Merge branch 'wpilibsuite:main' into ScheduledCommand-decorator

narmstro2020 · Oct 11, 2024 · 8c15f99 · 8c15f99
2 parents bc3595b + 679892e
commit 8c15f99
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Showing 85 changed files with 1,554 additions and 1,089 deletions.
diff --git a/hal/src/main/native/athena/CTREPCM.cpp b/hal/src/main/native/athena/CTREPCM.cpp
@@ -185,7 +185,7 @@ HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t module,
                                            pcm->previousAllocation);
     } else {
       hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PCM", 0,
-                                       kNumCTREPCMModules, module);
+                                       kNumCTREPCMModules - 1, module);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
   }

diff --git a/hal/src/main/native/athena/CTREPDP.cpp b/hal/src/main/native/athena/CTREPDP.cpp
@@ -133,8 +133,9 @@ HAL_PDPHandle HAL_InitializePDP(int32_t module, const char* allocationLocation,
                                 int32_t* status) {
   hal::init::CheckInit();
   if (!HAL_CheckPDPModule(module)) {
-    *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(status, fmt::format("Invalid pdp module {}", module));
+    *status = RESOURCE_OUT_OF_RANGE;
+    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
+                                     kNumCTREPDPModules - 1, module);
     return HAL_kInvalidHandle;
   }
 
@@ -147,7 +148,7 @@ HAL_PDPHandle HAL_InitializePDP(int32_t module, const char* allocationLocation,
                                            pdp->previousAllocation);
     } else {
       hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
-                                       kNumCTREPDPModules, module);
+                                       kNumCTREPDPModules - 1, module);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
   }

diff --git a/hal/src/main/native/athena/LEDs.cpp b/hal/src/main/native/athena/LEDs.cpp
@@ -6,10 +6,14 @@
 
 #include <unistd.h>
 
+#include <cstring>
 #include <fstream>
 
+#include <fmt/format.h>
+#include <fmt/std.h>
 #include <wpi/fs.h>
 
+#include "HALInternal.h"
 #include "hal/Errors.h"
 
 namespace hal::init {
@@ -28,19 +32,56 @@ static const fs::path radioLEDRedFilePath =
 static const char* onStr = "1";
 static const char* offStr = "0";
 
+static bool ReadStateFromFile(fs::path path, int32_t* status) {
+  std::error_code ec;
+  fs::file_t file = fs::OpenFileForRead(path, ec, fs::OF_Text);
+  if (ec) {
+    hal::SetLastError(status, fmt::format("Could not open '{}' for read: {}",
+                                          path, ec.message()));
+    *status = INCOMPATIBLE_STATE;
+    return false;
+  }
+  // We only need to read one byte because the file won't have leading zeros.
+  char buf[1]{};
+  ssize_t count = read(file, buf, 1);
+  // save errno, always close file.
+  int err = errno;
+  fs::CloseFile(file);
+  if (count <= 0) {
+    *status = INCOMPATIBLE_STATE;
+    if (count == 0) {
+      hal::SetLastError(status,
+                        fmt::format("Read from '{}' returned no data.", path));
+    } else {
+      hal::SetLastError(status, fmt::format("Failed to read from '{}': {}",
+                                            path, std::strerror(err)));
+    }
+    return false;
+  }
+  // If the brightness is not zero, the LED is on.
+  return buf[0] != '0';
+}
+
 extern "C" {
 void HAL_SetRadioLEDState(HAL_RadioLEDState state, int32_t* status) {
   std::error_code ec;
   fs::file_t greenFile = fs::OpenFileForWrite(radioLEDGreenFilePath, ec,
                                               fs::CD_OpenExisting, fs::OF_Text);
   if (ec) {
+    // not opened, nothing to clean up
     *status = INCOMPATIBLE_STATE;
+    hal::SetLastError(status, fmt::format("Could not open '{}' for write: {}",
+                                          greenFile, ec.message()));
     return;
   }
   fs::file_t redFile = fs::OpenFileForWrite(radioLEDRedFilePath, ec,
                                             fs::CD_OpenExisting, fs::OF_Text);
   if (ec) {
+    // green file opened successfully, need to close it
+    fs::CloseFile(greenFile);
     *status = INCOMPATIBLE_STATE;
+    hal::SetLastError(status, fmt::format("Could not open '{}' for write: {}",
+                                          greenFile, ec.message()));
     return;
   }
 
@@ -51,24 +92,6 @@ void HAL_SetRadioLEDState(HAL_RadioLEDState state, int32_t* status) {
   fs::CloseFile(redFile);
 }
 
-bool ReadStateFromFile(fs::path path, int32_t* status) {
-  std::error_code ec;
-  fs::file_t file = fs::OpenFileForRead(path, ec, fs::OF_Text);
-  if (ec) {
-    *status = INCOMPATIBLE_STATE;
-    return false;
-  }
-  // We only need to read one byte because the file won't have leading zeros.
-  char buf[1]{};
-  size_t count = read(file, buf, 1);
-  if (count == 0) {
-    *status = INCOMPATIBLE_STATE;
-    return false;
-  }
-  // If the brightness is not zero, the LED is on.
-  return buf[0] != '0';
-}
-
 HAL_RadioLEDState HAL_GetRadioLEDState(int32_t* status) {
   bool green = ReadStateFromFile(radioLEDGreenFilePath, status);
   bool red = ReadStateFromFile(radioLEDRedFilePath, status);

diff --git a/hal/src/main/native/athena/REVPDH.cpp b/hal/src/main/native/athena/REVPDH.cpp
@@ -205,17 +205,20 @@ HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t module,
   hal::init::CheckInit();
   if (!HAL_CheckREVPDHModuleNumber(module)) {
     *status = RESOURCE_OUT_OF_RANGE;
+    hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 1,
+                                     kNumREVPDHModules, module);
     return HAL_kInvalidHandle;
   }
 
   HAL_REVPDHHandle handle;
-  auto hpdh = REVPDHHandles->Allocate(module, &handle, status);
+  // Module starts at 1
+  auto hpdh = REVPDHHandles->Allocate(module - 1, &handle, status);
   if (*status != 0) {
     if (hpdh) {
       hal::SetLastErrorPreviouslyAllocated(status, "REV PDH", module,
                                            hpdh->previousAllocation);
     } else {
-      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 0,
+      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 1,
                                        kNumREVPDHModules, module);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
@@ -253,7 +256,7 @@ int32_t HAL_GetREVPDHModuleNumber(HAL_REVPDHHandle handle, int32_t* status) {
 }
 
 HAL_Bool HAL_CheckREVPDHModuleNumber(int32_t module) {
-  return ((module >= 1) && (module < kNumREVPDHModules)) ? 1 : 0;
+  return ((module >= 1) && (module <= kNumREVPDHModules)) ? 1 : 0;
 }
 
 HAL_Bool HAL_CheckREVPDHChannelNumber(int32_t channel) {

diff --git a/hal/src/main/native/athena/REVPH.cpp b/hal/src/main/native/athena/REVPH.cpp
@@ -196,13 +196,15 @@ HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
                                     int32_t* status) {
   hal::init::CheckInit();
   if (!HAL_CheckREVPHModuleNumber(module)) {
+    *status = RESOURCE_OUT_OF_RANGE;
     hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
                                      kNumREVPHModules, module);
     return HAL_kInvalidHandle;
   }
 
   HAL_REVPHHandle handle;
-  auto hph = REVPHHandles->Allocate(module, &handle, status);
+  // Module starts at 1
+  auto hph = REVPHHandles->Allocate(module - 1, &handle, status);
   if (*status != 0) {
     if (hph) {
       hal::SetLastErrorPreviouslyAllocated(status, "REV PH", module,
@@ -247,7 +249,7 @@ void HAL_FreeREVPH(HAL_REVPHHandle handle) {
 }
 
 HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module) {
-  return module >= 1 && module < kNumREVPDHModules;
+  return module >= 1 && module <= kNumREVPHModules;
 }
 
 HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel) {

diff --git a/hal/src/main/native/sim/CTREPCM.cpp b/hal/src/main/native/sim/CTREPCM.cpp
@@ -49,7 +49,7 @@ HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t module,
                                            pcm->previousAllocation);
     } else {
       hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PCM", 0,
-                                       kNumCTREPCMModules, module);
+                                       kNumCTREPCMModules - 1, module);
     }
     return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
   }

diff --git a/hal/src/main/native/sim/PowerDistribution.cpp b/hal/src/main/native/sim/PowerDistribution.cpp
@@ -44,8 +44,14 @@ HAL_PowerDistributionHandle HAL_InitializePowerDistribution(
   }
 
   if (!HAL_CheckPowerDistributionModule(module, type)) {
-    *status = PARAMETER_OUT_OF_RANGE;
-    hal::SetLastError(status, fmt::format("Invalid pdp module {}", module));
+    *status = RESOURCE_OUT_OF_RANGE;
+    if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
+      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for CTRE PDP", 0,
+                                       kNumCTREPDPModules - 1, module);
+    } else {
+      hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PDH", 1,
+                                       kNumREVPDHModules, module);
+    }
     return HAL_kInvalidHandle;
   }
   hal::init::CheckInit();
@@ -74,7 +80,7 @@ HAL_Bool HAL_CheckPowerDistributionModule(int32_t module,
   if (type == HAL_PowerDistributionType::HAL_PowerDistributionType_kCTRE) {
     return module < kNumCTREPDPModules && module >= 0;
   } else {
-    return module < kNumREVPDHModules && module >= 1;
+    return module <= kNumREVPDHModules && module >= 1;
   }
 }
 

diff --git a/hal/src/main/native/sim/REVPH.cpp b/hal/src/main/native/sim/REVPH.cpp
@@ -40,14 +40,16 @@ HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
                                     int32_t* status) {
   hal::init::CheckInit();
 
-  if (module == 0) {
+  if (!HAL_CheckREVPHModuleNumber(module)) {
+    *status = RESOURCE_OUT_OF_RANGE;
     hal::SetLastErrorIndexOutOfRange(status, "Invalid Index for REV PH", 1,
                                      kNumREVPHModules, module);
     return HAL_kInvalidHandle;
   }
 
   HAL_REVPHHandle handle;
-  auto pcm = pcmHandles->Allocate(module, &handle, status);
+  // Module starts at 1
+  auto pcm = pcmHandles->Allocate(module - 1, &handle, status);
 
   if (*status != 0) {
     if (pcm) {
@@ -82,7 +84,7 @@ void HAL_FreeREVPH(HAL_REVPHHandle handle) {
 }
 
 HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module) {
-  return module >= 1 && module < kNumREVPDHModules;
+  return module >= 1 && module <= kNumREVPHModules;
 }
 
 HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel) {

diff --git a/ntcore/src/main/native/cpp/NetworkServer.cpp b/ntcore/src/main/native/cpp/NetworkServer.cpp
@@ -125,7 +125,9 @@ void NetworkServer::ServerConnection::UpdateOutgoingTimer(uint32_t repeatMs) {
 void NetworkServer::ServerConnection::ConnectionClosed() {
   // don't call back into m_server if it's being destroyed
   if (!m_outgoingTimer->IsLoopClosing()) {
-    m_server.m_serverImpl.RemoveClient(m_clientId);
+    uv::Timer::SingleShot(m_outgoingTimer->GetLoopRef(), uv::Timer::Time{0},
+                          [client = m_server.m_serverImpl.RemoveClient(
+                               m_clientId)]() mutable { client.reset(); });
     m_server.RemoveConnection(this);
   }
   m_outgoingTimer->Close();

diff --git a/ntcore/src/main/native/cpp/net/ServerImpl.cpp b/ntcore/src/main/native/cpp/net/ServerImpl.cpp
@@ -1252,7 +1252,7 @@ int ServerImpl::AddClient3(std::string_view connInfo, bool local,
   return index;
 }
 
-void ServerImpl::RemoveClient(int clientId) {
+std::shared_ptr<void> ServerImpl::RemoveClient(int clientId) {
   DEBUG3("RemoveClient({})", clientId);
   auto& client = m_clients[clientId];
 
@@ -1288,8 +1288,7 @@ void ServerImpl::RemoveClient(int clientId) {
   DeleteTopic(client->m_metaPub);
   DeleteTopic(client->m_metaSub);
 
-  // delete the client
-  client.reset();
+  return std::move(client);
 }
 
 bool ServerImpl::PersistentChanged() {

diff --git a/ntcore/src/main/native/cpp/net/ServerImpl.h b/ntcore/src/main/native/cpp/net/ServerImpl.h
@@ -80,7 +80,7 @@ class ServerImpl final {
   int AddClient3(std::string_view connInfo, bool local,
                  net3::WireConnection3& wire, Connected3Func connected,
                  SetPeriodicFunc setPeriodic);
-  void RemoveClient(int clientId);
+  std::shared_ptr<void> RemoveClient(int clientId);
 
   void ConnectionsChanged(const std::vector<ConnectionInfo>& conns);
 

diff --git a/shared/config.gradle b/shared/config.gradle
@@ -14,8 +14,7 @@ nativeUtils {
     wpi {
         configureDependencies {
             opencvYear = "frc2024"
-            googleTestYear = "frc2024"
-            niLibVersion = "2024.2.1"
+            niLibVersion = "2025.0.0"
             opencvVersion = "4.8.0-4"
         }
     }

diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
@@ -23,6 +23,8 @@ public class CommandGenericHID {
       new HashMap<>();
   private final Map<EventLoop, Map<Pair<Integer, Double>, Trigger>> m_axisGreaterThanCache =
       new HashMap<>();
+  private final Map<EventLoop, Map<Pair<Integer, Double>, Trigger>>
+      m_axisMagnitudeGreaterThanCache = new HashMap<>();
   private final Map<EventLoop, Map<Integer, Trigger>> m_povCache = new HashMap<>();
 
   /**
@@ -260,6 +262,37 @@ public Trigger axisGreaterThan(int axis, double threshold, EventLoop loop) {
         Pair.of(axis, threshold), k -> new Trigger(loop, () -> getRawAxis(axis) > threshold));
   }
 
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read, starting at 0
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is greater than the
+   *     provided threshold.
+   */
+  public Trigger axisMagnitudeGreaterThan(int axis, double threshold, EventLoop loop) {
+    var cache = m_axisMagnitudeGreaterThanCache.computeIfAbsent(loop, k -> new HashMap<>());
+    return cache.computeIfAbsent(
+        Pair.of(axis, threshold),
+        k -> new Trigger(loop, () -> Math.abs(getRawAxis(axis)) > threshold));
+  }
+
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is greater than {@code
+   * threshold}, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command
+   * scheduler button loop}.
+   *
+   * @param axis The axis to read, starting at 0
+   * @param threshold The value above which this trigger should return true.
+   * @return a Trigger instance that is true when the deadbanded axis value is active (non-zero).
+   */
+  public Trigger axisMagnitudeGreaterThan(int axis, double threshold) {
+    return axisMagnitudeGreaterThan(
+        axis, threshold, CommandScheduler.getInstance().getDefaultButtonLoop());
+  }
+
   /**
    * Get the value of the axis.
    *

diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
@@ -75,6 +75,13 @@ Trigger CommandGenericHID::AxisGreaterThan(int axis, double threshold,
   });
 }
 
+Trigger CommandGenericHID::AxisMagnitudeGreaterThan(
+    int axis, double threshold, frc::EventLoop* loop) const {
+  return Trigger(loop, [this, axis, threshold]() {
+    return std::abs(m_hid.GetRawAxis(axis)) > threshold;
+  });
+}
+
 void CommandGenericHID::SetRumble(frc::GenericHID::RumbleType type,
                                   double value) {
   m_hid.SetRumble(type, value);

diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h
@@ -230,6 +230,21 @@ class CommandGenericHID {
       frc::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
+  /**
+   * Constructs a Trigger instance that is true when the axis magnitude value is
+   * greater than {@code threshold}, attached to the given loop.
+   *
+   * @param axis The axis to read, starting at 0
+   * @param threshold The value above which this trigger should return true.
+   * @param loop the event loop instance to attach the trigger to.
+   * @return a Trigger instance that is true when the axis magnitude value is
+   * greater than the provided threshold.
+   */
+  Trigger AxisMagnitudeGreaterThan(
+      int axis, double threshold,
+      frc::EventLoop* loop =
+          CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
+
   /**
    * Set the rumble output for the HID.
    *