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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-04-25 23:45:43 -07:00
parent 2f0990e9d2 0695a4db89
commit 36811211be
79 changed files with 2093 additions and 415 deletions
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14
wpilibcExamples/CMakeLists.txt
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@@ -5,6 +5,7 @@ include(SubDirList)
subdir_list(TEMPLATES ${CMAKE_SOURCE_DIR}/wpilibcExamples/src/main/cpp/templates)
subdir_list(EXAMPLES ${CMAKE_SOURCE_DIR}/wpilibcExamples/src/main/cpp/examples)
subdir_list(SNIPPETS ${CMAKE_SOURCE_DIR}/wpilibcExamples/src/main/cpp/snippets)
add_custom_target(wpilibcExamples)
add_custom_target(wpilibcExamples_test)
@@ -63,3 +64,16 @@ foreach(template ${TEMPLATES})
target_link_libraries(${template} wpilibc wpilibNewCommands romiVendordep xrpVendordep)
add_dependencies(wpilibcExamples ${template})
endforeach()
foreach(snippet ${SNIPPETS})
file(
GLOB_RECURSE sources
src/main/cpp/snippets/${snippet}/cpp/*.cpp
src/main/cpp/snippets/${snippet}/c/*.c
)
add_executable(snippet${snippet} ${sources})
wpilib_target_warnings(${snippet})
target_include_directories(snippet${snippet} PUBLIC src/main/cpp/snippets/${snippet}/include)
target_link_libraries(snippet${snippet} wpilibc wpilibNewCommands romiVendordep xrpVendordep)
add_dependencies(wpilibcExamples snippet${snippet})
endforeach()

123
wpilibcExamples/build.gradle
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@@ -14,9 +14,20 @@ apply from: "${rootDir}/shared/googletest.gradle"
ext.examplesMap = [:]
ext.templatesMap = [:]
ext.snippetsMap = [:]
File examplesTree = file("$projectDir/src/main/cpp/examples")
examplesTree.list(new FilenameFilter() {
ext {
templateDirectory = new File("$projectDir/src/main/cpp/templates/")
templateFile = new File("$projectDir/src/main/cpp/templates/templates.json")
exampleDirectory = new File("$projectDir/src/main/cpp/examples/")
exampleFile = new File("$projectDir/src/main/cpp/examples/examples.json")
commandDirectory = new File("$projectDir/src/main/cpp/commands/")
commandFile = new File("$projectDir/src/main/cpp/commands/commands.json")
snippetsDirectory = new File("$projectDir/src/main/cpp/snippets/")
snippetsFile = new File("$projectDir/src/main/cpp/snippets/snippets.json")
}
exampleDirectory.list(new FilenameFilter() {
@Override
public boolean accept(File current, String name) {
return new File(current, name).isDirectory();
@@ -24,8 +35,7 @@ examplesTree.list(new FilenameFilter() {
}).each {
examplesMap.put(it, [])
}
File templatesTree = file("$projectDir/src/main/cpp/templates")
templatesTree.list(new FilenameFilter() {
templateDirectory.list(new FilenameFilter() {
@Override
public boolean accept(File current, String name) {
return new File(current, name).isDirectory();
@@ -33,6 +43,14 @@ templatesTree.list(new FilenameFilter() {
}).each {
templatesMap.put(it, [])
}
snippetsDirectory.list(new FilenameFilter() {
@Override
public boolean accept(File current, String name) {
return new File(current, name).isDirectory();
}
}).each {
snippetsMap.put(it, [])
}
nativeUtils.platformConfigs.named(nativeUtils.wpi.platforms.windowsx64).configure {
linker.args.remove('/DEBUG:FULL')
@@ -41,7 +59,7 @@ nativeUtils.platformConfigs.named(nativeUtils.wpi.platforms.windowsx64).configur
}
ext {
sharedCvConfigs = examplesMap + templatesMap + [commands: []]
sharedCvConfigs = examplesMap + templatesMap + snippetsMap.collectEntries { key, value -> ['snippets' + key, value] } + [commands: []]
staticCvConfigs = [:]
useJava = false
useCpp = true
@@ -165,6 +183,57 @@ model {
}
}
}
snippetsMap.each { key, value ->
"snippets${key}"(NativeExecutableSpec) {
targetBuildTypes 'debug'
binaries.all { binary ->
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
lib project: ':romiVendordep', library: 'romiVendordep', linkage: 'shared'
lib project: ':xrpVendordep', library: 'xrpVendordep', linkage: 'shared'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
lib project: ':apriltag', library: 'apriltag', linkage: 'shared'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
project(':ntcore').addNtcoreDependency(binary, 'shared')
lib project: ':cscore', library: 'cscore', linkage: 'shared'
project(':hal').addHalDependency(binary, 'shared')
lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
}
if (binary.targetPlatform.name == getCurrentArch()) {
simModules.each {
lib project: ":simulation:$it", library: it, linkage: 'shared'
}
}
}
sources {
cpp {
source {
srcDirs 'src/main/cpp/snippets/' + "${key}" + "/cpp"
include '**/*.cpp'
}
exportedHeaders {
srcDirs 'src/main/cpp/snippets/' + "${key}" + "/include"
include '**/*.h'
}
}
}
sources {
c {
source {
srcDirs 'src/main/cpp/snippets/' + "${key}" + "/c"
include '**/*.c'
}
exportedHeaders {
srcDirs 'src/main/cpp/snippets/' + "${key}" + "/include"
include '**/*.h'
}
}
}
}
}
}
testSuites {
examplesMap.each { key, value ->
@@ -201,6 +270,41 @@ model {
}
}
}
testSuites {
snippetsMap.each { key, value ->
def testFolder = new File("${rootDir}/wpilibcExamples/src/test/cpp/snippets/${key}")
if (testFolder.exists()) {
"snippets${key}Test"(GoogleTestTestSuiteSpec) {
for (NativeComponentSpec c : $.components) {
if (c.name == key) {
testing c
break
}
}
sources {
cpp {
source {
srcDirs "src/test/cpp/examples/${key}/cpp"
include '**/*.cpp'
}
exportedHeaders {
srcDirs "src/test/cpp/examples/${key}/include"
}
}
c {
source {
srcDirs "src/test/cpp/examples/${key}/c"
include '**/*.c'
}
exportedHeaders {
srcDirs "src/test/cpp/examples/${key}/include"
}
}
}
}
}
}
}
binaries {
withType(GoogleTestTestSuiteBinarySpec) {
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
@@ -244,15 +348,6 @@ model {
}
}
ext {
templateDirectory = new File("$projectDir/src/main/cpp/templates/")
templateFile = new File("$projectDir/src/main/cpp/templates/templates.json")
exampleDirectory = new File("$projectDir/src/main/cpp/examples/")
exampleFile = new File("$projectDir/src/main/cpp/examples/examples.json")
commandDirectory = new File("$projectDir/src/main/cpp/commands/")
commandFile = new File("$projectDir/src/main/cpp/commands/commands.json")
}
model {
// Create run tasks for all examples.
tasks {

40
wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp Normal file
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@@ -0,0 +1,40 @@
// 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.
#include <numbers>
#include <frc/DutyCycleEncoder.h>
#include <frc/TimedRobot.h>
/**
* DutyCycleEncoder snippets for frc-docs.
* https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
*/
class Robot : public frc::TimedRobot {
public:
Robot() {}
void TeleopPeriodic() override {
// Gets the rotation
m_encoder.Get();
// Gets if the encoder is connected
m_encoder.IsConnected();
}
private:
// Initializes a duty cycle encoder on DIO pins 0
frc::DutyCycleEncoder m_encoder{0};
// Initializes a duty cycle encoder on DIO pins 0 to return a value of 4 for
// a full rotation, with the encoder reporting 0 half way through rotation (2
// out of 4)
frc::DutyCycleEncoder m_encoderFR{0, 4.0, 2.0};
};
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
}
#endif

69
wpilibcExamples/src/main/cpp/snippets/Encoder/cpp/Robot.cpp Normal file
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@@ -0,0 +1,69 @@
// 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.
#include <numbers>
#include <frc/Encoder.h>
#include <frc/TimedRobot.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <wpi/deprecated.h>
/**
* Encoder snippets for frc-docs.
* https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
*/
WPI_IGNORE_DEPRECATED
class Robot : public frc::TimedRobot {
public:
Robot() {
// Configures the encoder to return a distance of 4 for every 256 pulses
// Also changes the units of getRate
m_encoder.SetDistancePerPulse(4.0 / 256.0);
// Configures the encoder to consider itself stopped after .1 seconds
m_encoder.SetMaxPeriod(0.1_s);
// Configures the encoder to consider itself stopped when its rate is below
// 10
m_encoder.SetMinRate(10);
// Reverses the direction of the encoder
m_encoder.SetReverseDirection(true);
// Configures an encoder to average its period measurement over 5 samples
// Can be between 1 and 127 samples
m_encoder.SetSamplesToAverage(5);
}
void TeleopPeriodic() override {
// Gets the distance traveled
m_encoder.GetDistance();
// Gets the current rate of the encoder
m_encoder.GetRate();
// Gets whether the encoder is stopped
m_encoder.GetStopped();
// Gets the last direction in which the encoder moved
m_encoder.GetDirection();
// Gets the current period of the encoder
m_encoder.GetPeriod();
// Resets the encoder to read a distance of zero
m_encoder.Reset();
}
private:
// Initializes an encoder on DIO pins 0 and 1
// Defaults to 4X decoding and non-inverted
frc::Encoder m_encoder{0, 1};
// Initializes an encoder on DIO pins 0 and 1
// 2X encoding and non-inverted
frc::Encoder m_encoder2x{0, 1, false, frc::Encoder::EncodingType::k2X};
};
#ifndef RUNNING_FRC_TESTS
int main() {
return frc::StartRobot<Robot>();
}
#endif

23
wpilibcExamples/src/main/cpp/snippets/snippets.json Normal file
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@@ -0,0 +1,23 @@
[
{
"name": "Encoder",
"description": "Snippets of Encoder class usage for frc-docs.",
"tags": [
"Hardware",
"Encoder"
],
"foldername": "Encoder",
"gradlebase": "cpp"
},
{
"name": "DutyCycleEncoder",
"description": "Snippets of DutyCycleEncoder class usage for frc-docs.",
"tags": [
"Hardware",
"Encoder",
"Duty Cycle"
],
"foldername": "DutyCycleEncoder",
"gradlebase": "cpp"
}
]