
   public static native void spiStartAutoTrigger(
       int port,
       int digitalSourceHandle,
@@ -60,20 +223,83 @@ public class SPIJNI extends JNIWrapper {
       boolean triggerRising,
       boolean triggerFalling);
 
+  /**
+   * Stops an automatic SPI accumulation.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
+   * @see "HAL_StopSPIAuto"
+   */
   public static native void spiStopAuto(int port);
 
+  /**
+   * Sets the data to be transmitted to the device to initiate a read.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
+   * @param dataToSend Pointer to the data to send (Gets copied for continue use, so no need to keep
+   *     alive).
+   * @param zeroSize The number of zeros to send after the data.
+   * @see "HAL_SetSPIAutoTransmitData"
+   */
   public static native void spiSetAutoTransmitData(int port, byte[] dataToSend, int zeroSize);
 
+  /**
+   * Immediately forces an SPI read to happen.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
+   * @see "HAL_ForceSPIAutoRead"
+   */
   public static native void spiForceAutoRead(int port);
 
+  /**
+   * Reads data received by the SPI accumulator. Each received data sequence consists of a timestamp
+   * followed by the received data bytes, one byte per word (in the least significant byte). The
+   * length of each received data sequence is the same as the combined dataSize + zeroSize set in
+   * spiSetAutoTransmitData.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
+   * @param buffer The buffer to store the data into.
+   * @param numToRead The number of words to read.
+   * @param timeout The read timeout (in seconds).
+   * @return The number of words actually read.
+   * @see "HAL_ReadSPIAutoReceivedData"
+   */
   public static native int spiReadAutoReceivedData(
       int port, ByteBuffer buffer, int numToRead, double timeout);
 
+  /**
+   * Reads data received by the SPI accumulator. Each received data sequence consists of a timestamp
+   * followed by the received data bytes, one byte per word (in the least significant byte). The
+   * length of each received data sequence is the same as the combined dataSize + zeroSize set in
+   * spiSetAutoTransmitData.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
+   * @param buffer The buffer to store the data into.
+   * @param numToRead The number of words to read.
+   * @param timeout The read timeout (in seconds).
+   * @return The number of words actually read.
+   * @see "HAL_ReadSPIAutoReceivedData"
+   */
   public static native int spiReadAutoReceivedData(
       int port, int[] buffer, int numToRead, double timeout);
 
+  /**
+   * Gets the count of how many SPI accumulations have been missed.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
+   * @return The number of missed accumulations.
+   * @see "HAL_GetSPIAutoDroppedCount"
+   */
   public static native int spiGetAutoDroppedCount(int port);
 
+  /**
+   * Configure the Auto SPI Stall time between reads.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP.
+   * @param csToSclkTicks the number of ticks to wait before asserting the cs pin
+   * @param stallTicks the number of ticks to stall for
+   * @param pow2BytesPerRead the number of bytes to read before stalling
+   * @see "HAL_ConfigureSPIAutoStall"
+   */
   public static native void spiConfigureAutoStall(
       int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead);
 }

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

@@ -4,42 +4,205 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Serial Port JNI HAL functions.
+ *
+ * @see "SerialPort.h"
+ */
 public class SerialPortJNI extends JNIWrapper {
+  /**
+   * Initializes a serial port.
+   *
+   * <p>The channels are either the onboard RS232, the MXP UART, or 2 USB ports. The top port is
+   * USB1, the bottom port is USB2.
+   *
+   * @param port the serial port to initialize
+   * @return Serial Port Handle
+   * @see "HAL_InitializeSerialPort"
+   */
   public static native int serialInitializePort(byte port);
 
+  /**
+   * Initializes a serial port with a direct name.
+   *
+   * <p>This name is the /dev name for a specific port. Note these are not always consistent between
+   * roboRIO reboots.
+   *
+   * @param port the serial port to initialize
+   * @param portName the dev port name
+   * @return Serial Port Handle
+   * @see "HAL_InitializeSerialPortDirect"
+   */
   public static native int serialInitializePortDirect(byte port, String portName);
 
+  /**
+   * Sets the baud rate of a serial port.
+   *
+   * <p>Any value between 0 and 0xFFFFFFFF may be used. Default is 9600.
+   *
+   * @param handle the serial port handle
+   * @param baud the baud rate to set
+   * @see "HAL_SetSerialBaudRate"
+   */
   public static native void serialSetBaudRate(int handle, int baud);
 
+  /**
+   * Sets the number of data bits on a serial port.
+   *
+   * <p>Defaults to 8.
+   *
+   * @param handle the serial port handle
+   * @param bits the number of data bits (5-8)
+   * @see "HAL_SetSerialDataBits"
+   */
   public static native void serialSetDataBits(int handle, byte bits);
 
+  /**
+   * Sets the number of parity bits on a serial port.
+   *
+   * <p>Valid values are: 0: None (default) 1: Odd 2: Even 3: Mark - Means exists and always 1 4:
+   * Space - Means exists and always 0
+   *
+   * @param handle the serial port handle
+   * @param parity the parity bit mode (see remarks for valid values)
+   * @see "HAL_SetSerialParity"
+   */
   public static native void serialSetParity(int handle, byte parity);
 
+  /**
+   * Sets the number of stop bits on a serial port.
+   *
+   * <p>Valid values are: 10: One stop bit (default) 15: One and a half stop bits 20: Two stop bits
+   *
+   * @param handle the serial port handle
+   * @param stopBits the stop bit value (see remarks for valid values)
+   * @see "HAL_SetSerialStopBits"
+   */
   public static native void serialSetStopBits(int handle, byte stopBits);
 
+  /**
+   * Sets the write mode on a serial port.
+   *
+   * <p>Valid values are: 1: Flush on access 2: Flush when full (default)
+   *
+   * @param handle the serial port handle
+   * @param mode the mode to set (see remarks for valid values)
+   * @see "HAL_SetSerialWriteMode"
+   */
   public static native void serialSetWriteMode(int handle, byte mode);
 
+  /**
+   * Sets the flow control mode of a serial port.
+   *
+   * <p>Valid values are: 0: None (default) 1: XON-XOFF 2: RTS-CTS 3: DTR-DSR
+   *
+   * @param handle the serial port handle
+   * @param flow the mode to set (see remarks for valid values)
+   * @see "HAL_SetSerialFlowControl"
+   */
   public static native void serialSetFlowControl(int handle, byte flow);
 
+  /**
+   * Sets the minimum serial read timeout of a port.
+   *
+   * @param handle the serial port handle
+   * @param timeout the timeout in milliseconds
+   * @see "HAL_SetSerialTimeout"
+   */
   public static native void serialSetTimeout(int handle, double timeout);
 
+  /**
+   * Sets the termination character that terminates a read.
+   *
+   * <p>By default this is disabled.
+   *
+   * @param handle the serial port handle
+   * @param terminator the termination character to set
+   * @see "HAL_EnableSerialTermination"
+   */
   public static native void serialEnableTermination(int handle, char terminator);
 
+  /**
+   * Disables a termination character for reads.
+   *
+   * @param handle the serial port handle
+   * @see "HAL_DisableSerialTermination"
+   */
   public static native void serialDisableTermination(int handle);
 
+  /**
+   * Sets the size of the read buffer.
+   *
+   * @param handle the serial port handle
+   * @param size the read buffer size
+   * @see "HAL_SetSerialReadBufferSize"
+   */
   public static native void serialSetReadBufferSize(int handle, int size);
 
+  /**
+   * Sets the size of the write buffer.
+   *
+   * @param handle the serial port handle
+   * @param size the write buffer size
+   * @see "HAL_SetSerialWriteBufferSize"
+   */
   public static native void serialSetWriteBufferSize(int handle, int size);
 
+  /**
+   * Gets the number of bytes currently in the read buffer.
+   *
+   * @param handle the serial port handle
+   * @return the number of bytes in the read buffer
+   * @see "HAL_GetSerialBytesReceived"
+   */
   public static native int serialGetBytesReceived(int handle);
 
+  /**
+   * Reads data from the serial port.
+   *
+   * <p>Will wait for either timeout (if set), the termination char (if set), or the count to be
+   * full. Whichever one comes first.
+   *
+   * @param handle the serial port handle
+   * @param buffer the buffer in which to store bytes read
+   * @param count the number of bytes maximum to read
+   * @return the number of bytes actually read
+   * @see "HAL_ReadSerial"
+   */
   public static native int serialRead(int handle, byte[] buffer, int count);
 
+  /**
+   * Writes data to the serial port.
+   *
+   * @param handle the serial port handle
+   * @param buffer the buffer to write
+   * @param count the number of bytes to write from the buffer
+   * @return the number of bytes actually written
+   * @see "HAL_WriteSerial"
+   */
   public static native int serialWrite(int handle, byte[] buffer, int count);
 
+  /**
+   * Flushes the serial write buffer out to the port.
+   *
+   * @param handle the serial port handle
+   * @see "HAL_FlushSerial"
+   */
   public static native void serialFlush(int handle);
 
+  /**
+   * Clears the receive buffer of the serial port.
+   *
+   * @param handle the serial port handle
+   * @see "HAL_ClearSerial"
+   */
   public static native void serialClear(int handle);
 
+  /**
+   * Closes a serial port.
+   *
+   * @param handle the serial port handle to close
+   * @see "HAL_CloseSerial"
+   */
   public static native void serialClose(int handle);
 }

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

@@ -4,10 +4,37 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Threads HAL JNI Functions.
+ *
+ * @see "Threads.h"
+ */
 public class ThreadsJNI extends JNIWrapper {
+  /**
+   * Gets the thread priority for the current thread.
+   *
+   * @return The current thread priority. For real-time, this is 1-99 with 99 being highest. For
+   *     non-real-time, this is 0. See "man 7 sched" for details.
+   * @see "HAL_GetCurrentThreadPriority"
+   */
   public static native int getCurrentThreadPriority();
 
+  /**
+   * Gets the real-time status for the current thread.
+   *
+   * @return Set to true if thread is real-time, otherwise false.
+   * @see "HAL_GetCurrentThreadPriority"
+   */
   public static native boolean getCurrentThreadIsRealTime();
 
+  /**
+   * Sets the thread priority for the current thread.
+   *
+   * @param realTime Set to true to set a real-time priority, false for standard priority.
+   * @param priority Priority to set the thread to. For real-time, this is 1-99 with 99 being
+   *     highest. For non-real-time, this is forced to 0. See "man 7 sched" for more details.
+   * @return True on success.
+   * @see "HAL_SetCurrentThreadPriority"
+   */
   public static native boolean setCurrentThreadPriority(boolean realTime, int priority);
 }

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

@@ -16,14 +16,14 @@ public class PWMDataJNI extends JNIWrapper {
 
   public static native void setInitialized(int index, boolean initialized);
 
-  public static native int registerRawValueCallback(
+  public static native int registerPulseMicrosecondCallback(
       int index, NotifyCallback callback, boolean initialNotify);
 
-  public static native void cancelRawValueCallback(int index, int uid);
+  public static native void cancelPulseMicrosecondCallback(int index, int uid);
 
-  public static native int getRawValue(int index);
+  public static native int getPulseMicrosecond(int index);
 
-  public static native void setRawValue(int index, int rawValue);
+  public static native void setPulseMicrosecond(int index, int microsecondPulseTime);
 
   public static native int registerSpeedCallback(
       int index, NotifyCallback callback, boolean initialNotify);