From db71043c3d1c5cbf1e008c027b25a848032affc2 Mon Sep 17 00:00:00 2001
From: Thad House <thadhouse1@gmail.com>
Date: Thu, 16 Jan 2025 17:40:39 -0800
Subject: [PATCH 1/2] Remove anything that references chipobject or VISA

---
 hal/src/main/native/include/hal/ChipObject.h  |  45 -------
 .../native/include/hal/cpp/SerialHelper.h     |  80 -------------
 .../main/native/include/hal/cpp/UnsafeDIO.h   | 104 ----------------
 hal/src/main/native/include/hal/roborio/HMB.h | 112 ------------------
 .../include/hal/roborio/InterruptManager.h    |  33 ------
 5 files changed, 374 deletions(-)
 delete mode 100644 hal/src/main/native/include/hal/ChipObject.h
 delete mode 100644 hal/src/main/native/include/hal/cpp/SerialHelper.h
 delete mode 100644 hal/src/main/native/include/hal/cpp/UnsafeDIO.h
 delete mode 100644 hal/src/main/native/include/hal/roborio/HMB.h
 delete mode 100644 hal/src/main/native/include/hal/roborio/InterruptManager.h

diff --git a/hal/src/main/native/include/hal/ChipObject.h b/hal/src/main/native/include/hal/ChipObject.h
deleted file mode 100644
index 23dcb3894a0..00000000000
--- a/hal/src/main/native/include/hal/ChipObject.h
+++ /dev/null
@@ -1,45 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wpedantic"
-#pragma GCC diagnostic ignored "-Wignored-qualifiers"
-
-#include <stdint.h>
-
-#include <FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDutyCycle.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tHMB.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tLED.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h>
-#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h>
-#include <FRC_FPGA_ChipObject/tDMAChannelDescriptor.h>
-#include <FRC_FPGA_ChipObject/tDMAManager.h>
-#include <FRC_FPGA_ChipObject/tSystem.h>
-#include <FRC_FPGA_ChipObject/tSystemInterface.h>
-
-namespace hal {
-using namespace nFPGA;
-using namespace nRoboRIO_FPGANamespace;
-}  // namespace hal
-
-#pragma GCC diagnostic pop
diff --git a/hal/src/main/native/include/hal/cpp/SerialHelper.h b/hal/src/main/native/include/hal/cpp/SerialHelper.h
deleted file mode 100644
index 13b6857d5a2..00000000000
--- a/hal/src/main/native/include/hal/cpp/SerialHelper.h
+++ /dev/null
@@ -1,80 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <stdint.h>
-
-#include <string>
-#include <vector>
-
-#include <wpi/SmallString.h>
-#include <wpi/SmallVector.h>
-#include <wpi/mutex.h>
-
-#include "hal/SerialPort.h"
-
-namespace hal {
-/**
- * A class for deterministically getting information about Serial Ports.
- */
-class SerialHelper {
- public:
-  SerialHelper();
-
-  /**
-   * Get the VISA name of a serial port.
-   *
-   * @param[in] port    the serial port index
-   * @param[out] status status check
-   * @return the VISA name
-   */
-  std::string GetVISASerialPortName(HAL_SerialPort port, int32_t* status);
-
-  /**
-   * Get the OS name of a serial port.
-   *
-   * @param[in] port    the serial port index
-   * @param[out] status status check
-   * @return the OS name
-   */
-  std::string GetOSSerialPortName(HAL_SerialPort port, int32_t* status);
-
-  /**
-   * Get a vector of all serial port VISA names.
-   *
-   * @param[out] status status check
-   * @return vector of serial port VISA names
-   */
-  std::vector<std::string> GetVISASerialPortList(int32_t* status);
-
-  /**
-   * Get a vector of all serial port OS names.
-   *
-   * @param[out] status status check
-   * @return vector of serial port OS names
-   */
-  std::vector<std::string> GetOSSerialPortList(int32_t* status);
-
- private:
-  void SortHubPathVector();
-  void CoiteratedSort(wpi::SmallVectorImpl<wpi::SmallString<16>>& vec);
-  void QueryHubPaths(int32_t* status);
-
-  int32_t GetIndexForPort(HAL_SerialPort port, int32_t* status);
-
-  // Vectors to hold data before sorting.
-  // Note we will most likely have at max 2 instances, and the longest string
-  // is around 12, so these should never touch the heap;
-  wpi::SmallVector<wpi::SmallString<16>, 4> m_visaResource;
-  wpi::SmallVector<wpi::SmallString<16>, 4> m_osResource;
-  wpi::SmallVector<wpi::SmallString<16>, 4> m_unsortedHubPath;
-  wpi::SmallVector<wpi::SmallString<16>, 4> m_sortedHubPath;
-
-  int32_t m_resourceHandle;
-
-  static wpi::mutex m_nameMutex;
-  static std::string m_usbNames[2];
-};
-}  // namespace hal
diff --git a/hal/src/main/native/include/hal/cpp/UnsafeDIO.h b/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
deleted file mode 100644
index d79265ec92f..00000000000
--- a/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
+++ /dev/null
@@ -1,104 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <wpi/mutex.h>
-
-#include "hal/ChipObject.h"
-#include "hal/Types.h"
-
-namespace hal {
-
-/**
- * Proxy class for directly manipulating the DIO pins.
- *
- * This class is not copyable or movable, and should never be used
- * outside of the UnsafeManipulateDIO callback.
- */
-struct DIOSetProxy {
-  DIOSetProxy(tDIO::tOutputEnable setOutputDirReg,
-              tDIO::tOutputEnable unsetOutputDirReg,
-              tDIO::tDO setOutputStateReg, tDIO::tDO unsetOutputStateReg,
-              tDIO* dio)
-      : m_setOutputDirReg{setOutputDirReg},
-        m_unsetOutputDirReg{unsetOutputDirReg},
-        m_setOutputStateReg{setOutputStateReg},
-        m_unsetOutputStateReg{unsetOutputStateReg},
-        m_dio{dio} {}
-
-  DIOSetProxy(const DIOSetProxy&) = delete;
-  DIOSetProxy(DIOSetProxy&&) = delete;
-  DIOSetProxy& operator=(const DIOSetProxy&) = delete;
-  DIOSetProxy& operator=(DIOSetProxy&&) = delete;
-
-  void SetOutputMode(int32_t* status) {
-    m_dio->writeOutputEnable(m_setOutputDirReg, status);
-  }
-
-  void SetInputMode(int32_t* status) {
-    m_dio->writeOutputEnable(m_unsetOutputDirReg, status);
-  }
-
-  void SetOutputTrue(int32_t* status) {
-    m_dio->writeDO(m_setOutputStateReg, status);
-  }
-
-  void SetOutputFalse(int32_t* status) {
-    m_dio->writeDO(m_unsetOutputStateReg, status);
-  }
-
-  tDIO::tOutputEnable m_setOutputDirReg;
-  tDIO::tOutputEnable m_unsetOutputDirReg;
-  tDIO::tDO m_setOutputStateReg;
-  tDIO::tDO m_unsetOutputStateReg;
-  tDIO* m_dio;
-};
-namespace detail {
-wpi::mutex& UnsafeGetDIOMutex();
-tDIO* UnsafeGetDigitalSystem();
-int32_t ComputeDigitalMask(HAL_DigitalHandle handle, int32_t* status);
-}  // namespace detail
-
-/**
- * Unsafe digital output set function
- * This function can be used to perform fast and deterministically set digital
- * outputs. This function holds the DIO lock, so calling anything other then
- * functions on the Proxy object passed as a parameter can deadlock your
- * program.
- *
- * @param[in] handle the HAL digital handle of the pin to toggle.
- * @param[out] status status check
- * @param[in] func   A functor taking a ref to a DIOSetProxy object.
- */
-template <typename Functor>
-void UnsafeManipulateDIO(HAL_DigitalHandle handle, int32_t* status,
-                         Functor func) {
-  auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
-  if (port == nullptr) {
-    *status = HAL_HANDLE_ERROR;
-    return;
-  }
-  wpi::mutex& dioMutex = detail::UnsafeGetDIOMutex();
-  tDIO* dSys = detail::UnsafeGetDigitalSystem();
-  auto mask = detail::ComputeDigitalMask(handle, status);
-  if (*status != 0) {
-    return;
-  }
-  std::scoped_lock lock(dioMutex);
-
-  tDIO::tOutputEnable enableOE = dSys->readOutputEnable(status);
-  enableOE.value |= mask;
-  auto disableOE = enableOE;
-  disableOE.value &= ~mask;
-  tDIO::tDO enableDO = dSys->readDO(status);
-  enableDO.value |= mask;
-  auto disableDO = enableDO;
-  disableDO.value &= ~mask;
-
-  DIOSetProxy dioData{enableOE, disableOE, enableDO, disableDO, dSys};
-  func(dioData);
-}
-
-}  // namespace hal
diff --git a/hal/src/main/native/include/hal/roborio/HMB.h b/hal/src/main/native/include/hal/roborio/HMB.h
deleted file mode 100644
index fc7381bbed6..00000000000
--- a/hal/src/main/native/include/hal/roborio/HMB.h
+++ /dev/null
@@ -1,112 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <stdint.h>
-
-struct HAL_HMBData {
-  struct AnalogInputs {
-    uint32_t Values[8];
-    uint32_t Reserved[8];
-  } AnalogInputs;
-  struct AveragedAnalogInputs {
-    uint32_t Values[8];
-    uint32_t Reserved[8];
-  } AveragedAnalogInputs;
-  struct Accumulator0 {
-    uint32_t Count;
-    uint32_t Value0;
-    uint32_t Value1;
-    uint32_t Reserved[13];
-  } Accumulator0;
-  struct Accumulator1 {
-    uint32_t Count;
-    uint32_t Value0;
-    uint32_t Value1;
-    uint32_t Reserved[13];
-  } Accumulator1;
-  struct DI {
-    uint32_t Values;
-    uint32_t FilteredValues;
-    uint32_t Reserved[14];
-  } DI;
-  struct AnalogTriggers {
-    struct Trigger {
-      uint8_t InHysteresis0 : 1;
-      uint8_t OverLimit0 : 1;
-      uint8_t Rising0 : 1;
-      uint8_t Falling0 : 1;
-      uint8_t InHysteresis1 : 1;
-      uint8_t OverLimit1 : 1;
-      uint8_t Rising1 : 1;
-      uint8_t Falling1 : 1;
-    } Trigger[4];
-    uint32_t Reserved[15];
-  } AnalogTriggers;
-  struct Counters {
-    struct Counter {
-      uint32_t Direction : 1;
-      int32_t Value : 31;
-    } Counter[8];
-    uint32_t Reserved[8];
-  } Counters;
-  struct CounterTimers {
-    struct Timer {
-      uint32_t Period : 23;
-      int32_t Count : 8;
-      uint32_t Stalled : 1;
-    } Timer[8];
-    uint32_t Reserved[8];
-  } CounterTimers;
-  struct Encoders {
-    struct Encoder {
-      uint32_t Direction : 1;
-      int32_t Value : 31;
-    } Encoder[8];
-    uint32_t Reserved[8];
-  } Encoders;
-  struct EncoderTimers {
-    struct Timer {
-      uint32_t Period : 23;
-      int32_t Count : 8;
-      uint32_t Stalled : 1;
-    } Timer[8];
-    uint32_t Reserved[8];
-  } EncoderTimers;
-  struct DutyCycle {
-    uint32_t Output[8];
-    uint32_t Reserved[8];
-  } DutyCycle;
-  struct Interrupts {
-    struct Interrupt {
-      uint32_t FallingTimestamp;
-      uint32_t RisingTimestamp;
-    } Interrupt[8];
-  } Interrupts;
-  struct PWM {
-    uint32_t Headers[10];
-    uint32_t Reserved[6];
-    uint32_t MXP[10];
-    uint32_t Reserved2[6];
-  } PWM;
-  struct RelayDOAO {
-    uint32_t Relays;
-    uint32_t Reserved;
-    uint32_t AO[2];
-    uint32_t Reserved2[12];
-  } RelayDOAO;
-  struct Timestamp {
-    uint32_t Lower;
-    uint32_t Upper;
-    uint32_t Reserved[14];
-  } Timestamp;
-};
-
-extern "C" {
-
-void HAL_InitializeHMB(int32_t* status);
-
-const volatile HAL_HMBData* HAL_GetHMBBuffer(void);
-}  // extern "C"
diff --git a/hal/src/main/native/include/hal/roborio/InterruptManager.h b/hal/src/main/native/include/hal/roborio/InterruptManager.h
deleted file mode 100644
index 36d904b49ed..00000000000
--- a/hal/src/main/native/include/hal/roborio/InterruptManager.h
+++ /dev/null
@@ -1,33 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga.h>
-#include <wpi/mutex.h>
-
-#include "hal/ChipObject.h"
-#include "hal/Types.h"
-
-namespace hal {
-class InterruptManager {
- public:
-  static InterruptManager& GetInstance();
-  static void Initialize(tSystemInterface* baseSystem);
-
-  NiFpga_IrqContext GetContext() noexcept;
-  void ReleaseContext(NiFpga_IrqContext context) noexcept;
-
-  uint32_t WaitForInterrupt(NiFpga_IrqContext context, uint32_t mask,
-                            bool ignorePrevious, uint32_t timeoutInMs,
-                            int32_t* status);
-
- private:
-  InterruptManager() = default;
-
-  wpi::priority_mutex currentMaskMutex;
-  uint32_t currentMask;
-  NiFpga_Session fpgaSession;
-};
-}  // namespace hal

From ebadd0b2a2c114bdafb801d845c8e80f0b025d3d Mon Sep 17 00:00:00 2001
From: Thad House <thadhouse1@gmail.com>
Date: Thu, 16 Jan 2025 17:53:00 -0800
Subject: [PATCH 2/2] Fix

---
 hal/src/main/native/systemcore/SerialPort.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/hal/src/main/native/systemcore/SerialPort.cpp b/hal/src/main/native/systemcore/SerialPort.cpp
index 70825a1690f..64e24c82c22 100644
--- a/hal/src/main/native/systemcore/SerialPort.cpp
+++ b/hal/src/main/native/systemcore/SerialPort.cpp
@@ -21,7 +21,6 @@
 #include <fmt/format.h>
 
 #include "HALInternal.h"
-#include "hal/cpp/SerialHelper.h"
 #include "hal/handles/HandlesInternal.h"
 #include "hal/handles/IndexedHandleResource.h"