Update WPILib to 2021.1.1-beta-2

build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "java-library"
     id "org.carlmontrobotics.webots" version "0.8"
-    id "edu.wpi.first.GradleRIO" version "2021.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2021.1.1-beta-2"
 }
 
 group 'org.carlmontrobotics'

src/main/java/frc/robot/lib/sim/SimRegisterer.java

@@ -21,7 +21,7 @@ public class SimRegisterer {
 
     static {
         // Register Initalized Callbacks for Misc Devices
-        SimUtils.registerSimDeviceCreatedCallback("", MISC_DEVICE_CALLBACK, true);
+        SimDeviceSim.registerDeviceCreatedCallback("", MISC_DEVICE_CALLBACK, true);
         // Register Initalized Callbacks for PWM Devices
         registerDeviceType("PWM", SensorUtil.kPwmChannels, PWMSim::new, PWMSim::getInitialized, PWMSim::registerInitializedCallback);
     }

src/main/java/frc/robot/lib/sim/SimUtils.java

@@ -1,28 +1,18 @@
 package frc.robot.lib.sim;
 
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.HashMap;
-import java.util.List;
-import java.util.function.Consumer;
 
 import edu.wpi.first.hal.HALValue;
 import edu.wpi.first.hal.SimValue;
-import edu.wpi.first.hal.simulation.SimDeviceCallback;
 import edu.wpi.first.hal.simulation.SimValueCallback;
-import edu.wpi.first.hal.simulation.SimDeviceDataJNI.SimDeviceInfo;
 import edu.wpi.first.wpilibj.simulation.SimDeviceSim;
 
 /**
  * Provides utility methods to be used in SimRegister and other simulation code.
  * These are mostly (only) to patch flaws in WPILib for which fixes are still being implemented
  */
 public final class SimUtils {
-
-    // Map Device Callbacks to their Prefixes
-    private static final HashMap<SimDeviceCallback, String> prefixes = new HashMap<>();
-    // Keep Track of Devices Known to Each Device Callback
-    private static final HashMap<SimDeviceCallback, ArrayList<String>> knownDevices = new HashMap<>();
     // Keep Track of Values Watched by Each Value Callback
     private static final HashMap<SimValueCallback, SimValue> valueCallbacks = new HashMap<>();
     // Cache the Previous State of SimValues for New Callbacks
@@ -33,19 +23,6 @@ public final class SimUtils {
         Simulation.registerPeriodicMethod(SimUtils::periodic);
     }
 
-    // Custom implementations of WPILib methods. These are required due to a bug in WPILib which hinderes their functionality (https:// github.com/wpilibsuite/allwpilib/issues/2832)
-    // The origional WPILib methods produce a crash in native code when their invoking state is triggered (i.e. When a device or value is created)
-    // To make migration to the WPILib methods easier, these methods have similar type signatures to their corresponding WPILib methods
-    // Notable differences:
-    // The WPILib methods are called asyncronously. These methods work by contnually polling WPILib for changes, so they notify their callbacks during the robot's periodic loop
-    // The value name and readOnly state cannot be obtained from the value object and the handle is ambiguous as to whether its a device or value handle, so value callbacks are called with "null" versions of these arguments
-
-    // Custom implementation of {@link SimDeviceSim#registerSimDeviceCreatedCallback}
-    public static void registerSimDeviceCreatedCallback(String prefix, SimDeviceCallback callback, boolean initialNotify) {
-        prefixes.put(callback, prefix);
-        knownDevices.put(callback, new ArrayList<>());
-    }
-
     // Custom implementation of {@link SimDeviceSim#registerValueChangedCallback}
     public static void registerValueChangedCallback(SimDeviceSim device, String valueName, SimValueCallback callback, boolean initialNotify) {
         // Get the Corresponding SimValue
@@ -60,28 +37,9 @@ public static void registerValueChangedCallback(SimDeviceSim device, String valu
             callback.callback("", -1, false, lastData.get(value));
         }
     }
-
-    // Notify callback and mark the device as known to the callback
-    private static final Consumer<SimDeviceInfo> performDeviceCallback(SimDeviceCallback callback) { return (info) -> {
-        callback.callback(info.name, info.handle);knownDevices.get(callback).add(info.name);};}
 
     // Notify registered callbacks of new devices
     public static void periodic() {
-        // Get existing devices
-        List<SimDeviceInfo> devices = Arrays.asList(SimDeviceSim.enumerateDevices(""));
-        // For each device callback
-        for(SimDeviceCallback callback : prefixes.keySet()) {
-            String prefix = prefixes.get(callback);
-            ArrayList<String> kDevs = knownDevices.get(callback);
-            // For each device
-            devices.stream()
-            // If the callback has not already been not already been notifed of this device
-            .filter((info) -> !kDevs.contains(info.name))
-            // And the device name starts with the prefix
-            .filter((info) -> info.name.startsWith(prefix))
-            // Call the callback
-            .forEach(performDeviceCallback(callback));
-        }
         ArrayList<Integer> updatedValues = new ArrayList<>();
         // For all cached data
         lastData.forEach((simValue, value) -> {