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Unread 16-06-2013, 14:15
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What is expected of the core libraries?

There was some good off-topic discussion in This Thread about the WPIlib, specifically efficiency and bloat in LabVIEW. However, I was off-topic for that thread, so I'd like to move it to this thread for comment. This isn't just focusing on LabVIEW, I'd like to see some opinions on all languages or just FRC programming in general. Also related to This Thread about Default Code.


IMHO, the core purpose of the core libraries are to provide access to IO and control data. Not even framework, just IO. Framework can be provided through examples and default programs, but should not really be part of the library. Teams need the library to read and write sensors and actuators, and read control data. Anything else is secondary to this goal, or should ideally be moved from the library to example programs or the like.

Every FRC programmer (in any language) I have ever talked to assumes the WPIlib to be a golden black-box, which is to be used as-is. I've seen quite a few teams write wrapper libraries (especially Java and C++ teams posting them to CD) to address shortcomings in the library without modifying it directly. In many ways it's hard to modify the WPIlib, since any changes you make have to be moved to all laptops you use and saved during updates. I know I had to intentionally run 1 version out of date in 2012 and update other machines for images so it wouldn't overwrite my changes. While there is some challenge to writing efficient code, there is absolutely no reason our simple control loops shouldn't be able to run at 200hz on a 400mhz PowerPC, but we're limited to 50hz or less due to CPU loading. Its not that FRC should necessarily be easy, but if the Vex Cortex can run code of similar complexity and spend 3ms in the loop (with interrupts) and we're running out of CPU in 20ms and 15ms loops, with an FPGA handling all of our high-speed IO, we're clearly wasting a LOT of CPU.

What are your thoughts? What do YOU expect of the WPIlib, what issues do you see and feedback do you have?
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