Locking the joysticks now uses a ReaderWriterLock, and we now get the
descriptor in the GetData loop. This should speed up the DriverStation,
and make it more reliable.

HAL/HAL.csproj

@@ -95,7 +95,7 @@
     <Compile Include="Base\HALAccelerometer.cs" />
     <Compile Include="Base\HALAnalog.cs" />
     <Compile Include="Base\HALCAN.cs" />
-    <Compile Include="Base\HALCanTalonSRX.cs" />
+    <Compile Include="Base\HALCANTalonSRX.cs" />
     <Compile Include="Base\HALCompressor.cs" />
     <Compile Include="Base\HALDigital.cs" />
     <Compile Include="Base\HALErrors.cs" />

WPILib.Tests/SpecScaners/TestHALImpl.cs

@@ -282,53 +282,11 @@ public void TestHALBlittable()
 
     }
 
-    internal struct Function
-    {
-        public bool Equals(Function other)
-        {
-            return string.Equals(m_retType, other.m_retType) && string.Equals(m_identifier.ToLower(), other.m_identifier.ToLower()) && m_parameters.SequenceEqual(other.m_parameters);
-        }
-
-        public override int GetHashCode()
-        {
-            unchecked
-            {
-                var hashCode = m_retType?.GetHashCode() ?? 0;
-                hashCode = (hashCode * 397) ^ (m_identifier?.GetHashCode() ?? 0);
-                hashCode = (hashCode * 397) ^ (m_parameters?.GetHashCode() ?? 0);
-                return hashCode;
-            }
-        }
-
-        public Function(string ret, string id, string[] p)
-        {
-            m_retType = ret;
-            m_identifier = id;
-            m_parameters = p;
-        }
-
-        private readonly string m_retType;
-        private readonly string m_identifier;
-        private readonly string[] m_parameters;
-
-        public override bool Equals(object obj)
-        {
-            if (ReferenceEquals(null, obj)) return false;
-            return obj is Function && Equals((Function)obj);
-        }
-    }
-
-    public struct HALMethodClass
-    {
-        public string ClassName;
-        public List<MethodDeclarationSyntax> Methods;
-    }
-
     public struct HALDelegateClass
     {
         public string ClassName;
         public List<DelegateDeclarationSyntax> Methods;
     }
 
-
+    
 }

WPILib.Tests/TestADXRS450.cs

@@ -77,5 +77,11 @@ public void TestReset()
             m_gyro.Reset();
             Assert.AreEqual(0.0, m_gyro.GetAngle(), 0.0001);
         }
+
+        [Test]
+        public void TestSmartDashboardType()
+        {
+            Assert.That(m_gyro.SmartDashboardType, Is.EqualTo("Gyro"));
+        }
     }
 }

WPILib.Tests/TestAnalogGyro.cs

@@ -232,7 +232,7 @@ public void TestSmartDashboardType()
         {
             using (AnalogGyro s = GetAnalogGyro(0))
             {
-                Assert.That(s.SmartDashboardType, Is.EqualTo("AnalogGyro"));
+                Assert.That(s.SmartDashboardType, Is.EqualTo("Gyro"));
             }
         }
 

WPILib.Tests/TestDriverStation.cs

@@ -256,7 +256,7 @@ public void TestJoystickButtons([Range(0,32)] int numButtons)
                 }
             };
             DriverStationHelper.UpdateData();
-            Thread.Sleep(10);
+            Thread.Sleep(150);
             int buttonCount = DriverStation.Instance.GetStickButtonCount(0);
             Assert.That(buttonCount, Is.EqualTo(numButtons));
             for (int i = 0; i < buttonCount; i++)
@@ -271,7 +271,7 @@ public void TestJoystickButtons([Range(0,32)] int numButtons)
                 buttons[i] = true;
             }
             DriverStationHelper.UpdateData();
-            Thread.Sleep(10);
+            Thread.Sleep(150);
             for (int i = 0; i < buttonCount; i++)
             {
                 bool button = DriverStation.Instance.GetStickButton(0, (byte)(i + 1));
@@ -301,7 +301,7 @@ public void TestJoystickAxes([Range(0, 6)] int numAxes)
                 }
             };
             DriverStationHelper.UpdateData();
-            Thread.Sleep(10);
+            Thread.Sleep(150);
             int axesCount = DriverStation.Instance.GetStickAxisCount(0);
             Assert.That(axesCount, Is.EqualTo(numAxes));
             for (int i = 0; i < axesCount; i++)
@@ -316,7 +316,7 @@ public void TestJoystickAxes([Range(0, 6)] int numAxes)
                 axes[i] = -.598;
             }
             DriverStationHelper.UpdateData();
-            Thread.Sleep(10);
+            Thread.Sleep(150);
             for (int i = 0; i < axesCount; i++)
             {
                 double axis = DriverStation.Instance.GetStickAxis(0, i);

WPILib.Tests/WPILib.Tests.csproj

@@ -28,7 +28,7 @@
     <DefineConstants>DEBUG;TRACE</DefineConstants>
     <ErrorReport>prompt</ErrorReport>
     <WarningLevel>4</WarningLevel>
-    <PlatformTarget>x86</PlatformTarget>
+    <PlatformTarget>AnyCPU</PlatformTarget>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
     <DebugType>pdbonly</DebugType>

WPILib/ADXRS450_Gyro.cs

@@ -172,8 +172,5 @@ public override double GetRate()
             }
             return m_spi.GetAccumulatorLastValue() * DegreePerSecondPerLSB;
         }
-
-        /// <inheritdoc/>
-        public override string SmartDashboardType => nameof(ADXRS450_Gyro);
     }
 }

WPILib/AnalogGyro.cs

@@ -197,8 +197,5 @@ private double Deadband
                 AnalogInput.AccumulatorDeadband = deadband;
             }
         }
-
-        ///<inheritdoc />
-        public override string SmartDashboardType => "AnalogGyro";
     }
 }