Merge pull request #709 from Autodesk/wpilib-2021

Update Emulator for WPILib 2021.2.2 Support

emulation/hel/CMakeLists.txt

@@ -31,8 +31,7 @@ OPTION(BUILD_DOC "Enable building of documentation" OFF)
 
 SET(DEFAULT_BUILD_TYPE "Release")
 SET(DEFAULT_GRPC_VERSION "v1.21.4")
-SET(DEFAULT_WPILIB_VERSION "v2020.3.2")
-#SET(DEFAULT_NILIB_VERSION "v2019-12")
+SET(DEFAULT_WPILIB_VERSION "v2021.2.2")
 SET(DEFAULT_NILIB_VERSION "main")
 
 IF(NOT CMAKE_CONFIGURATION_TYPES)

emulation/hel/src/init.cpp

@@ -5,6 +5,8 @@
 #include <cstdio>
 #include <fstream>
 
+#include <FRC_NetworkCommunication/LoadOut.h>
+
 #define LIBHEL_VERSION "1.1.0" // Major, minor, patch
 #define VIRTUAL_MACHINE_INFO_PATH "/home/lvuser/.vminfo"
 #define SERVER_CONFIG_PATH "/home/lvuser/.grpc_config"
@@ -52,3 +54,9 @@ namespace nFPGA {
         unsigned int g_currentTargetClass; //Ni FPGA declares this as extern, so define it here
     }
 }
+
+namespace nLoadOut {
+    tTargetClass EXPORT_FUNC getTargetClass() {
+        return (tTargetClass) nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass;
+    }
+}

emulation/hel/src/interrupt_manager.cpp

@@ -24,9 +24,11 @@ namespace nFPGA{
 		}).detach();
     }
 
-    uint32_t tInterruptManager::watch(int32_t /*timeoutInMs*/, bool /*ignorePrevious*/, tRioStatusCode* /*status*/){
-        hel::warnUnsupportedFeature("Function call tInterruptManager::watch");
-        return 0;
+    uint32_t tInterruptManager::watch(int32_t timeoutInMs, bool ignorePrevious, tRioStatusCode* /*status*/){
+        // hel::warnUnsupportedFeature("Function call tInterruptManager::watch");
+        if(timeoutInMs == 10000 && ignorePrevious == false) 
+		return !0;
+	return 0;
     }
 
     void tInterruptManager::enable(tRioStatusCode* /*status*/){

emulation/java_vm/Dockerfile

@@ -2,8 +2,8 @@
 
 FROM ubuntu:18.04 AS builder
 
-ENV WPILIB_VERSION v2020.3.2
-ENV SYNTHESIS_BRANCH emulator-restore
+ENV WPILIB_VERSION v2021.2.2
+ENV SYNTHESIS_BRANCH wpilib-2021
 ENV TEMPPATH /temp
 ENV PATH $TEMPPATH/bin:$PATH
 
@@ -69,7 +69,27 @@ RUN ${ENTER_HEL}/../java_vm/wpi_cross && \
     patch -p0 < ../AddressableLED.patch && \
     patch -p0 < ../FRCDriverStation.patch && \
     ./gradlew halBaseLinuxx86-64ReleaseSharedLibrary halJNILinuxx86-64ReleaseSharedLibrary :wpilibj:assemble && \
-    (./gradlew wpilibj:build || true)  # This gradle build step will fail, but that's okay
+    (./gradlew wpilibj:build || true)
+RUN ${ENTER_HEL}/../java_vm/wpi_cross/allwpilib && \
+    cp wpilibc/src/main/native/include/frc wpilibOldCommands/src/main/native/include -r -f && \
+    cp wpilibc/src/main/native/include/frc2 wpilibOldCommands/src/main/native/include -r -f && \
+    cp wpiutil/src/main/native/include/wpi wpilibOldCommands/src/main/native/include -r -f && \
+    cp ntcore/src/main/native/include/* wpilibOldCommands/src/main/native/include -r -f && \
+    cp hal/src/main/native/include/* wpilibOldCommands/src/main/native/include -r -f && \
+    cp wpimath/src/main/native/include/* wpilibOldCommands/src/main/native/include -r -f && \
+    cp hal/build/generated/headers/* wpilibOldCommands/src/main/native/include -r -f && \
+    ./gradlew wpilibOldCommandsBaseLinuxx86-64DebugSharedLibrary
+RUN ${ENTER_HEL}/../java_vm/wpi_cross/allwpilib && \
+cp wpilibc/src/main/native/include/frc wpilibNewCommands/src/main/native/include -r -f && \
+    cp wpilibc/src/main/native/include/frc2 wpilibNewCommands/src/main/native/include -r -f && \
+    cp wpiutil/src/main/native/include/wpi wpilibNewCommands/src/main/native/include -r -f && \
+    cp ntcore/src/main/native/include/* wpilibNewCommands/src/main/native/include -r -f && \
+    cp hal/src/main/native/include/* wpilibNewCommands/src/main/native/include -r -f && \
+    cp wpimath/src/main/native/include/* wpilibNewCommands/src/main/native/include -r -f && \
+    cp wpimath/src/main/native/eigeninclude/Eigen wpilibNewCommands/src/main/native/include -r -f && \
+    cp hal/build/generated/headers/* wpilibNewCommands/src/main/native/include -r -f && \
+    ./gradlew wpilibNewCommandsBaseLinuxx86-64DebugSharedLibrary
+
 
 # Move needed files into one location
 RUN mkdir $TEMPPATH/to_copy && \
@@ -90,9 +110,9 @@ RUN echo 'root:root' | chpasswd
 
 RUN apt-get -y update
 
-RUN DEBIAN_FRONTEND="noninteractive" apt-get install -y --no-install-recommends tzdata
+RUN DEBIAN_FRONTEND="noninteractive" apt install -y --no-install-recommends tzdata
 
-RUN apt-get -y install --no-install-recommends \
+RUN apt -y install --no-install-recommends \
     linux-image-generic:amd64 \
     systemd-sysv \
     dbus \
@@ -135,6 +155,7 @@ RUN  mv -n ./libhel.so \
     ./libcscorejni.so \
     ./libcscored.so \
     ./libopencv*.so* \
+    ./libwpilib*Commands*.so* \
     ./libntcorejni.so \
     ./libntcored.so \
     /lib/

emulation/java_vm/wpi_cross/FRCDriverStation.patch

@@ -1,22 +1,23 @@
---- ./hal/src/main/native/sim/FRCDriverStation.cpp	2020-12-30 02:01:20.371892128 -0500
-+++ ./hal/src/main/native/sim/FRCDriverStation2.cpp	2020-12-30 02:02:19.458557374 -0500
-@@ -292,6 +292,10 @@
+--- ./hal/src/main/native/sim/FRCDriverStation.cpp	2021-03-27 16:47:26.558444755 -0700
++++ ./hal/src/main/native/sim/FRCDriverStation2.cpp	2021-03-27 16:47:13.921777667 -0700
+@@ -288,6 +288,11 @@
    }
  }
 
-+#pragma GCC diagnostic push 
-+#pragma GCC diagnostic ignored "-Wstringop-truncation"
-+#pragma GCC diagnostic ignored "-Wstringop-overflow"
-+
++#pragma GCC diagnostic push
++#if defined(__GNUC__) && (__GNUC__ > 8)
++	#pragma GCC diagnostic ignored "-Wstringop-truncation"
++	#pragma GCC diagnostic ignored "-Wstringop-overflow"
++#endif
  char* HAL_GetJoystickName(int32_t joystickNum) {
    HAL_JoystickDescriptor joystickDesc;
    if (HAL_GetJoystickDescriptor(joystickNum, &joystickDesc) < 0) {
-@@ -307,6 +311,8 @@
+@@ -303,6 +308,8 @@
    }
  }
 
 +#pragma GCC diagnostic pop
 +
- void HAL_FreeJoystickName(char* name) { std::free(name); }
-
- int32_t HAL_GetJoystickAxisType(int32_t joystickNum, int32_t axis) {
+ void HAL_FreeJoystickName(char* name) {
+   std::free(name);
+ }