Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[copybara] mostrobotpy to allwpilib (#8503)

Browse Source 
Resync with `mostrobotpy`

This mostly involves the big "ignore almost everything in the HAL
project" and some fixups for the Addressable LED classes.

Required two small hand fixes to get it building over here with bazel,
and with more compiler warnings on.

I also manually zeroed out the `repo_url` field in the toml files to
avoid unnecessary churn whenever it goes from a release build to a
development build. I already did this with `version` field in there, and
will do a follow up PR that updates the copybara script to do it
automatically.

---------

Co-authored-by: Default email <default@default.com>
This commit is contained in:
PJ Reiniger
2025-12-31 12:06:01 -05:00
committed by GitHub
parent bdc9391738
commit 40fb9ff562
233 changed files with 1796 additions and 4455 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
apriltag/src/main/python/native-pyproject.toml
View File

@@ -25,7 +25,7 @@ packages = ["src/native"]
[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
artifact_id = "apriltag-cpp"
group_id = "org.wpilib.apriltag"
repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
repo_url = ""
version = "0.0.0"
extract_to = "src/native/apriltag"

2
apriltag/src/test/python/test_detection.py
View File

@@ -1,6 +1,6 @@
import cv2
import robotpy_apriltag
from wpimath.geometry import Transform3d
from wpimath import Transform3d
import math
import pathlib

3
commandsv2/src/main/python/commands2/button/commandgenerichid.py
View File

@@ -1,8 +1,7 @@
# validated: 2024-01-20 DS 92149efa11fa button/CommandGenericHID.java
from typing import Optional
from wpilib.event import EventLoop
from wpilib.interfaces import GenericHID
from wpilib import EventLoop, GenericHID
from ..commandscheduler import CommandScheduler
from .trigger import Trigger

3
commandsv2/src/main/python/commands2/button/commandjoystick.py
View File

@@ -1,8 +1,7 @@
# validated: 2024-01-20 DS 92aecab2ef05 button/CommandJoystick.java
from typing import Optional
from wpilib import Joystick
from wpilib.event import EventLoop
from wpilib import EventLoop, Joystick
from ..commandscheduler import CommandScheduler
from .commandgenerichid import CommandGenericHID

3
commandsv2/src/main/python/commands2/button/commandps4controller.py
View File

@@ -1,8 +1,7 @@
# validated: 2024-01-20 DS d426873ed15b button/CommandPS4Controller.java
from typing import Optional
from wpilib import PS4Controller
from wpilib.event import EventLoop
from wpilib import EventLoop, PS4Controller
from ..commandscheduler import CommandScheduler
from .commandgenerichid import CommandGenericHID

3
commandsv2/src/main/python/commands2/button/commandxboxcontroller.py
View File

@@ -1,8 +1,7 @@
# validated: 2024-01-20 DS 3ba501f9478a button/CommandXboxController.java
from typing import Optional
from wpilib import XboxController
from wpilib.event import EventLoop
from wpilib import EventLoop, XboxController
from ..commandscheduler import CommandScheduler
from .commandgenerichid import CommandGenericHID

2
commandsv2/src/main/python/commands2/button/joystickbutton.py
View File

@@ -1,5 +1,5 @@
# validated: 2024-01-20 DS 7a099cb02a33 button/JoystickButton.java
from wpilib.interfaces import GenericHID
from wpilib import GenericHID
from .trigger import Trigger

2
commandsv2/src/main/python/commands2/button/povbutton.py
View File

@@ -1,5 +1,5 @@
# validated: 2024-01-20 DS 7a099cb02a33 button/POVButton.java
from wpilib.interfaces import GenericHID
from wpilib import GenericHID
from .trigger import Trigger

4
commandsv2/src/main/python/commands2/button/trigger.py
View File

@@ -3,8 +3,8 @@ from types import SimpleNamespace
from typing import Callable, overload
from typing_extensions import Self
from wpilib.event import EventLoop
from wpimath.filter import Debouncer
from wpilib import EventLoop
from wpimath import Debouncer
from ..command import Command
from ..commandscheduler import CommandScheduler

2
commandsv2/src/main/python/commands2/commandscheduler.py
View File

@@ -11,11 +11,11 @@ from typing_extensions import Self
from wpilib import (
RobotBase,
DriverStation,
EventLoop,
TimedRobot,
Watchdog,
reportWarning,
)
from wpilib.event import EventLoop
from wpiutil import Sendable, SendableBuilder, SendableRegistry
from .command import Command, InterruptionBehavior

2
commandsv2/src/main/python/commands2/pidcommand.py
View File

@@ -9,7 +9,7 @@ from typing import Any, Callable, Union
from .command import Command
from .subsystem import Subsystem
from wpimath.controller import PIDController
from wpimath import PIDController
class PIDCommand(Command):

2
commandsv2/src/main/python/commands2/pidsubsystem.py
View File

@@ -4,7 +4,7 @@
# the WPILib BSD license file in the root directory of this project.
from __future__ import annotations
from wpimath.controller import PIDController
from wpimath import PIDController
from .subsystem import Subsystem

3
commandsv2/src/main/python/commands2/profiledpidcommand.py
View File

@@ -7,8 +7,7 @@
from typing import Any, Generic
from wpimath.controller import ProfiledPIDController, ProfiledPIDControllerRadians
from wpimath.trajectory import TrapezoidProfile, TrapezoidProfileRadians
from wpimath import ProfiledPIDController, ProfiledPIDControllerRadians, TrapezoidProfile, TrapezoidProfileRadians
from .command import Command
from .subsystem import Subsystem

2
commandsv2/src/main/python/commands2/profiledpidsubsystem.py
View File

@@ -4,7 +4,7 @@
from typing import Generic
from wpimath.trajectory import TrapezoidProfile
from wpimath import TrapezoidProfile
from .subsystem import Subsystem
from .typing import TProfiledPIDController, TTrapezoidProfileState

3
commandsv2/src/main/python/commands2/trapezoidprofilesubsystem.py
View File

@@ -8,8 +8,7 @@ from __future__ import annotations
from typing import Any, Union
from wpimath import units
from wpimath.trajectory import TrapezoidProfile, TrapezoidProfileRadians
from wpimath import TrapezoidProfile, TrapezoidProfileRadians, units
from .subsystem import Subsystem

3
commandsv2/src/main/python/commands2/typing.py
View File

@@ -1,8 +1,7 @@
from typing import Callable, Protocol, TypeVar, Union
from typing_extensions import TypeAlias
from wpimath.controller import ProfiledPIDController, ProfiledPIDControllerRadians
from wpimath.trajectory import TrapezoidProfile, TrapezoidProfileRadians
from wpimath import ProfiledPIDController, ProfiledPIDControllerRadians, TrapezoidProfile, TrapezoidProfileRadians
# Generic Types
TProfiledPIDController = TypeVar(

9
commandsv2/src/test/python/test_pidcommand.py
View File

@@ -1,9 +1,10 @@
from typing import TYPE_CHECKING
from util import * # type: ignore
import wpimath.controller as controller
import commands2
import wpimath
if TYPE_CHECKING:
from .util import *
@@ -15,7 +16,7 @@ def test_pidCommandSupplier(scheduler: commands2.CommandScheduler):
output_float = OOFloat(0.0)
measurement_source = OOFloat(5.0)
setpoint_source = OOFloat(2.0)
pid_controller = controller.PIDController(0.1, 0.01, 0.001)
pid_controller = wpimath.PIDController(0.1, 0.01, 0.001)
system = commands2.Subsystem()
pidCommand = commands2.PIDCommand(
pid_controller,
@@ -50,7 +51,7 @@ def test_pidCommandScalar(scheduler: commands2.CommandScheduler):
output_float = OOFloat(0.0)
measurement_source = OOFloat(5.0)
setpoint_source = 2.0
pid_controller = controller.PIDController(0.1, 0.01, 0.001)
pid_controller = wpimath.PIDController(0.1, 0.01, 0.001)
system = commands2.Subsystem()
pidCommand = commands2.PIDCommand(
pid_controller,
@@ -85,7 +86,7 @@ def test_withTimeout(scheduler: commands2.CommandScheduler):
output_float = OOFloat(0.0)
measurement_source = OOFloat(5.0)
setpoint_source = OOFloat(2.0)
pid_controller = controller.PIDController(0.1, 0.01, 0.001)
pid_controller = wpimath.PIDController(0.1, 0.01, 0.001)
system = commands2.Subsystem()
command1 = commands2.PIDCommand(
pid_controller,

3
commandsv2/src/test/python/test_profiledpidsubsystem.py
View File

@@ -2,8 +2,7 @@ from types import MethodType
from typing import Any
import pytest
from wpimath.controller import ProfiledPIDController, ProfiledPIDControllerRadians
from wpimath.trajectory import TrapezoidProfile, TrapezoidProfileRadians
from wpimath import ProfiledPIDController, ProfiledPIDControllerRadians, TrapezoidProfile, TrapezoidProfileRadians
from commands2 import ProfiledPIDSubsystem

7
commandsv2/src/test/python/test_trapezoidprofilecommand.py
View File

@@ -5,12 +5,7 @@
from typing import TYPE_CHECKING, List, Tuple
import math
import wpimath.controller as controller
import wpimath.trajectory as trajectory
import wpimath.geometry as geometry
import wpimath.kinematics as kinematics
from wpimath.trajectory import TrapezoidProfile as DimensionlessProfile
from wpimath.trajectory import TrapezoidProfileRadians as RadiansProfile
from wpimath import TrapezoidProfile as DimensionlessProfile, TrapezoidProfileRadians as RadiansProfile
from wpilib import Timer

2
datalog/src/main/python/native-pyproject.toml
View File

@@ -24,7 +24,7 @@ packages = ["src/native"]
[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
artifact_id = "datalog-cpp"
group_id = "org.wpilib.datalog"
repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
repo_url = ""
version = "0.0.0"
extract_to = "src/native/datalog"

275
hal/robotpy_pybind_build_info.bzl generated
View File

@@ -7,46 +7,6 @@ load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "
def hal_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
HAL_SIMULATION_HEADER_GEN = [
struct(
class_name = "AddressableLEDData",
yml_file = "semiwrap/simulation/AddressableLEDData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/AddressableLEDData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "AnalogInData",
yml_file = "semiwrap/simulation/AnalogInData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/AnalogInData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "CTREPCMData",
yml_file = "semiwrap/simulation/CTREPCMData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/CTREPCMData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DIOData",
yml_file = "semiwrap/simulation/DIOData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/DIOData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DigitalPWMData",
yml_file = "semiwrap/simulation/DigitalPWMData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/DigitalPWMData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DriverStationData",
yml_file = "semiwrap/simulation/DriverStationData.yml",
@@ -55,22 +15,6 @@ def hal_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = []
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DutyCycleData",
yml_file = "semiwrap/simulation/DutyCycleData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/DutyCycleData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "EncoderData",
yml_file = "semiwrap/simulation/EncoderData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/EncoderData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "MockHooks",
yml_file = "semiwrap/simulation/MockHooks.yml",
@@ -89,30 +33,6 @@ def hal_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = []
("HALSIM_NotifierInfo", "__HALSIM_NotifierInfo.hpp"),
],
),
struct(
class_name = "PWMData",
yml_file = "semiwrap/simulation/PWMData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/PWMData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "PowerDistributionData",
yml_file = "semiwrap/simulation/PowerDistributionData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/PowerDistributionData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "REVPHData",
yml_file = "semiwrap/simulation/REVPHData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/REVPHData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Reset",
yml_file = "semiwrap/simulation/Reset.yml",
@@ -121,14 +41,6 @@ def hal_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = []
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "RoboRioData",
yml_file = "semiwrap/simulation/RoboRioData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/RoboRioData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "SimDeviceData",
yml_file = "semiwrap/simulation/SimDeviceData.yml",
@@ -223,50 +135,6 @@ def hal_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = []
def wpihal_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
WPIHAL_HEADER_GEN = [
struct(
class_name = "AddressableLED",
yml_file = "semiwrap/AddressableLED.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/AddressableLED.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "AddressableLEDTypes",
yml_file = "semiwrap/AddressableLEDTypes.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/AddressableLEDTypes.h",
tmpl_class_names = [],
trampolines = [
("HAL_AddressableLEDData", "__HAL_AddressableLEDData.hpp"),
],
),
struct(
class_name = "AnalogInput",
yml_file = "semiwrap/AnalogInput.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/AnalogInput.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "CAN",
yml_file = "semiwrap/CAN.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/CAN.h",
tmpl_class_names = [],
trampolines = [
("HAL_CANStreamMessage", "__HAL_CANStreamMessage.hpp"),
],
),
struct(
class_name = "CANAPI",
yml_file = "semiwrap/CANAPI.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/CANAPI.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "CANAPITypes",
yml_file = "semiwrap/CANAPITypes.yml",
@@ -278,46 +146,6 @@ def wpihal_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
("HAL_CANReceiveMessage", "__HAL_CANReceiveMessage.hpp"),
],
),
struct(
class_name = "CTREPCM",
yml_file = "semiwrap/CTREPCM.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/CTREPCM.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Constants",
yml_file = "semiwrap/Constants.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Constants.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Counter",
yml_file = "semiwrap/Counter.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Counter.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DashboardOpMode",
yml_file = "semiwrap/DashboardOpMode.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/DashboardOpMode.hpp",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DIO",
yml_file = "semiwrap/DIO.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/DIO.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DriverStation",
yml_file = "semiwrap/DriverStation.yml",
@@ -346,22 +174,6 @@ def wpihal_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
("wpi::hal::ControlWord", "wpi__hal__ControlWord.hpp"),
],
),
struct(
class_name = "DutyCycle",
yml_file = "semiwrap/DutyCycle.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/DutyCycle.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Encoder",
yml_file = "semiwrap/Encoder.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Encoder.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Extensions",
yml_file = "semiwrap/Extensions.yml",
@@ -378,22 +190,6 @@ def wpihal_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "I2C",
yml_file = "semiwrap/I2C.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/I2C.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "I2CTypes",
yml_file = "semiwrap/I2CTypes.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/I2CTypes.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Main",
yml_file = "semiwrap/Main.yml",
@@ -410,63 +206,6 @@ def wpihal_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "PWM",
yml_file = "semiwrap/PWM.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/PWM.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Ports",
yml_file = "semiwrap/Ports.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Ports.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Power",
yml_file = "semiwrap/Power.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Power.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "PowerDistribution",
yml_file = "semiwrap/PowerDistribution.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/PowerDistribution.h",
tmpl_class_names = [],
trampolines = [
("HAL_PowerDistributionVersion", "__HAL_PowerDistributionVersion.hpp"),
("HAL_PowerDistributionFaults", "__HAL_PowerDistributionFaults.hpp"),
("HAL_PowerDistributionStickyFaults", "__HAL_PowerDistributionStickyFaults.hpp"),
],
),
struct(
class_name = "REVPH",
yml_file = "semiwrap/REVPH.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/REVPH.h",
tmpl_class_names = [],
trampolines = [
("HAL_REVPHVersion", "__HAL_REVPHVersion.hpp"),
("HAL_REVPHCompressorConfig", "__HAL_REVPHCompressorConfig.hpp"),
("HAL_REVPHFaults", "__HAL_REVPHFaults.hpp"),
("HAL_REVPHStickyFaults", "__HAL_REVPHStickyFaults.hpp"),
],
),
struct(
class_name = "SerialPort",
yml_file = "semiwrap/SerialPort.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/SerialPort.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "SimDevice",
yml_file = "semiwrap/SimDevice.yml",
@@ -483,14 +222,6 @@ def wpihal_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
("wpi::hal::SimDevice", "wpi__hal__SimDevice.hpp"),
],
),
struct(
class_name = "UsageReporting",
yml_file = "semiwrap/UsageReporting.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/UsageReporting.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Threads",
yml_file = "semiwrap/Threads.yml",
@@ -500,10 +231,10 @@ def wpihal_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
trampolines = [],
),
struct(
class_name = "HandlesInternal",
yml_file = "semiwrap/HandlesInternal.yml",
class_name = "UsageReporting",
yml_file = "semiwrap/UsageReporting.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/handles/HandlesInternal.h",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/UsageReporting.h",
tmpl_class_names = [],
trampolines = [],
),

2
hal/src/main/python/native-pyproject.toml
View File

@@ -25,7 +25,7 @@ packages = ["src/native"]
[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
artifact_id = "hal-cpp"
group_id = "org.wpilib.hal"
repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
repo_url = ""
version = "0.0.0"
extract_to = "src/native/wpihal"

87
hal/src/main/python/pyproject.toml
View File

@@ -40,31 +40,12 @@ packages = ["hal"]
[tool.semiwrap]
update_init = []
# NOTE: By default we ignore all HAL APIs, as most of them are exposed in WPILib
# somewhere. If you find something that you need, file a bug and we can add it!
scan_headers_ignore = [
"wpi/hal/Errors.h",
"wpi/hal/HAL.h",
"wpi/hal/IMU.h",
"wpi/hal/IMUTypes.h",
"wpi/hal/SystemServer.h",
"wpi/hal/Types.h",
"wpi/hal/Value.h",
"wpi/hal/cpp/fpga_clock.h",
"wpi/hal/handles/DigitalHandleResource.h",
"wpi/hal/handles/IndexedClassedHandleResource.h",
"wpi/hal/handles/IndexedHandleResource.h",
"wpi/hal/handles/LimitedClassedHandleResource.h",
"wpi/hal/handles/LimitedHandleResource.h",
"wpi/hal/handles/UnlimitedHandleResource.h",
"wpi/hal/proto/*",
"wpi/hal/simulation/CanData.h",
"wpi/hal/simulation/I2CData.h",
"wpi/hal/simulation/NotifyListener.h",
"wpi/hal/simulation/SimCallbackRegistry.h",
"wpi/hal/simulation/SimDataValue.h",
"wpi/hal/*",
# TODO: might want this in the future
"mrc/*",
@@ -81,56 +62,16 @@ depends = ["wpiutil", "ntcore"]
[tool.semiwrap.extension_modules."hal._wpiHal".headers]
# hal
AddressableLED = "wpi/hal/AddressableLED.h"
AddressableLEDTypes = "wpi/hal/AddressableLEDTypes.h"
AnalogInput = "wpi/hal/AnalogInput.h"
CAN = "wpi/hal/CAN.h"
CANAPI = "wpi/hal/CANAPI.h"
CANAPITypes = "wpi/hal/CANAPITypes.h"
CTREPCM = "wpi/hal/CTREPCM.h"
Constants = "wpi/hal/Constants.h"
Counter = "wpi/hal/Counter.h"
DashboardOpMode = "wpi/hal/DashboardOpMode.hpp"
DIO = "wpi/hal/DIO.h"
# DMA = "hal/DMA.h"
DriverStation = "wpi/hal/DriverStation.h"
DriverStationTypes = "wpi/hal/DriverStationTypes.h"
DutyCycle = "wpi/hal/DutyCycle.h"
Encoder = "wpi/hal/Encoder.h"
# Errors = "wpi/hal/Errors.h"
Extensions = "wpi/hal/Extensions.h"
# HAL = "wpi/hal/HAL.h"
HALBase = "wpi/hal/HALBase.h"
I2C = "wpi/hal/I2C.h"
I2CTypes = "wpi/hal/I2CTypes.h"
# IMU = "wpi/hal/IMU.h"
# IMUTypes = "wpi/hal/IMUTypes.h"
Main = "wpi/hal/Main.h"
Notifier = "wpi/hal/Notifier.h"
PWM = "wpi/hal/PWM.h"
Ports = "wpi/hal/Ports.h"
Power = "wpi/hal/Power.h"
PowerDistribution = "wpi/hal/PowerDistribution.h"
REVPH = "wpi/hal/REVPH.h"
SerialPort = "wpi/hal/SerialPort.h"
SimDevice = "wpi/hal/SimDevice.h"
UsageReporting = "wpi/hal/UsageReporting.h"
Threads = "wpi/hal/Threads.h"
# Types = "wpi/hal/Types.h"
# Value = "wpi/hal/Value.h"
# hal/cpp
# fpga_clock = "wpi/hal/cpp/fpga_clock.h"
# hal/handles
# DigitalHandleResource = "wpi/hal/handles/DigitalHandleResource.h"
HandlesInternal = "wpi/hal/handles/HandlesInternal.h"
# IndexedClassedHandleResource = "wpi/hal/handles/IndexedClassedHandleResource.h"
# IndexedHandleResource = "wpi/hal/handles/IndexedHandleResource.h"
# LimitedClassedHandleResource = "wpi/hal/handles/LimitedClassedHandleResource.h"
# LimitedHandleResource = "wpi/hal/handles/LimitedHandleResource.h"
# UnlimitedHandleResource = "wpi/hal/handles/UnlimitedHandleResource.h"
UsageReporting = "wpi/hal/UsageReporting.h"
[tool.semiwrap.extension_modules."hal.simulation._simulation"]
name = "hal_simulation"
@@ -139,24 +80,8 @@ depends = ["wpiutil", "ntcore"]
yaml_path = "semiwrap/simulation"
[tool.semiwrap.extension_modules."hal.simulation._simulation".headers]
AddressableLEDData = "wpi/hal/simulation/AddressableLEDData.h"
AnalogInData = "wpi/hal/simulation/AnalogInData.h"
CTREPCMData = "wpi/hal/simulation/CTREPCMData.h"
# CanData = "wpi/hal/simulation/CanData.h"
DIOData = "wpi/hal/simulation/DIOData.h"
DigitalPWMData = "wpi/hal/simulation/DigitalPWMData.h"
DriverStationData = "wpi/hal/simulation/DriverStationData.h"
DutyCycleData = "wpi/hal/simulation/DutyCycleData.h"
EncoderData = "wpi/hal/simulation/EncoderData.h"
# I2CData = "wpi/hal/simulation/I2CData.h"
MockHooks = "wpi/hal/simulation/MockHooks.h"
NotifierData = "wpi/hal/simulation/NotifierData.h"
# NotifyListener = "wpi/hal/simulation/NotifyListener.h"
PWMData = "wpi/hal/simulation/PWMData.h"
PowerDistributionData = "wpi/hal/simulation/PowerDistributionData.h"
REVPHData = "wpi/hal/simulation/REVPHData.h"
Reset = "wpi/hal/simulation/Reset.h"
RoboRioData = "wpi/hal/simulation/RoboRioData.h"
# SimCallbackRegistry = "wpi/hal/simulation/SimCallbackRegistry.h"
# SimDataValue = "wpi/hal/simulation/SimDataValue.h"
SimDeviceData = "wpi/hal/simulation/SimDeviceData.h"

9
hal/src/main/python/semiwrap/AddressableLED.yml
View File

@@ -1,9 +0,0 @@
strip_prefixes:
- HAL_
functions:
HAL_InitializeAddressableLED:
HAL_FreeAddressableLED:
HAL_SetAddressableLEDLength:
HAL_SetAddressableLEDStart:
HAL_SetAddressableLEDData:

14
hal/src/main/python/semiwrap/AddressableLEDTypes.yml
View File

@@ -1,14 +0,0 @@
strip_prefixes:
- HAL_
classes:
HAL_AddressableLEDData:
attributes:
b:
g:
r:
enums:
HAL_AddressableLEDColorOrder:
functions:
format_as:
ignore: true

23
hal/src/main/python/semiwrap/AnalogInput.yml
View File

@@ -1,23 +0,0 @@
strip_prefixes:
- HAL_
functions:
HAL_InitializeAnalogInputPort:
HAL_FreeAnalogInputPort:
HAL_CheckAnalogModule:
HAL_CheckAnalogInputChannel:
HAL_SetAnalogInputSimDevice:
HAL_SetAnalogSampleRate:
HAL_GetAnalogSampleRate:
HAL_SetAnalogAverageBits:
HAL_GetAnalogAverageBits:
HAL_SetAnalogOversampleBits:
HAL_GetAnalogOversampleBits:
HAL_GetAnalogValue:
HAL_GetAnalogAverageValue:
HAL_GetAnalogVoltsToValue:
HAL_GetAnalogVoltage:
HAL_GetAnalogAverageVoltage:
HAL_GetAnalogLSBWeight:
HAL_GetAnalogOffset:
HAL_GetAnalogValueToVolts:

16
hal/src/main/python/semiwrap/CAN.yml
View File

@@ -1,16 +0,0 @@
strip_prefixes:
- HAL_
functions:
HAL_CAN_SendMessage:
HAL_CAN_ReceiveMessage:
HAL_CAN_OpenStreamSession:
HAL_CAN_CloseStreamSession:
HAL_CAN_ReadStreamSession:
ignore: true # TODO: an array of messages
HAL_CAN_GetCANStatus:
classes:
HAL_CANStreamMessage:
attributes:
messageId:
message:

13
hal/src/main/python/semiwrap/CANAPI.yml
View File

@@ -1,13 +0,0 @@
strip_prefixes:
- HAL_
functions:
HAL_InitializeCAN:
HAL_CleanCAN:
HAL_WriteCANPacket:
HAL_WriteCANPacketRepeating:
HAL_WriteCANRTRFrame:
HAL_StopCANPacketRepeating:
HAL_ReadCANPacketNew:
HAL_ReadCANPacketLatest:
HAL_ReadCANPacketTimeout:

26
hal/src/main/python/semiwrap/CTREPCM.yml
View File

@@ -1,26 +0,0 @@
strip_prefixes:
- HAL_
functions:
HAL_InitializeCTREPCM:
HAL_FreeCTREPCM:
HAL_CheckCTREPCMSolenoidChannel:
HAL_GetCTREPCMCompressor:
HAL_SetCTREPCMClosedLoopControl:
HAL_GetCTREPCMClosedLoopControl:
HAL_GetCTREPCMPressureSwitch:
HAL_GetCTREPCMCompressorCurrent:
HAL_GetCTREPCMCompressorCurrentTooHighFault:
HAL_GetCTREPCMCompressorCurrentTooHighStickyFault:
HAL_GetCTREPCMCompressorShortedStickyFault:
HAL_GetCTREPCMCompressorShortedFault:
HAL_GetCTREPCMCompressorNotConnectedStickyFault:
HAL_GetCTREPCMCompressorNotConnectedFault:
HAL_GetCTREPCMSolenoids:
HAL_SetCTREPCMSolenoids:
HAL_GetCTREPCMSolenoidDisabledList:
HAL_GetCTREPCMSolenoidVoltageStickyFault:
HAL_GetCTREPCMSolenoidVoltageFault:
HAL_ClearAllCTREPCMStickyFaults:
HAL_FireCTREPCMOneShot:
HAL_SetCTREPCMOneShotDuration:

5
hal/src/main/python/semiwrap/Constants.yml
View File

@@ -1,5 +0,0 @@
strip_prefixes:
- HAL_
functions:
HAL_GetSystemClockTicksPerMicrosecond:

12
hal/src/main/python/semiwrap/Counter.yml
View File

@@ -1,12 +0,0 @@
strip_prefixes:
- HAL_
functions:
HAL_InitializeCounter:
HAL_FreeCounter:
HAL_ResetCounter:
HAL_GetCounter:
HAL_GetCounterPeriod:
HAL_SetCounterMaxPeriod:
HAL_GetCounterStopped:
HAL_SetCounterEdgeConfiguration:

22
hal/src/main/python/semiwrap/DIO.yml
View File

@@ -1,22 +0,0 @@
strip_prefixes:
- HAL_
functions:
HAL_InitializeDIOPort:
HAL_CheckDIOChannel:
HAL_FreeDIOPort:
HAL_SetDIOSimDevice:
HAL_AllocateDigitalPWM:
HAL_FreeDigitalPWM:
HAL_SetDigitalPWMRate:
HAL_SetDigitalPWMDutyCycle:
HAL_SetDigitalPWMPPS:
HAL_SetDigitalPWMOutputChannel:
HAL_SetDIO:
HAL_SetDIODirection:
HAL_GetDIO:
HAL_GetDIODirection:
HAL_Pulse:
HAL_PulseMultiple:
HAL_IsPulsing:
HAL_IsAnyPulsing:

6
hal/src/main/python/semiwrap/DashboardOpMode.yml
View File

@@ -1,6 +0,0 @@
functions:
InitializeDashboardOpMode:
SetDashboardOpModeOptions:
StartDashboardOpMode:
EnableDashboardOpMode:
GetDashboardSelectedOpMode:

11
hal/src/main/python/semiwrap/DutyCycle.yml
View File

@@ -1,11 +0,0 @@
strip_prefixes:
- HAL_
functions:
HAL_InitializeDutyCycle:
HAL_FreeDutyCycle:
HAL_SetDutyCycleSimDevice:
ifndef: __FRC_SYSTEMCORE__
HAL_GetDutyCycleFrequency:
HAL_GetDutyCycleOutput:
HAL_GetDutyCycleHighTime:

31
hal/src/main/python/semiwrap/Encoder.yml
View File

@@ -1,31 +0,0 @@
strip_prefixes:
- HAL_
enums:
HAL_EncoderIndexingType:
value_prefix: HAL
HAL_EncoderEncodingType:
value_prefix: HAL
functions:
HAL_InitializeEncoder:
HAL_FreeEncoder:
HAL_SetEncoderSimDevice:
HAL_GetEncoder:
HAL_GetEncoderRaw:
HAL_GetEncoderEncodingScale:
HAL_ResetEncoder:
HAL_GetEncoderPeriod:
HAL_SetEncoderMaxPeriod:
HAL_GetEncoderStopped:
HAL_GetEncoderDirection:
HAL_GetEncoderDistance:
HAL_GetEncoderRate:
HAL_SetEncoderMinRate:
HAL_SetEncoderDistancePerPulse:
HAL_SetEncoderReverseDirection:
HAL_SetEncoderSamplesToAverage:
HAL_GetEncoderSamplesToAverage:
HAL_GetEncoderFPGAIndex:
HAL_GetEncoderDecodingScaleFactor:
HAL_GetEncoderDistancePerPulse:
HAL_GetEncoderEncodingType:

15
hal/src/main/python/semiwrap/HandlesInternal.yml
View File

@@ -1,15 +0,0 @@
strip_prefixes:
- HAL_
enums:
HAL_HandleEnum:
functions:
getHandleIndex:
getHandleType:
isHandleType:
isHandleCorrectVersion:
getHandleTypedIndex:
createHandle:
classes:
wpi::hal::HandleBase:
ignore: true

16
hal/src/main/python/semiwrap/I2C.yml
View File

@@ -1,16 +0,0 @@
strip_prefixes:
- HAL_
functions:
HAL_InitializeI2C:
HAL_TransactionI2C:
buffers:
- {type: IN, src: dataToSend, len: sendSize}
- {type: OUT, src: dataReceived, len: receiveSize}
HAL_WriteI2C:
buffers:
- {type: IN, src: dataToSend, len: sendSize}
HAL_ReadI2C:
buffers:
- {type: OUT, src: buffer, len: count}
HAL_CloseI2C:

6
hal/src/main/python/semiwrap/I2CTypes.yml
View File

@@ -1,6 +0,0 @@
strip_prefixes:
- HAL_
enums:
HAL_I2CPort:
value_prefix: HAL_I2C

11
hal/src/main/python/semiwrap/PWM.yml
View File

@@ -1,11 +0,0 @@
strip_prefixes:
- HAL_
functions:
HAL_InitializePWMPort:
HAL_FreePWMPort:
HAL_CheckPWMChannel:
HAL_SetPWMPulseTimeMicroseconds:
HAL_GetPWMPulseTimeMicroseconds:
HAL_SetPWMSimDevice:
HAL_SetPWMOutputPeriod:

22
hal/src/main/python/semiwrap/Ports.yml
View File

@@ -1,22 +0,0 @@
strip_prefixes:
- HAL_
functions:
HAL_GetNumAnalogInputs:
HAL_GetNumCounters:
HAL_GetNumDigitalChannels:
HAL_GetNumPWMChannels:
HAL_GetNumDigitalPWMOutputs:
HAL_GetNumEncoders:
HAL_GetNumInterrupts:
HAL_GetNumDutyCycles:
HAL_GetNumAddressableLEDs:
HAL_GetNumCTREPCMModules:
HAL_GetNumCTRESolenoidChannels:
HAL_GetNumCTREPDPModules:
HAL_GetNumCTREPDPChannels:
HAL_GetNumREVPDHModules:
HAL_GetNumREVPDHChannels:
HAL_GetNumREVPHModules:
HAL_GetNumREVPHChannels:
HAL_GetNumCanBuses:

14
hal/src/main/python/semiwrap/Power.yml
View File

@@ -1,14 +0,0 @@
strip_prefixes:
- HAL_
functions:
HAL_GetVinVoltage:
HAL_GetUserVoltage3V3:
HAL_GetUserCurrent3V3:
HAL_GetUserActive3V3:
HAL_GetUserCurrentFaults3V3:
HAL_SetUserRailEnabled3V3:
HAL_GetBrownoutVoltage:
HAL_SetBrownoutVoltage:
HAL_GetCPUTemp:
HAL_ResetUserCurrentFaults:

105
hal/src/main/python/semiwrap/PowerDistribution.yml
View File

@@ -1,105 +0,0 @@
strip_prefixes:
- HAL_
enums:
HAL_PowerDistributionType:
functions:
HAL_InitializePowerDistribution:
HAL_GetPowerDistributionModuleNumber:
HAL_CleanPowerDistribution:
HAL_CheckPowerDistributionChannel:
HAL_CheckPowerDistributionModule:
HAL_GetPowerDistributionType:
HAL_GetPowerDistributionNumChannels:
HAL_GetPowerDistributionTemperature:
HAL_GetPowerDistributionVoltage:
HAL_GetPowerDistributionChannelCurrent:
HAL_GetPowerDistributionAllChannelCurrents:
HAL_GetPowerDistributionTotalCurrent:
HAL_GetPowerDistributionTotalPower:
HAL_GetPowerDistributionTotalEnergy:
HAL_ResetPowerDistributionTotalEnergy:
HAL_ClearPowerDistributionStickyFaults:
HAL_SetPowerDistributionSwitchableChannel:
HAL_GetPowerDistributionSwitchableChannel:
HAL_GetPowerDistributionVersion:
HAL_GetPowerDistributionFaults:
HAL_GetPowerDistributionStickyFaults:
HAL_StartPowerDistributionStream:
ifdef: __FRC_SYSTEMCORE__
HAL_GetPowerDistributionStreamData:
ifdef: __FRC_SYSTEMCORE__
HAL_FreePowerDistributionStreamData:
ifdef: __FRC_SYSTEMCORE__
HAL_StopPowerDistributionStream:
ifdef: __FRC_SYSTEMCORE__
classes:
HAL_PowerDistributionVersion:
attributes:
firmwareMajor:
firmwareMinor:
firmwareFix:
hardwareMinor:
hardwareMajor:
uniqueId:
HAL_PowerDistributionFaults:
attributes:
channel0BreakerFault:
channel1BreakerFault:
channel2BreakerFault:
channel3BreakerFault:
channel4BreakerFault:
channel5BreakerFault:
channel6BreakerFault:
channel7BreakerFault:
channel8BreakerFault:
channel9BreakerFault:
channel10BreakerFault:
channel11BreakerFault:
channel12BreakerFault:
channel13BreakerFault:
channel14BreakerFault:
channel15BreakerFault:
channel16BreakerFault:
channel17BreakerFault:
channel18BreakerFault:
channel19BreakerFault:
channel20BreakerFault:
channel21BreakerFault:
channel22BreakerFault:
channel23BreakerFault:
brownout:
canWarning:
hardwareFault:
HAL_PowerDistributionStickyFaults:
attributes:
channel0BreakerFault:
channel1BreakerFault:
channel2BreakerFault:
channel3BreakerFault:
channel4BreakerFault:
channel5BreakerFault:
channel6BreakerFault:
channel7BreakerFault:
channel8BreakerFault:
channel9BreakerFault:
channel10BreakerFault:
channel11BreakerFault:
channel12BreakerFault:
channel13BreakerFault:
channel14BreakerFault:
channel15BreakerFault:
channel16BreakerFault:
channel17BreakerFault:
channel18BreakerFault:
channel19BreakerFault:
channel20BreakerFault:
channel21BreakerFault:
channel22BreakerFault:
channel23BreakerFault:
brownout:
canWarning:
canBusOff:
hasReset:
hardwareFault:
firmwareFault:

82
hal/src/main/python/semiwrap/REVPH.yml
View File

@@ -1,82 +0,0 @@
strip_prefixes:
- HAL_
enums:
HAL_REVPHCompressorConfigType:
functions:
HAL_InitializeREVPH:
HAL_FreeREVPH:
HAL_CheckREVPHSolenoidChannel:
HAL_CheckREVPHModuleNumber:
HAL_GetREVPHCompressor:
HAL_SetREVPHCompressorConfig:
HAL_SetREVPHClosedLoopControlDisabled:
HAL_SetREVPHClosedLoopControlDigital:
HAL_SetREVPHClosedLoopControlAnalog:
HAL_SetREVPHClosedLoopControlHybrid:
HAL_GetREVPHCompressorConfig:
HAL_GetREVPHPressureSwitch:
HAL_GetREVPHCompressorCurrent:
HAL_GetREVPHAnalogVoltage:
HAL_GetREVPHVoltage:
HAL_GetREVPH5VVoltage:
HAL_GetREVPHSolenoidCurrent:
HAL_GetREVPHSolenoidVoltage:
HAL_GetREVPHVersion:
HAL_GetREVPHSolenoids:
HAL_SetREVPHSolenoids:
HAL_FireREVPHOneShot:
HAL_GetREVPHFaults:
HAL_GetREVPHStickyFaults:
HAL_ClearREVPHStickyFaults:
HAL_GetREVPHSolenoidDisabledList:
classes:
HAL_REVPHVersion:
attributes:
firmwareMajor:
firmwareMinor:
firmwareFix:
hardwareMinor:
hardwareMajor:
uniqueId:
HAL_REVPHCompressorConfig:
attributes:
minAnalogVoltage:
maxAnalogVoltage:
forceDisable:
useDigital:
HAL_REVPHFaults:
attributes:
channel0Fault:
channel1Fault:
channel2Fault:
channel3Fault:
channel4Fault:
channel5Fault:
channel6Fault:
channel7Fault:
channel8Fault:
channel9Fault:
channel10Fault:
channel11Fault:
channel12Fault:
channel13Fault:
channel14Fault:
channel15Fault:
compressorOverCurrent:
compressorOpen:
solenoidOverCurrent:
brownout:
canWarning:
hardwareFault:
HAL_REVPHStickyFaults:
attributes:
compressorOverCurrent:
compressorOpen:
solenoidOverCurrent:
brownout:
canWarning:
canBusOff:
hasReset:
hardwareFault:
firmwareFault:

30
hal/src/main/python/semiwrap/SerialPort.yml
View File

@@ -1,30 +0,0 @@
strip_prefixes:
- HAL_
enums:
HAL_SerialPort:
functions:
HAL_InitializeSerialPort:
HAL_InitializeSerialPortDirect:
HAL_GetSerialFD:
HAL_SetSerialBaudRate:
HAL_SetSerialDataBits:
HAL_SetSerialParity:
HAL_SetSerialStopBits:
HAL_SetSerialWriteMode:
HAL_SetSerialFlowControl:
HAL_SetSerialTimeout:
HAL_EnableSerialTermination:
HAL_DisableSerialTermination:
HAL_SetSerialReadBufferSize:
HAL_SetSerialWriteBufferSize:
HAL_GetSerialBytesReceived:
HAL_ReadSerial:
buffers:
- {type: OUT, src: buffer, len: count}
HAL_WriteSerial:
buffers:
- {type: IN, src: buffer, len: count}
HAL_FlushSerial:
HAL_ClearSerial:
HAL_CloseSerial:

31
hal/src/main/python/semiwrap/simulation/AddressableLEDData.yml
View File

@@ -1,31 +0,0 @@
strip_prefixes:
- HALSIM_
functions:
HALSIM_ResetAddressableLEDData:
HALSIM_RegisterAddressableLEDInitializedCallback:
ignore: true
HALSIM_CancelAddressableLEDInitializedCallback:
ignore: true
HALSIM_GetAddressableLEDInitialized:
HALSIM_SetAddressableLEDInitialized:
HALSIM_RegisterAddressableLEDStartCallback:
ignore: true
HALSIM_CancelAddressableLEDStartCallback:
ignore: true
HALSIM_GetAddressableLEDStart:
HALSIM_SetAddressableLEDStart:
HALSIM_RegisterAddressableLEDLengthCallback:
ignore: true
HALSIM_CancelAddressableLEDLengthCallback:
ignore: true
HALSIM_GetAddressableLEDLength:
HALSIM_SetAddressableLEDLength:
HALSIM_RegisterAddressableLEDDataCallback:
ignore: true
HALSIM_CancelAddressableLEDDataCallback:
ignore: true
HALSIM_GetAddressableLEDData:
HALSIM_SetAddressableLEDData:
HALSIM_RegisterAddressableLEDAllCallbacks:
ignore: true

28
hal/src/main/python/semiwrap/simulation/AnalogInData.yml
View File

@@ -1,28 +0,0 @@
strip_prefixes:
- HALSIM_
functions:
HALSIM_ResetAnalogInData:
HALSIM_RegisterAnalogInInitializedCallback:
ignore: true
HALSIM_CancelAnalogInInitializedCallback:
HALSIM_GetAnalogInInitialized:
HALSIM_SetAnalogInInitialized:
HALSIM_GetAnalogInSimDevice:
HALSIM_RegisterAnalogInAverageBitsCallback:
ignore: true
HALSIM_CancelAnalogInAverageBitsCallback:
HALSIM_GetAnalogInAverageBits:
HALSIM_SetAnalogInAverageBits:
HALSIM_RegisterAnalogInOversampleBitsCallback:
ignore: true
HALSIM_CancelAnalogInOversampleBitsCallback:
HALSIM_GetAnalogInOversampleBits:
HALSIM_SetAnalogInOversampleBits:
HALSIM_RegisterAnalogInVoltageCallback:
ignore: true
HALSIM_CancelAnalogInVoltageCallback:
HALSIM_GetAnalogInVoltage:
HALSIM_SetAnalogInVoltage:
HALSIM_RegisterAnalogInAllCallbacks:
ignore: true

47
hal/src/main/python/semiwrap/simulation/CTREPCMData.yml
View File

@@ -1,47 +0,0 @@
strip_prefixes:
- HALSIM_
functions:
HALSIM_ResetCTREPCMData:
HALSIM_RegisterCTREPCMInitializedCallback:
ignore: true
HALSIM_CancelCTREPCMInitializedCallback:
ignore: true
HALSIM_GetCTREPCMInitialized:
HALSIM_SetCTREPCMInitialized:
HALSIM_RegisterCTREPCMSolenoidOutputCallback:
ignore: true
HALSIM_CancelCTREPCMSolenoidOutputCallback:
ignore: true
HALSIM_GetCTREPCMSolenoidOutput:
HALSIM_SetCTREPCMSolenoidOutput:
HALSIM_RegisterCTREPCMCompressorOnCallback:
ignore: true
HALSIM_CancelCTREPCMCompressorOnCallback:
ignore: true
HALSIM_GetCTREPCMCompressorOn:
HALSIM_SetCTREPCMCompressorOn:
HALSIM_RegisterCTREPCMClosedLoopEnabledCallback:
ignore: true
HALSIM_CancelCTREPCMClosedLoopEnabledCallback:
ignore: true
HALSIM_GetCTREPCMClosedLoopEnabled:
HALSIM_SetCTREPCMClosedLoopEnabled:
HALSIM_RegisterCTREPCMPressureSwitchCallback:
ignore: true
HALSIM_CancelCTREPCMPressureSwitchCallback:
ignore: true
HALSIM_GetCTREPCMPressureSwitch:
HALSIM_SetCTREPCMPressureSwitch:
HALSIM_RegisterCTREPCMCompressorCurrentCallback:
ignore: true
HALSIM_CancelCTREPCMCompressorCurrentCallback:
ignore: true
HALSIM_GetCTREPCMCompressorCurrent:
HALSIM_SetCTREPCMCompressorCurrent:
HALSIM_GetCTREPCMAllSolenoids:
HALSIM_SetCTREPCMAllSolenoids:
HALSIM_RegisterCTREPCMAllNonSolenoidCallbacks:
ignore: true
HALSIM_RegisterCTREPCMAllSolenoidCallbacks:
ignore: true

33
hal/src/main/python/semiwrap/simulation/DIOData.yml
View File

@@ -1,33 +0,0 @@
strip_prefixes:
- HALSIM_
functions:
HALSIM_ResetDIOData:
HALSIM_RegisterDIOInitializedCallback:
ignore: true
HALSIM_CancelDIOInitializedCallback:
HALSIM_GetDIOInitialized:
HALSIM_SetDIOInitialized:
HALSIM_GetDIOSimDevice:
HALSIM_RegisterDIOValueCallback:
ignore: true
HALSIM_CancelDIOValueCallback:
HALSIM_GetDIOValue:
HALSIM_SetDIOValue:
HALSIM_RegisterDIOPulseLengthCallback:
ignore: true
HALSIM_CancelDIOPulseLengthCallback:
HALSIM_GetDIOPulseLength:
HALSIM_SetDIOPulseLength:
HALSIM_RegisterDIOIsInputCallback:
ignore: true
HALSIM_CancelDIOIsInputCallback:
HALSIM_GetDIOIsInput:
HALSIM_SetDIOIsInput:
HALSIM_RegisterDIOFilterIndexCallback:
ignore: true
HALSIM_CancelDIOFilterIndexCallback:
HALSIM_GetDIOFilterIndex:
HALSIM_SetDIOFilterIndex:
HALSIM_RegisterDIOAllCallbacks:
ignore: true

23
hal/src/main/python/semiwrap/simulation/DigitalPWMData.yml
View File

@@ -1,23 +0,0 @@
strip_prefixes:
- HALSIM_
functions:
HALSIM_FindDigitalPWMForChannel:
HALSIM_ResetDigitalPWMData:
HALSIM_RegisterDigitalPWMInitializedCallback:
ignore: true
HALSIM_CancelDigitalPWMInitializedCallback:
HALSIM_GetDigitalPWMInitialized:
HALSIM_SetDigitalPWMInitialized:
HALSIM_RegisterDigitalPWMDutyCycleCallback:
ignore: true
HALSIM_CancelDigitalPWMDutyCycleCallback:
HALSIM_GetDigitalPWMDutyCycle:
HALSIM_SetDigitalPWMDutyCycle:
HALSIM_RegisterDigitalPWMPinCallback:
ignore: true
HALSIM_CancelDigitalPWMPinCallback:
HALSIM_GetDigitalPWMPin:
HALSIM_SetDigitalPWMPin:
HALSIM_RegisterDigitalPWMAllCallbacks:
ignore: true

23
hal/src/main/python/semiwrap/simulation/DutyCycleData.yml
View File

@@ -1,23 +0,0 @@
strip_prefixes:
- HALSIM_
functions:
HALSIM_ResetDutyCycleData:
HALSIM_RegisterDutyCycleInitializedCallback:
ignore: true
HALSIM_CancelDutyCycleInitializedCallback:
HALSIM_GetDutyCycleInitialized:
HALSIM_SetDutyCycleInitialized:
HALSIM_GetDutyCycleSimDevice:
HALSIM_RegisterDutyCycleOutputCallback:
ignore: true
HALSIM_CancelDutyCycleOutputCallback:
HALSIM_GetDutyCycleOutput:
HALSIM_SetDutyCycleOutput:
HALSIM_RegisterDutyCycleFrequencyCallback:
ignore: true
HALSIM_CancelDutyCycleFrequencyCallback:
HALSIM_GetDutyCycleFrequency:
HALSIM_SetDutyCycleFrequency:
HALSIM_RegisterDutyCycleAllCallbacks:
ignore: true

60
hal/src/main/python/semiwrap/simulation/EncoderData.yml
View File

@@ -1,60 +0,0 @@
strip_prefixes:
- HALSIM_
functions:
HALSIM_FindEncoderForChannel:
HALSIM_ResetEncoderData:
HALSIM_GetEncoderDigitalChannelA:
HALSIM_GetEncoderDigitalChannelB:
HALSIM_RegisterEncoderInitializedCallback:
ignore: true
HALSIM_CancelEncoderInitializedCallback:
HALSIM_GetEncoderInitialized:
HALSIM_SetEncoderInitialized:
HALSIM_GetEncoderSimDevice:
HALSIM_RegisterEncoderCountCallback:
ignore: true
HALSIM_CancelEncoderCountCallback:
HALSIM_GetEncoderCount:
HALSIM_SetEncoderCount:
HALSIM_RegisterEncoderPeriodCallback:
ignore: true
HALSIM_CancelEncoderPeriodCallback:
HALSIM_GetEncoderPeriod:
HALSIM_SetEncoderPeriod:
HALSIM_RegisterEncoderResetCallback:
ignore: true
HALSIM_CancelEncoderResetCallback:
HALSIM_GetEncoderReset:
HALSIM_SetEncoderReset:
HALSIM_RegisterEncoderMaxPeriodCallback:
ignore: true
HALSIM_CancelEncoderMaxPeriodCallback:
HALSIM_GetEncoderMaxPeriod:
HALSIM_SetEncoderMaxPeriod:
HALSIM_RegisterEncoderDirectionCallback:
ignore: true
HALSIM_CancelEncoderDirectionCallback:
HALSIM_GetEncoderDirection:
HALSIM_SetEncoderDirection:
HALSIM_RegisterEncoderReverseDirectionCallback:
ignore: true
HALSIM_CancelEncoderReverseDirectionCallback:
HALSIM_GetEncoderReverseDirection:
HALSIM_SetEncoderReverseDirection:
HALSIM_RegisterEncoderSamplesToAverageCallback:
ignore: true
HALSIM_CancelEncoderSamplesToAverageCallback:
HALSIM_GetEncoderSamplesToAverage:
HALSIM_SetEncoderSamplesToAverage:
HALSIM_RegisterEncoderDistancePerPulseCallback:
ignore: true
HALSIM_CancelEncoderDistancePerPulseCallback:
HALSIM_GetEncoderDistancePerPulse:
HALSIM_SetEncoderDistancePerPulse:
HALSIM_RegisterEncoderAllCallbacks:
ignore: true
HALSIM_SetEncoderDistance:
HALSIM_GetEncoderDistance:
HALSIM_SetEncoderRate:
HALSIM_GetEncoderRate:

25
hal/src/main/python/semiwrap/simulation/PWMData.yml
View File

@@ -1,25 +0,0 @@
strip_prefixes:
- HALSIM_
functions:
HALSIM_ResetPWMData:
HALSIM_RegisterPWMInitializedCallback:
ignore: true
HALSIM_CancelPWMInitializedCallback:
HALSIM_GetPWMInitialized:
HALSIM_SetPWMInitialized:
HALSIM_RegisterPWMPulseMicrosecondCallback:
ignore: true
HALSIM_CancelPWMPulseMicrosecondCallback:
ignore: true
HALSIM_GetPWMPulseMicrosecond:
HALSIM_SetPWMPulseMicrosecond:
HALSIM_RegisterPWMAllCallbacks:
ignore: true
HALSIM_GetPWMSimDevice:
HALSIM_RegisterPWMOutputPeriodCallback:
ignore: true
HALSIM_CancelPWMOutputPeriodCallback:
ignore: true
HALSIM_GetPWMOutputPeriod:
HALSIM_SetPWMOutputPeriod:

29
hal/src/main/python/semiwrap/simulation/PowerDistributionData.yml
View File

@@ -1,29 +0,0 @@
strip_prefixes:
- HALSIM_
functions:
HALSIM_ResetPowerDistributionData:
HALSIM_RegisterPowerDistributionInitializedCallback:
ignore: true
HALSIM_CancelPowerDistributionInitializedCallback:
HALSIM_GetPowerDistributionInitialized:
HALSIM_SetPowerDistributionInitialized:
HALSIM_RegisterPowerDistributionTemperatureCallback:
ignore: true
HALSIM_CancelPowerDistributionTemperatureCallback:
HALSIM_GetPowerDistributionTemperature:
HALSIM_SetPowerDistributionTemperature:
HALSIM_RegisterPowerDistributionVoltageCallback:
ignore: true
HALSIM_CancelPowerDistributionVoltageCallback:
HALSIM_GetPowerDistributionVoltage:
HALSIM_SetPowerDistributionVoltage:
HALSIM_RegisterPowerDistributionCurrentCallback:
ignore: true
HALSIM_CancelPowerDistributionCurrentCallback:
HALSIM_GetPowerDistributionCurrent:
HALSIM_SetPowerDistributionCurrent:
HALSIM_GetPowerDistributionAllCurrents:
HALSIM_SetPowerDistributionAllCurrents:
HALSIM_RegisterPowerDistributionAllNonCurrentCallbacks:
ignore: true

41
hal/src/main/python/semiwrap/simulation/REVPHData.yml
View File

@@ -1,41 +0,0 @@
strip_prefixes:
- HALSIM_
functions:
HALSIM_ResetREVPHData:
HALSIM_RegisterREVPHInitializedCallback:
ignore: true
HALSIM_CancelREVPHInitializedCallback:
HALSIM_GetREVPHInitialized:
HALSIM_SetREVPHInitialized:
HALSIM_RegisterREVPHSolenoidOutputCallback:
ignore: true
HALSIM_CancelREVPHSolenoidOutputCallback:
HALSIM_GetREVPHSolenoidOutput:
HALSIM_SetREVPHSolenoidOutput:
HALSIM_RegisterREVPHCompressorOnCallback:
ignore: true
HALSIM_CancelREVPHCompressorOnCallback:
HALSIM_GetREVPHCompressorOn:
HALSIM_SetREVPHCompressorOn:
HALSIM_RegisterREVPHCompressorConfigTypeCallback:
ignore: true
HALSIM_CancelREVPHCompressorConfigTypeCallback:
HALSIM_GetREVPHCompressorConfigType:
HALSIM_SetREVPHCompressorConfigType:
HALSIM_RegisterREVPHPressureSwitchCallback:
ignore: true
HALSIM_CancelREVPHPressureSwitchCallback:
HALSIM_GetREVPHPressureSwitch:
HALSIM_SetREVPHPressureSwitch:
HALSIM_RegisterREVPHCompressorCurrentCallback:
ignore: true
HALSIM_CancelREVPHCompressorCurrentCallback:
HALSIM_GetREVPHCompressorCurrent:
HALSIM_SetREVPHCompressorCurrent:
HALSIM_GetREVPHAllSolenoids:
HALSIM_SetREVPHAllSolenoids:
HALSIM_RegisterREVPHAllNonSolenoidCallbacks:
ignore: true
HALSIM_RegisterREVPHAllSolenoidCallbacks:
ignore: true

97
hal/src/main/python/semiwrap/simulation/RoboRioData.yml
View File

@@ -1,97 +0,0 @@
strip_prefixes:
- HALSIM_
functions:
HALSIM_ResetRoboRioData:
HALSIM_RegisterRoboRioFPGAButtonCallback:
ignore: true
HALSIM_CancelRoboRioFPGAButtonCallback:
ignore: true
HALSIM_GetRoboRioFPGAButton:
ignore: true
HALSIM_SetRoboRioFPGAButton:
ignore: true
HALSIM_RegisterRoboRioVInVoltageCallback:
ignore: true
HALSIM_CancelRoboRioVInVoltageCallback:
HALSIM_GetRoboRioVInVoltage:
HALSIM_SetRoboRioVInVoltage:
HALSIM_RegisterRoboRioUserVoltage3V3Callback:
ignore: true
HALSIM_CancelRoboRioUserVoltage3V3Callback:
HALSIM_GetRoboRioUserVoltage3V3:
HALSIM_SetRoboRioUserVoltage3V3:
HALSIM_RegisterRoboRioUserCurrent3V3Callback:
ignore: true
HALSIM_CancelRoboRioUserCurrent3V3Callback:
HALSIM_GetRoboRioUserCurrent3V3:
HALSIM_SetRoboRioUserCurrent3V3:
HALSIM_RegisterRoboRioUserActive3V3Callback:
ignore: true
HALSIM_CancelRoboRioUserActive3V3Callback:
HALSIM_GetRoboRioUserActive3V3:
HALSIM_SetRoboRioUserActive3V3:
HALSIM_RegisterRoboRioUserFaults3V3Callback:
ignore: true
HALSIM_CancelRoboRioUserFaults3V3Callback:
HALSIM_GetRoboRioUserFaults3V3:
HALSIM_SetRoboRioUserFaults3V3:
HALSIM_RegisterRoboRioBrownoutVoltageCallback:
ignore: true
HALSIM_CancelRoboRioBrownoutVoltageCallback:
HALSIM_GetRoboRioBrownoutVoltage:
HALSIM_SetRoboRioBrownoutVoltage:
HALSIM_RegisterRoboRioTeamNumberCallback:
ignore: true
HALSIM_CancelRoboRioTeamNumberCallback:
HALSIM_GetRoboRioTeamNumber:
HALSIM_SetRoboRioTeamNumber:
HALSIM_RegisterRoboRioSerialNumberCallback:
ignore: true
HALSIM_CancelRoboRioSerialNumberCallback:
HALSIM_GetRoboRioSerialNumber:
param_override:
serialNumber:
ignore: true
cpp_code: |
[]() {
WPI_String s;
HALSIM_GetRoboRioSerialNumber(&s);
std::string ss(wpi::util::to_string_view(&s));
WPI_FreeString(&s);
return ss;
}
HALSIM_SetRoboRioSerialNumber:
cpp_code: |
[](std::string_view sv) {
auto s = wpi::util::make_string(sv);
HALSIM_SetRoboRioSerialNumber(&s);
}
HALSIM_RegisterRoboRioCommentsCallback:
ignore: true
HALSIM_CancelRoboRioCommentsCallback:
HALSIM_GetRoboRioComments:
param_override:
comments:
ignore: true
cpp_code: |
[]() {
WPI_String s;
HALSIM_GetRoboRioComments(&s);
std::string ss(wpi::util::to_string_view(&s));
WPI_FreeString(&s);
return ss;
}
HALSIM_SetRoboRioComments:
cpp_code: |
[](std::string_view sv) {
auto s = wpi::util::make_string(sv);
HALSIM_SetRoboRioComments(&s);
}
HALSIM_RegisterRoboRioAllCallbacks:
ignore: true
HALSIM_RegisterRoboRioCPUTempCallback:
ignore: true
HALSIM_CancelRoboRioCPUTempCallback:
HALSIM_GetRoboRioCPUTemp:
HALSIM_SetRoboRioCPUTemp:

2
ntcore/src/main/python/native-pyproject.toml
View File

@@ -27,7 +27,7 @@ packages = ["src/native"]
[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
artifact_id = "ntcore-cpp"
group_id = "org.wpilib.ntcore"
repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
repo_url = ""
version = "0.0.0"
extract_to = "src/native/ntcore"

4
romiVendordep/robotpy_pybind_build_info.bzl generated
View File

@@ -49,7 +49,7 @@ def romi_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes
gen_libinit(
name = "romi.gen_lib_init",
output_file = "src/main/python/romi/_init__romi.py",
modules = ["native.romi._init_robotpy_native_romi", "wpilib._init__wpilib", "wpimath.geometry._init__geometry"],
modules = ["native.romi._init_robotpy_native_romi", "wpilib._init__wpilib", "wpimath._init__wpimath"],
)
gen_pkgconf(
@@ -101,7 +101,7 @@ def romi_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes
"//wpilibc:wpilib_pybind_library",
"//wpilibc:wpilibc",
"//wpimath:wpimath",
"//wpimath:wpimath_geometry_pybind_library",
"//wpimath:wpimath_pybind_library",
],
dynamic_deps = [
"//romiVendordep:shared/romiVendordep",

2
romiVendordep/src/main/python/native-pyproject.toml
View File

@@ -23,7 +23,7 @@ packages = ["src/native"]
[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
artifact_id = "romiVendordep-cpp"
group_id = "org.wpilib.romiVendordep"
repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
repo_url = ""
version = "0.0.0"
extract_to = "src/native/romi"

2
romiVendordep/src/main/python/pyproject.toml
View File

@@ -45,7 +45,7 @@ update_init = ["romi"]
name = "romi"
wraps = ["robotpy-native-romi"]
depends = [
"wpilib", "wpimath_geometry"
"wpilib", "wpimath"
]
[tool.semiwrap.extension_modules."romi._romi".headers]

22
wpilibc/BUILD.bazel
View File

@@ -10,7 +10,7 @@ load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native
load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
load("//wpilibc:generate.bzl", "generate_wpilibc")
load("//wpilibc:robotpy_native_build_info.bzl", "define_native_wrapper")
load("//wpilibc:robotpy_pybind_build_info.bzl", "define_pybind_library", "wpilib_counter_extension", "wpilib_drive_extension", "wpilib_event_extension", "wpilib_extension", "wpilib_simulation_extension")
load("//wpilibc:robotpy_pybind_build_info.bzl", "define_pybind_library", "wpilib_extension", "wpilib_simulation_extension")
filegroup(
name = "doxygen-files",
@@ -242,10 +242,6 @@ generate_robotpy_pybind_build_info(
yaml_files = glob(["src/main/python/semiwrap/**/*.yml"]),
)
wpilib_event_extension(
srcs = ["src/main/python/wpilib/event/event.cpp"],
)
wpilib_extension(
srcs = glob(["src/main/python/wpilib/src/**/*.cpp"]),
extra_hdrs = glob([
@@ -259,22 +255,6 @@ wpilib_extension(
],
)
wpilib_counter_extension(
srcs = ["src/main/python/wpilib/counter/counter.cpp"],
header_to_dat_deps = glob([
"src/main/python/wpilib/src/rpy/*.h",
"src/main/python/wpilib/src/rpy/*.inc",
]),
)
wpilib_drive_extension(
srcs = ["src/main/python/wpilib/drive/drive.cpp"],
header_to_dat_deps = glob([
"src/main/python/wpilib/src/rpy/*.h",
"src/main/python/wpilib/src/rpy/*.inc",
]),
)
wpilib_simulation_extension(
srcs = ["src/main/python/wpilib/simulation/simulation.cpp"],
header_to_dat_deps = glob([

491
wpilibc/robotpy_pybind_build_info.bzl generated
View File

@@ -5,121 +5,6 @@ load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "
load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
def wpilib_event_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
WPILIB_EVENT_HEADER_GEN = [
struct(
class_name = "BooleanEvent",
yml_file = "semiwrap/event/BooleanEvent.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/event/BooleanEvent.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::BooleanEvent", "wpi__BooleanEvent.hpp"),
],
),
struct(
class_name = "EventLoop",
yml_file = "semiwrap/event/EventLoop.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/event/EventLoop.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::EventLoop", "wpi__EventLoop.hpp"),
],
),
struct(
class_name = "NetworkBooleanEvent",
yml_file = "semiwrap/event/NetworkBooleanEvent.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/event/NetworkBooleanEvent.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::NetworkBooleanEvent", "wpi__NetworkBooleanEvent.hpp"),
],
),
]
resolve_casters(
name = "wpilib_event.resolve_casters",
caster_deps = ["//wpimath:src/main/python/wpimath/wpimath-casters.pybind11.json", "//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
casters_pkl_file = "wpilib_event.casters.pkl",
dep_file = "wpilib_event.casters.d",
)
gen_libinit(
name = "wpilib_event.gen_lib_init",
output_file = "src/main/python/wpilib/event/_init__event.py",
modules = ["native.wpilib._init_robotpy_native_wpilib", "wpimath.filter._init__filter"],
)
gen_pkgconf(
name = "wpilib_event.gen_pkgconf",
libinit_py = "wpilib.event._init__event",
module_pkg_name = "wpilib.event._event",
output_file = "wpilib_event.pc",
pkg_name = "wpilib_event",
install_path = "src/main/python/wpilib/event",
project_file = "src/main/python/pyproject.toml",
package_root = "src/main/python/wpilib/__init__.py",
)
gen_modinit_hpp(
name = "wpilib_event.gen_modinit_hpp",
input_dats = [x.class_name for x in WPILIB_EVENT_HEADER_GEN],
libname = "_event",
output_file = "semiwrap_init.wpilib.event._event.hpp",
)
run_header_gen(
name = "wpilib_event",
casters_pickle = "wpilib_event.casters.pkl",
header_gen_config = WPILIB_EVENT_HEADER_GEN,
trampoline_subpath = "src/main/python/wpilib/event",
deps = header_to_dat_deps,
local_native_libraries = [
"//datalog:robotpy-native-datalog.copy_headers",
"//hal:robotpy-native-wpihal.copy_headers",
"//ntcore:robotpy-native-ntcore.copy_headers",
"//wpilibc:robotpy-native-wpilib.copy_headers",
"//wpimath:robotpy-native-wpimath.copy_headers",
"//wpinet:robotpy-native-wpinet.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
)
create_pybind_library(
name = "wpilib_event",
install_path = "src/main/python/wpilib/event/",
extension_name = "_event",
generated_srcs = [":wpilib_event.generated_srcs"],
semiwrap_header = [":wpilib_event.gen_modinit_hpp"],
deps = [
":wpilib_event.tmpl_hdrs",
":wpilib_event.trampoline_hdrs",
"//wpilibc:wpilibc",
"//wpimath:wpimath",
"//wpimath:wpimath_filter_pybind_library",
],
dynamic_deps = [
"//wpilibc:shared/wpilibc",
"//wpimath:shared/wpimath",
],
extra_hdrs = extra_hdrs,
extra_srcs = srcs,
includes = includes,
)
native.filegroup(
name = "wpilib_event.generated_files",
srcs = [
"wpilib_event.gen_modinit_hpp.gen",
"wpilib_event.header_gen_files",
"wpilib_event.gen_pkgconf",
"wpilib_event.gen_lib_init",
],
tags = ["manual", "robotpy"],
)
def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
WPILIB_HEADER_GEN = [
struct(
@@ -150,6 +35,66 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
("wpi::PyNotifier", "wpi__PyNotifier.hpp"),
],
),
struct(
class_name = "EdgeConfiguration",
yml_file = "semiwrap/EdgeConfiguration.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/counter/EdgeConfiguration.hpp",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Tachometer",
yml_file = "semiwrap/Tachometer.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/counter/Tachometer.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::Tachometer", "wpi__Tachometer.hpp"),
],
),
struct(
class_name = "UpDownCounter",
yml_file = "semiwrap/UpDownCounter.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/counter/UpDownCounter.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::UpDownCounter", "wpi__UpDownCounter.hpp"),
],
),
struct(
class_name = "DifferentialDrive",
yml_file = "semiwrap/DifferentialDrive.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/drive/DifferentialDrive.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::DifferentialDrive", "wpi__DifferentialDrive.hpp"),
("wpi::DifferentialDrive::WheelSpeeds", "wpi__DifferentialDrive__WheelSpeeds.hpp"),
],
),
struct(
class_name = "MecanumDrive",
yml_file = "semiwrap/MecanumDrive.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/drive/MecanumDrive.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::MecanumDrive", "wpi__MecanumDrive.hpp"),
("wpi::MecanumDrive::WheelSpeeds", "wpi__MecanumDrive__WheelSpeeds.hpp"),
],
),
struct(
class_name = "RobotDriveBase",
yml_file = "semiwrap/RobotDriveBase.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/drive/RobotDriveBase.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::RobotDriveBase", "wpi__RobotDriveBase.hpp"),
],
),
struct(
class_name = "DriverStation",
yml_file = "semiwrap/DriverStation.yml",
@@ -241,6 +186,36 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
("wpi::XboxController::Axis", "wpi__XboxController__Axis.hpp"),
],
),
struct(
class_name = "BooleanEvent",
yml_file = "semiwrap/BooleanEvent.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/event/BooleanEvent.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::BooleanEvent", "wpi__BooleanEvent.hpp"),
],
),
struct(
class_name = "EventLoop",
yml_file = "semiwrap/EventLoop.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/event/EventLoop.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::EventLoop", "wpi__EventLoop.hpp"),
],
),
struct(
class_name = "NetworkBooleanEvent",
yml_file = "semiwrap/NetworkBooleanEvent.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/event/NetworkBooleanEvent.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::NetworkBooleanEvent", "wpi__NetworkBooleanEvent.hpp"),
],
),
struct(
class_name = "IterativeRobotBase",
yml_file = "semiwrap/IterativeRobotBase.yml",
@@ -1036,7 +1011,7 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
gen_libinit(
name = "wpilib.gen_lib_init",
output_file = "src/main/python/wpilib/_init__wpilib.py",
modules = ["native.wpilib._init_robotpy_native_wpilib", "hal._init__wpiHal", "wpiutil._init__wpiutil", "ntcore._init__ntcore", "wpimath._init__wpimath", "wpimath.geometry._init__geometry", "wpimath._controls._init__controls", "wpilib.event._init__event"],
modules = ["native.wpilib._init_robotpy_native_wpilib", "hal._init__wpiHal", "wpiutil._init__wpiutil", "ntcore._init__ntcore", "wpimath._init__wpimath"],
)
gen_pkgconf(
@@ -1088,12 +1063,8 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
"//hal:wpihal_pybind_library",
"//ntcore:ntcore",
"//ntcore:ntcore_pybind_library",
"//wpilibc:wpilib_event_pybind_library",
"//wpilibc:wpilibc",
"//wpimath:wpimath",
"//wpimath:wpimath_controls_pybind_library",
"//wpimath:wpimath_filter_pybind_library",
"//wpimath:wpimath_geometry_pybind_library",
"//wpimath:wpimath_pybind_library",
"//wpiutil:wpiutil",
"//wpiutil:wpiutil_pybind_library",
@@ -1122,264 +1093,6 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
tags = ["manual", "robotpy"],
)
def wpilib_counter_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
WPILIB_COUNTER_HEADER_GEN = [
struct(
class_name = "EdgeConfiguration",
yml_file = "semiwrap/counter/EdgeConfiguration.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/counter/EdgeConfiguration.hpp",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Tachometer",
yml_file = "semiwrap/counter/Tachometer.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/counter/Tachometer.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::Tachometer", "wpi__Tachometer.hpp"),
],
),
struct(
class_name = "UpDownCounter",
yml_file = "semiwrap/counter/UpDownCounter.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/counter/UpDownCounter.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::UpDownCounter", "wpi__UpDownCounter.hpp"),
],
),
]
resolve_casters(
name = "wpilib_counter.resolve_casters",
caster_deps = ["//wpimath:src/main/python/wpimath/wpimath-casters.pybind11.json", "//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
casters_pkl_file = "wpilib_counter.casters.pkl",
dep_file = "wpilib_counter.casters.d",
)
gen_libinit(
name = "wpilib_counter.gen_lib_init",
output_file = "src/main/python/wpilib/counter/_init__counter.py",
modules = ["native.wpilib._init_robotpy_native_wpilib", "wpilib._init__wpilib"],
)
gen_pkgconf(
name = "wpilib_counter.gen_pkgconf",
libinit_py = "wpilib.counter._init__counter",
module_pkg_name = "wpilib.counter._counter",
output_file = "wpilib_counter.pc",
pkg_name = "wpilib_counter",
install_path = "src/main/python/wpilib/counter",
project_file = "src/main/python/pyproject.toml",
package_root = "src/main/python/wpilib/__init__.py",
)
gen_modinit_hpp(
name = "wpilib_counter.gen_modinit_hpp",
input_dats = [x.class_name for x in WPILIB_COUNTER_HEADER_GEN],
libname = "_counter",
output_file = "semiwrap_init.wpilib.counter._counter.hpp",
)
run_header_gen(
name = "wpilib_counter",
casters_pickle = "wpilib_counter.casters.pkl",
header_gen_config = WPILIB_COUNTER_HEADER_GEN,
trampoline_subpath = "src/main/python/wpilib/counter",
deps = header_to_dat_deps,
local_native_libraries = [
"//datalog:robotpy-native-datalog.copy_headers",
"//hal:robotpy-native-wpihal.copy_headers",
"//ntcore:robotpy-native-ntcore.copy_headers",
"//wpilibc:robotpy-native-wpilib.copy_headers",
"//wpimath:robotpy-native-wpimath.copy_headers",
"//wpinet:robotpy-native-wpinet.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
)
create_pybind_library(
name = "wpilib_counter",
install_path = "src/main/python/wpilib/counter/",
extension_name = "_counter",
generated_srcs = [":wpilib_counter.generated_srcs"],
semiwrap_header = [":wpilib_counter.gen_modinit_hpp"],
deps = [
":wpilib_counter.tmpl_hdrs",
":wpilib_counter.trampoline_hdrs",
"//hal:wpiHal",
"//hal:wpihal_pybind_library",
"//ntcore:ntcore",
"//ntcore:ntcore_pybind_library",
"//wpilibc:wpilib_event_pybind_library",
"//wpilibc:wpilib_pybind_library",
"//wpilibc:wpilibc",
"//wpimath:wpimath",
"//wpimath:wpimath_controls_pybind_library",
"//wpimath:wpimath_filter_pybind_library",
"//wpimath:wpimath_geometry_pybind_library",
"//wpimath:wpimath_pybind_library",
"//wpiutil:wpiutil",
"//wpiutil:wpiutil_pybind_library",
],
dynamic_deps = [
"//hal:shared/wpiHal",
"//ntcore:shared/ntcore",
"//wpilibc:shared/wpilibc",
"//wpimath:shared/wpimath",
"//wpiutil:shared/wpiutil",
],
extra_hdrs = extra_hdrs,
extra_srcs = srcs,
includes = includes,
)
native.filegroup(
name = "wpilib_counter.generated_files",
srcs = [
"wpilib_counter.gen_modinit_hpp.gen",
"wpilib_counter.header_gen_files",
"wpilib_counter.gen_pkgconf",
"wpilib_counter.gen_lib_init",
],
tags = ["manual", "robotpy"],
)
def wpilib_drive_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
WPILIB_DRIVE_HEADER_GEN = [
struct(
class_name = "DifferentialDrive",
yml_file = "semiwrap/drive/DifferentialDrive.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/drive/DifferentialDrive.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::DifferentialDrive", "wpi__DifferentialDrive.hpp"),
("wpi::DifferentialDrive::WheelSpeeds", "wpi__DifferentialDrive__WheelSpeeds.hpp"),
],
),
struct(
class_name = "MecanumDrive",
yml_file = "semiwrap/drive/MecanumDrive.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/drive/MecanumDrive.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::MecanumDrive", "wpi__MecanumDrive.hpp"),
("wpi::MecanumDrive::WheelSpeeds", "wpi__MecanumDrive__WheelSpeeds.hpp"),
],
),
struct(
class_name = "RobotDriveBase",
yml_file = "semiwrap/drive/RobotDriveBase.yml",
header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/drive/RobotDriveBase.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::RobotDriveBase", "wpi__RobotDriveBase.hpp"),
],
),
]
resolve_casters(
name = "wpilib_drive.resolve_casters",
caster_deps = ["//wpimath:src/main/python/wpimath/wpimath-casters.pybind11.json", "//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
casters_pkl_file = "wpilib_drive.casters.pkl",
dep_file = "wpilib_drive.casters.d",
)
gen_libinit(
name = "wpilib_drive.gen_lib_init",
output_file = "src/main/python/wpilib/drive/_init__drive.py",
modules = ["native.wpilib._init_robotpy_native_wpilib", "wpilib._init__wpilib"],
)
gen_pkgconf(
name = "wpilib_drive.gen_pkgconf",
libinit_py = "wpilib.drive._init__drive",
module_pkg_name = "wpilib.drive._drive",
output_file = "wpilib_drive.pc",
pkg_name = "wpilib_drive",
install_path = "src/main/python/wpilib/drive",
project_file = "src/main/python/pyproject.toml",
package_root = "src/main/python/wpilib/__init__.py",
)
gen_modinit_hpp(
name = "wpilib_drive.gen_modinit_hpp",
input_dats = [x.class_name for x in WPILIB_DRIVE_HEADER_GEN],
libname = "_drive",
output_file = "semiwrap_init.wpilib.drive._drive.hpp",
)
run_header_gen(
name = "wpilib_drive",
casters_pickle = "wpilib_drive.casters.pkl",
header_gen_config = WPILIB_DRIVE_HEADER_GEN,
trampoline_subpath = "src/main/python/wpilib/drive",
deps = header_to_dat_deps,
local_native_libraries = [
"//datalog:robotpy-native-datalog.copy_headers",
"//hal:robotpy-native-wpihal.copy_headers",
"//ntcore:robotpy-native-ntcore.copy_headers",
"//wpilibc:robotpy-native-wpilib.copy_headers",
"//wpimath:robotpy-native-wpimath.copy_headers",
"//wpinet:robotpy-native-wpinet.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
)
create_pybind_library(
name = "wpilib_drive",
install_path = "src/main/python/wpilib/drive/",
extension_name = "_drive",
generated_srcs = [":wpilib_drive.generated_srcs"],
semiwrap_header = [":wpilib_drive.gen_modinit_hpp"],
deps = [
":wpilib_drive.tmpl_hdrs",
":wpilib_drive.trampoline_hdrs",
"//hal:wpiHal",
"//hal:wpihal_pybind_library",
"//ntcore:ntcore",
"//ntcore:ntcore_pybind_library",
"//wpilibc:wpilib_event_pybind_library",
"//wpilibc:wpilib_pybind_library",
"//wpilibc:wpilibc",
"//wpimath:wpimath",
"//wpimath:wpimath_controls_pybind_library",
"//wpimath:wpimath_filter_pybind_library",
"//wpimath:wpimath_geometry_pybind_library",
"//wpimath:wpimath_pybind_library",
"//wpiutil:wpiutil",
"//wpiutil:wpiutil_pybind_library",
],
dynamic_deps = [
"//hal:shared/wpiHal",
"//ntcore:shared/ntcore",
"//wpilibc:shared/wpilibc",
"//wpimath:shared/wpimath",
"//wpiutil:shared/wpiutil",
],
extra_hdrs = extra_hdrs,
extra_srcs = srcs,
includes = includes,
)
native.filegroup(
name = "wpilib_drive.generated_files",
srcs = [
"wpilib_drive.gen_modinit_hpp.gen",
"wpilib_drive.header_gen_files",
"wpilib_drive.gen_pkgconf",
"wpilib_drive.gen_lib_init",
],
tags = ["manual", "robotpy"],
)
def wpilib_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
WPILIB_SIMULATION_HEADER_GEN = [
struct(
@@ -1784,7 +1497,7 @@ def wpilib_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs =
gen_libinit(
name = "wpilib_simulation.gen_lib_init",
output_file = "src/main/python/wpilib/simulation/_init__simulation.py",
modules = ["native.wpilib._init_robotpy_native_wpilib", "wpilib._init__wpilib", "wpimath._controls._init__controls", "wpimath.geometry._init__geometry", "wpimath.kinematics._init__kinematics"],
modules = ["native.wpilib._init_robotpy_native_wpilib", "wpilib._init__wpilib", "wpimath._init__wpimath"],
)
gen_pkgconf(
@@ -1835,14 +1548,9 @@ def wpilib_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs =
"//hal:wpihal_pybind_library",
"//ntcore:ntcore",
"//ntcore:ntcore_pybind_library",
"//wpilibc:wpilib_event_pybind_library",
"//wpilibc:wpilib_pybind_library",
"//wpilibc:wpilibc",
"//wpimath:wpimath",
"//wpimath:wpimath_controls_pybind_library",
"//wpimath:wpimath_filter_pybind_library",
"//wpimath:wpimath_geometry_pybind_library",
"//wpimath:wpimath_kinematics_pybind_library",
"//wpimath:wpimath_pybind_library",
"//wpiutil:wpiutil",
"//wpiutil:wpiutil_pybind_library",
@@ -1875,10 +1583,7 @@ def define_pybind_library(name, pkgcfgs = []):
native.filegroup(
name = "{}.generated_files".format(name),
srcs = [
"wpilib_event.generated_files",
"wpilib.generated_files",
"wpilib_counter.generated_files",
"wpilib_drive.generated_files",
"wpilib_simulation.generated_files",
],
tags = ["manual", "robotpy"],
@@ -1889,10 +1594,7 @@ def define_pybind_library(name, pkgcfgs = []):
native.filegroup(
name = "{}.generated_pkgcfg_files".format(name),
srcs = [
"src/main/python/wpilib/event/wpilib_event.pc",
"src/main/python/wpilib/wpilib.pc",
"src/main/python/wpilib/counter/wpilib_counter.pc",
"src/main/python/wpilib/drive/wpilib_drive.pc",
"src/main/python/wpilib/simulation/wpilib_simulation.pc",
],
tags = ["manual", "robotpy"],
@@ -1915,25 +1617,16 @@ def define_pybind_library(name, pkgcfgs = []):
robotpy_library(
name = name,
srcs = native.glob(["src/main/python/wpilib/**/*.py"]) + [
"src/main/python/wpilib/event/_init__event.py",
"src/main/python/wpilib/_init__wpilib.py",
"src/main/python/wpilib/counter/_init__counter.py",
"src/main/python/wpilib/drive/_init__drive.py",
"src/main/python/wpilib/simulation/_init__simulation.py",
"{}.generate_version".format(name),
],
data = [
"{}.generated_pkgcfg_files".format(name),
"{}.extra_files".format(name),
":src/main/python/wpilib/event/_event",
":src/main/python/wpilib/_wpilib",
":src/main/python/wpilib/counter/_counter",
":src/main/python/wpilib/drive/_drive",
":src/main/python/wpilib/simulation/_simulation",
":wpilib_event.trampoline_hdr_files",
":wpilib.trampoline_hdr_files",
":wpilib_counter.trampoline_hdr_files",
":wpilib_drive.trampoline_hdr_files",
":wpilib_simulation.trampoline_hdr_files",
],
imports = ["src/main/python"],

2
wpilibc/src/main/python/native-pyproject.toml
View File

@@ -31,7 +31,7 @@ packages = ["src/native"]
[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
artifact_id = "wpilibc-cpp"
group_id = "org.wpilib.wpilibc"
repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
repo_url = ""
version = "0.0.0"
extract_to = "src/native/wpilib"

65
wpilibc/src/main/python/pyproject.toml
View File

@@ -50,10 +50,6 @@ packages = ["wpilib"]
[tool.semiwrap]
update_init = [
"wpilib",
"wpilib.counter",
"wpilib.drive",
"wpilib.event",
"wpilib.interfaces wpilib._wpilib.interfaces",
"wpilib.simulation",
"wpilib.sysid wpilib._wpilib.sysid",
]
@@ -78,9 +74,7 @@ scan_headers_ignore = [
name = "wpilib"
wraps = ["robotpy-native-wpilib"]
depends = [
"wpihal", "wpiutil", "ntcore",
"wpimath", "wpimath_geometry", "wpimath_controls",
"wpilib_event"
"wpihal", "wpiutil", "ntcore", "wpimath"
]
includes = ["wpilib/src"]
@@ -93,6 +87,16 @@ Filesystem = "rpy/Filesystem.h"
MotorControllerGroup = "rpy/MotorControllerGroup.h"
Notifier = "rpy/Notifier.h"
# wpi/counter
EdgeConfiguration = "wpi/counter/EdgeConfiguration.hpp"
Tachometer = "wpi/counter/Tachometer.hpp"
UpDownCounter = "wpi/counter/UpDownCounter.hpp"
# wpi/drive
DifferentialDrive = "wpi/drive/DifferentialDrive.hpp"
MecanumDrive = "wpi/drive/MecanumDrive.hpp"
RobotDriveBase = "wpi/drive/RobotDriveBase.hpp"
# wpi/driverstation
DriverStation = "wpi/driverstation/DriverStation.hpp"
Gamepad = "wpi/driverstation/Gamepad.hpp"
@@ -103,6 +107,11 @@ PS5Controller = "wpi/driverstation/PS5Controller.hpp"
StadiaController = "wpi/driverstation/StadiaController.hpp"
XboxController = "wpi/driverstation/XboxController.hpp"
# wpi/event
BooleanEvent = "wpi/event/BooleanEvent.hpp"
EventLoop = "wpi/event/EventLoop.hpp"
NetworkBooleanEvent = "wpi/event/NetworkBooleanEvent.hpp"
# wpi/framework
IterativeRobotBase = "wpi/framework/IterativeRobotBase.hpp"
OpModeRobot = "wpi/framework/OpModeRobot.hpp"
@@ -218,50 +227,10 @@ Preferences = "wpi/util/Preferences.hpp"
SensorUtil = "wpi/util/SensorUtil.hpp"
[tool.semiwrap.extension_modules."wpilib.counter._counter"]
name = "wpilib_counter"
wraps = ["robotpy-native-wpilib"]
depends = ["wpilib"]
yaml_path = "semiwrap/counter"
[tool.semiwrap.extension_modules."wpilib.counter._counter".headers]
# wpi/counter
EdgeConfiguration = "wpi/counter/EdgeConfiguration.hpp"
Tachometer = "wpi/counter/Tachometer.hpp"
UpDownCounter = "wpi/counter/UpDownCounter.hpp"
[tool.semiwrap.extension_modules."wpilib.drive._drive"]
name = "wpilib_drive"
wraps = ["robotpy-native-wpilib"]
depends = ["wpilib"]
yaml_path = "semiwrap/drive"
[tool.semiwrap.extension_modules."wpilib.drive._drive".headers]
# wpi/drive
DifferentialDrive = "wpi/drive/DifferentialDrive.hpp"
MecanumDrive = "wpi/drive/MecanumDrive.hpp"
RobotDriveBase = "wpi/drive/RobotDriveBase.hpp"
[tool.semiwrap.extension_modules."wpilib.event._event"]
name = "wpilib_event"
wraps = ["robotpy-native-wpilib"]
# depends = ["wpilib", "wpimath_filter"]
depends = ["wpimath_filter"]
yaml_path = "semiwrap/event"
[tool.semiwrap.extension_modules."wpilib.event._event".headers]
# wpi/event
BooleanEvent = "wpi/event/BooleanEvent.hpp"
EventLoop = "wpi/event/EventLoop.hpp"
NetworkBooleanEvent = "wpi/event/NetworkBooleanEvent.hpp"
[tool.semiwrap.extension_modules."wpilib.simulation._simulation"]
name = "wpilib_simulation"
wraps = ["robotpy-native-wpilib"]
depends = ["wpilib", "wpimath_controls", "wpimath_geometry", "wpimath_kinematics"]
depends = ["wpilib", "wpimath"]
yaml_path = "semiwrap/simulation"
[tool.semiwrap.extension_modules."wpilib.simulation._simulation".headers]

13
wpilibc/src/main/python/semiwrap/AddressableLED.yml
View File

@@ -21,8 +21,8 @@ classes:
ColorOrder:
wpi::AddressableLED::LEDData:
force_no_trampoline: true
base_qualnames:
HAL_AddressableLEDData: ::HAL_AddressableLEDData
ignored_bases:
- HAL_AddressableLEDData
methods:
LEDData:
overloads:
@@ -41,4 +41,11 @@ classes:
overloads:
const wpi::util::Color&:
const wpi::util::Color8Bit&:
inline_code: |
.def_readwrite("r", &wpi::AddressableLED::LEDData::r)
.def_readwrite("g", &wpi::AddressableLED::LEDData::g)
.def_readwrite("b", &wpi::AddressableLED::LEDData::b)
.def("__eq__", [](wpi::AddressableLED::LEDData &self, wpi::AddressableLED::LEDData &other) {
return self.r == other.r && self.g == other.g && self.b == other.b;
})
;

0
wpilibc/src/main/python/semiwrap/event/BooleanEvent.yml → wpilibc/src/main/python/semiwrap/BooleanEvent.yml
View File

3
wpilibc/src/main/python/semiwrap/CounterBase.yml
View File

@@ -1,6 +1,3 @@
defaults:
subpackage: interfaces
classes:
wpi::CounterBase:
enums:

0
wpilibc/src/main/python/semiwrap/drive/DifferentialDrive.yml → wpilibc/src/main/python/semiwrap/DifferentialDrive.yml
View File

0
wpilibc/src/main/python/semiwrap/counter/EdgeConfiguration.yml → wpilibc/src/main/python/semiwrap/EdgeConfiguration.yml
View File

0
wpilibc/src/main/python/semiwrap/event/EventLoop.yml → wpilibc/src/main/python/semiwrap/EventLoop.yml
View File

3
wpilibc/src/main/python/semiwrap/GenericHID.yml
View File

@@ -1,6 +1,3 @@
defaults:
subpackage: interfaces
extra_includes:
- wpi/driverstation/DriverStation.hpp
- wpi/event/BooleanEvent.hpp

0
wpilibc/src/main/python/semiwrap/drive/MecanumDrive.yml → wpilibc/src/main/python/semiwrap/MecanumDrive.yml
View File

3
wpilibc/src/main/python/semiwrap/MotorController.yml
View File

@@ -1,6 +1,3 @@
defaults:
subpackage: interfaces
classes:
wpi::MotorController:
methods:

0
wpilibc/src/main/python/semiwrap/event/NetworkBooleanEvent.yml → wpilibc/src/main/python/semiwrap/NetworkBooleanEvent.yml
View File

0
wpilibc/src/main/python/semiwrap/drive/RobotDriveBase.yml → wpilibc/src/main/python/semiwrap/RobotDriveBase.yml
View File

0
wpilibc/src/main/python/semiwrap/counter/Tachometer.yml → wpilibc/src/main/python/semiwrap/Tachometer.yml
View File

0
wpilibc/src/main/python/semiwrap/counter/UpDownCounter.yml → wpilibc/src/main/python/semiwrap/UpDownCounter.yml
View File

25
wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml
View File

@@ -5,6 +5,8 @@ classes:
wpi::sim::AddressableLEDSim:
force_type_casters:
- std::function
- std::span
- std::vector
methods:
AddressableLEDSim:
overloads:
@@ -18,9 +20,32 @@ classes:
SetLength:
RegisterDataCallback:
GetData:
param_override:
data:
ignore: true
cpp_code: |
[](wpi::sim::AddressableLEDSim &self) {
int len = self.GetData(nullptr);
std::vector<wpi::AddressableLED::LEDData> data(len);
self.GetData(data.data());
return data;
}
SetData:
param_override:
length:
ignore: true
cpp_code: |
[](wpi::sim::AddressableLEDSim &self, std::span<wpi::AddressableLED::LEDData> &data) {
if (static_cast<int>(data.size()) != self.GetLength()) {
std::string msg = fmt::format("data must have length {} (got {})", self.GetLength(), data.size());
throw py::value_error(msg);
}
self.SetData(data.data());
}
RegisterStartCallback:
GetStart:
SetStart:
GetGlobalData:
ignore: true
SetGlobalData:
ignore: true

27
wpilibc/src/main/python/wpilib/__init__.py
View File

@@ -1,8 +1,5 @@
from . import _init__wpilib
# TODO: robotpy-build subpackage bug
from wpimath._controls._controls import trajectory as _
# autogenerated by 'semiwrap create-imports wpilib wpilib._wpilib'
from ._wpilib import (
ADXL345_I2C,
@@ -12,18 +9,23 @@ from ._wpilib import (
AnalogEncoder,
AnalogInput,
AnalogPotentiometer,
BooleanEvent,
CAN,
CANStatus,
Compressor,
CompressorConfigType,
CounterBase,
DataLogManager,
DifferentialDrive,
DigitalInput,
DigitalOutput,
DoubleSolenoid,
DriverStation,
DutyCycle,
DutyCycleEncoder,
EdgeConfiguration,
Encoder,
EventLoop,
ExpansionHub,
ExpansionHubMotor,
ExpansionHubPidConstants,
@@ -31,18 +33,22 @@ from ._wpilib import (
Field2d,
FieldObject2d,
Gamepad,
GenericHID,
I2C,
IterativeRobotBase,
Joystick,
Koors40,
LEDPattern,
LinearOpMode,
MecanumDrive,
Mechanism2d,
MechanismLigament2d,
MechanismObject2d,
MechanismRoot2d,
MotorController,
MotorControllerGroup,
MotorSafety,
NetworkBooleanEvent,
Notifier,
OnboardIMU,
OpMode,
@@ -66,6 +72,7 @@ from ._wpilib import (
Preferences,
RobotBase,
RobotController,
RobotDriveBase,
RuntimeType,
SendableBuilderImpl,
SendableChooser,
@@ -79,11 +86,13 @@ from ._wpilib import (
SparkMini,
StadiaController,
SystemServer,
Tachometer,
Talon,
TimedRobot,
Timer,
TimesliceRobot,
Tracer,
UpDownCounter,
VictorSP,
Watchdog,
XboxController,
@@ -104,18 +113,23 @@ __all__ = [
"AnalogEncoder",
"AnalogInput",
"AnalogPotentiometer",
"BooleanEvent",
"CAN",
"CANStatus",
"Compressor",
"CompressorConfigType",
"CounterBase",
"DataLogManager",
"DifferentialDrive",
"DigitalInput",
"DigitalOutput",
"DoubleSolenoid",
"DriverStation",
"DutyCycle",
"DutyCycleEncoder",
"EdgeConfiguration",
"Encoder",
"EventLoop",
"ExpansionHub",
"ExpansionHubMotor",
"ExpansionHubPidConstants",
@@ -123,18 +137,22 @@ __all__ = [
"Field2d",
"FieldObject2d",
"Gamepad",
"GenericHID",
"I2C",
"IterativeRobotBase",
"Joystick",
"Koors40",
"LEDPattern",
"LinearOpMode",
"MecanumDrive",
"Mechanism2d",
"MechanismLigament2d",
"MechanismObject2d",
"MechanismRoot2d",
"MotorController",
"MotorControllerGroup",
"MotorSafety",
"NetworkBooleanEvent",
"Notifier",
"OnboardIMU",
"OpMode",
@@ -158,6 +176,7 @@ __all__ = [
"Preferences",
"RobotBase",
"RobotController",
"RobotDriveBase",
"RuntimeType",
"SendableBuilderImpl",
"SendableChooser",
@@ -171,11 +190,13 @@ __all__ = [
"SparkMini",
"StadiaController",
"SystemServer",
"Tachometer",
"Talon",
"TimedRobot",
"Timer",
"TimesliceRobot",
"Tracer",
"UpDownCounter",
"VictorSP",
"Watchdog",
"XboxController",

6
wpilibc/src/main/python/wpilib/counter/__init__.py
View File

@@ -1,6 +0,0 @@
from . import _init__counter
# autogenerated by 'semiwrap create-imports wpilib.counter wpilib.counter._counter'
from ._counter import EdgeConfiguration, Tachometer, UpDownCounter
__all__ = ["EdgeConfiguration", "Tachometer", "UpDownCounter"]

7
wpilibc/src/main/python/wpilib/counter/counter.cpp
View File

@@ -1,7 +0,0 @@
#include "semiwrap_init.wpilib.counter._counter.hpp"
SEMIWRAP_PYBIND11_MODULE(m)
{
initWrapper(m);
}

8
wpilibc/src/main/python/wpilib/drive/__init__.py
View File

@@ -1,8 +0,0 @@
from . import _init__drive
# autogenerated by 'semiwrap create-imports wpilib.drive wpilib.drive._drive'
from ._drive import DifferentialDrive, MecanumDrive, RobotDriveBase
__all__ = ["DifferentialDrive", "MecanumDrive", "RobotDriveBase"]
del _init__drive

7
wpilibc/src/main/python/wpilib/drive/drive.cpp
View File

@@ -1,7 +0,0 @@
#include "semiwrap_init.wpilib.drive._drive.hpp"
SEMIWRAP_PYBIND11_MODULE(m)
{
initWrapper(m);
}

6
wpilibc/src/main/python/wpilib/event/__init__.py
View File

@@ -1,6 +0,0 @@
from . import _init__event
# autogenerated by 'semiwrap create-imports wpilib.event wpilib.event._event'
from ._event import BooleanEvent, EventLoop, NetworkBooleanEvent
__all__ = ["BooleanEvent", "EventLoop", "NetworkBooleanEvent"]

7
wpilibc/src/main/python/wpilib/event/event.cpp
View File

@@ -1,7 +0,0 @@
#include "semiwrap_init.wpilib.event._event.hpp"
SEMIWRAP_PYBIND11_MODULE(m)
{
initWrapper(m);
}

4
wpilibc/src/main/python/wpilib/interfaces/__init__.py
View File

@@ -1,4 +0,0 @@
# autogenerated by 'semiwrap create-imports wpilib.interfaces wpilib._wpilib.interfaces'
from .._wpilib.interfaces import CounterBase, GenericHID, MotorController
__all__ = ["CounterBase", "GenericHID", "MotorController"]

3
wpilibc/src/main/python/wpilib/simulation/__init__.py
View File

@@ -1,8 +1,5 @@
from . import _init__simulation
# needed for dcmotor return value, TODO fix in robotpy-build
from wpimath._controls._controls import plant as _
# autogenerated by 'semiwrap create-imports wpilib.simulation wpilib.simulation._simulation'
from ._simulation import (
ADXL345Sim,

5
wpilibc/src/test/python/test_wpilib_drive.py
View File

@@ -1,5 +0,0 @@
import wpilib.drive
def test_wpilib_drive():
pass

5
wpilibc/src/test/python/test_wpilib_interfaces.py
View File

@@ -1,5 +0,0 @@
import wpilib.interfaces
def test_wpilib_interfaces():
pass

20
wpilibc/src/test/python/test_wpilib_simulation.py
View File

@@ -3,3 +3,23 @@ import wpilib.simulation
def test_wpilib_simulation():
pass
def test_addressableled_sim():
led = wpilib.AddressableLED(0)
sim = wpilib.simulation.AddressableLEDSim(led)
assert not sim.getStart()
led.setStart(1)
assert sim.getStart()
data = [
wpilib.AddressableLED.LEDData(1, 2, 3),
wpilib.AddressableLED.LEDData(4, 5, 6),
]
led.setLength(len(data))
led.setData(data)
assert sim.getData() == data
led.setStart(0)
assert not sim.getStart()

49
wpimath/BUILD.bazel
View File

@@ -12,7 +12,7 @@ load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native
load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
load("//wpimath:generate.bzl", "generate_wpimath")
load("//wpimath:robotpy_native_build_info.bzl", "define_native_wrapper")
load("//wpimath:robotpy_pybind_build_info.bzl", "define_pybind_library", "publish_library_casters", "wpimath_controls_extension", "wpimath_extension", "wpimath_filter_extension", "wpimath_geometry_extension", "wpimath_interpolation_extension", "wpimath_kinematics_extension", "wpimath_spline_extension")
load("//wpimath:robotpy_pybind_build_info.bzl", "define_pybind_library", "publish_library_casters", "wpimath_extension")
load("//wpimath:robotpy_pybind_test_info.bzl", "wpimath_test_extension", define_test_pybind_library = "define_pybind_library")
filegroup(
@@ -360,53 +360,6 @@ wpimath_extension(
extra_hdrs = glob(["src/main/python/wpimath/_impl/src/**/*.h"]),
)
wpimath_filter_extension(
srcs = ["src/main/python/wpimath/filter/filter.cpp"],
extra_hdrs = glob(["src/main/python/wpimath/_impl/src/**/*.h"]),
)
wpimath_geometry_extension(
srcs = ["src/main/python/wpimath/geometry/geometry.cpp"],
extra_hdrs = glob(["src/main/python/wpimath/geometry/include/rpy/*"]),
header_to_dat_deps = glob(["src/main/native/include/**/*"]) + glob([
"src/main/python/wpimath/geometry/include/**/*.h",
"src/main/python/wpimath/_impl/src/**/*.h",
]),
includes = ["src/main/python/wpimath/geometry/include"],
)
wpimath_interpolation_extension(
srcs = ["src/main/python/wpimath/interpolation/interpolation.cpp"],
header_to_dat_deps = glob([
"src/main/python/wpimath/geometry/include/**/*.h",
"src/main/python/wpimath/_impl/src/**/*.h",
]),
)
wpimath_kinematics_extension(
srcs = ["src/main/python/wpimath/kinematics/kinematics.cpp"],
header_to_dat_deps = glob([
"src/main/python/wpimath/geometry/include/**/*.h",
"src/main/python/wpimath/_impl/src/**/*.h",
]),
)
wpimath_spline_extension(
srcs = ["src/main/python/wpimath/spline/spline.cpp"],
header_to_dat_deps = glob([
"src/main/python/wpimath/geometry/include/**/*.h",
"src/main/python/wpimath/_impl/src/**/*.h",
]),
)
wpimath_controls_extension(
srcs = ["src/main/python/wpimath/_controls/controls.cpp"],
header_to_dat_deps = glob([
"src/main/python/wpimath/geometry/include/**/*.h",
"src/main/python/wpimath/_impl/src/**/*.h",
]),
)
define_pybind_library(
name = "robotpy-wpimath",
pkgcfgs = PYBIND_PKGCFG_DEPS,

2718
wpimath/robotpy_pybind_build_info.bzl generated
View File

File diff suppressed because it is too large Load Diff

2
wpimath/src/main/python/native-pyproject.toml
View File

@@ -23,7 +23,7 @@ packages = ["src/native"]
[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
artifact_id = "wpimath-cpp"
group_id = "org.wpilib.wpimath"
repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
repo_url = ""
version = "0.0.0"
extract_to = "src/native/wpimath"

185
wpimath/src/main/python/pyproject.toml
View File

@@ -41,18 +41,6 @@ packages = ["wpimath"]
[tool.semiwrap]
update_init = [
"wpimath",
"wpimath.controller wpimath._controls._controls.controller",
"wpimath.estimator wpimath._controls._controls.estimator",
"wpimath.filter",
"wpimath.geometry",
"wpimath.kinematics",
"wpimath.interpolation",
"wpimath.optimization wpimath._controls._controls.optimization",
"wpimath.path wpimath._controls._controls.path",
"wpimath.spline",
"wpimath.system wpimath._controls._controls.system",
"wpimath.trajectory wpimath._controls._controls.trajectory",
"wpimath.trajectory.constraint wpimath._controls._controls.constraint",
]
scan_headers_ignore = [
@@ -98,11 +86,13 @@ scan_headers_ignore = [
"gch/*",
"sleipnir/*",
"type_casters/*",
"unsupported/*",
"wpi/units/*",
"wpimath/protobuf/*",
"wpi/math/util/MathShared.hpp",
"rpy/geometryToString.h",
"geometryToString.h",
"PyTrajectoryConstraint.h",
"_units_base_type_caster.h",
]
@@ -1463,118 +1453,13 @@ includes = ["wpimath/_impl/src"]
depends = ["wpiutil", "wpimath-casters"]
[tool.semiwrap.extension_modules."wpimath._wpimath".headers]
# frc
# wpi/math/util
ComputerVisionUtil = "wpi/math/util/ComputerVisionUtil.hpp"
# DARE = "wpi/math/linalg/DARE.hpp"
# EigenCore = "wpi/math/linalg/EigenCore.hpp"
MathUtil = "wpi/math/util/MathUtil.hpp"
# StateSpaceUtil = "wpi/math/util/StateSpaceUtil.hpp"
[tool.semiwrap.extension_modules."wpimath.filter._filter"]
name = "wpimath_filter"
wraps = ["robotpy-native-wpimath"]
depends = ["wpimath"]
yaml_path = "semiwrap/filter"
[tool.semiwrap.extension_modules."wpimath.filter._filter".headers]
Debouncer = "wpi/math/filter/Debouncer.hpp"
LinearFilter = "wpi/math/filter/LinearFilter.hpp"
MedianFilter = "wpi/math/filter/MedianFilter.hpp"
SlewRateLimiter = "wpi/math/filter/SlewRateLimiter.hpp"
[tool.semiwrap.extension_modules."wpimath.geometry._geometry"]
name = "wpimath_geometry"
wraps = ["robotpy-native-wpimath"]
depends = ["wpimath"]
includes = ["wpimath/geometry/include"]
yaml_path = "semiwrap/geometry"
[tool.semiwrap.extension_modules."wpimath.geometry._geometry".headers]
# wpi/math/geometry
CoordinateAxis = "wpi/math/geometry/CoordinateAxis.hpp"
CoordinateSystem = "wpi/math/geometry/CoordinateSystem.hpp"
Ellipse2d = "wpi/math/geometry/Ellipse2d.hpp"
Pose2d = "wpi/math/geometry/Pose2d.hpp"
Pose3d = "wpi/math/geometry/Pose3d.hpp"
Quaternion = "wpi/math/geometry/Quaternion.hpp"
Rectangle2d = "wpi/math/geometry/Rectangle2d.hpp"
Rotation2d = "wpi/math/geometry/Rotation2d.hpp"
Rotation3d = "wpi/math/geometry/Rotation3d.hpp"
Transform2d = "wpi/math/geometry/Transform2d.hpp"
Transform3d = "wpi/math/geometry/Transform3d.hpp"
Translation2d = "wpi/math/geometry/Translation2d.hpp"
Translation3d = "wpi/math/geometry/Translation3d.hpp"
Twist2d = "wpi/math/geometry/Twist2d.hpp"
Twist3d = "wpi/math/geometry/Twist3d.hpp"
[tool.semiwrap.extension_modules."wpimath.interpolation._interpolation"]
name = "wpimath_interpolation"
wraps = ["robotpy-native-wpimath"]
depends = ["wpimath_geometry"]
yaml_path = "semiwrap/interpolation"
[tool.semiwrap.extension_modules."wpimath.interpolation._interpolation".headers]
# wpi/math/interpolation
TimeInterpolatableBuffer = "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
[tool.semiwrap.extension_modules."wpimath.kinematics._kinematics"]
name = "wpimath_kinematics"
wraps = ["robotpy-native-wpimath"]
depends = ["wpimath_geometry"]
yaml_path = "semiwrap/kinematics"
[tool.semiwrap.extension_modules."wpimath.kinematics._kinematics".headers]
# wpi/math/kinematics
ChassisSpeeds = "wpi/math/kinematics/ChassisSpeeds.hpp"
ChassisAccelerations = "wpi/math/kinematics/ChassisAccelerations.hpp"
DifferentialDriveKinematics = "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
DifferentialDriveOdometry3d = "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"
DifferentialDriveOdometry = "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
DifferentialDriveWheelPositions = "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
DifferentialDriveWheelSpeeds = "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
DifferentialDriveWheelAccelerations = "wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp"
Kinematics = "wpi/math/kinematics/Kinematics.hpp"
MecanumDriveKinematics = "wpi/math/kinematics/MecanumDriveKinematics.hpp"
MecanumDriveOdometry = "wpi/math/kinematics/MecanumDriveOdometry.hpp"
MecanumDriveOdometry3d = "wpi/math/kinematics/MecanumDriveOdometry3d.hpp"
MecanumDriveWheelPositions = "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
MecanumDriveWheelSpeeds = "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
MecanumDriveWheelAccelerations = "wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp"
Odometry = "wpi/math/kinematics/Odometry.hpp"
Odometry3d = "wpi/math/kinematics/Odometry3d.hpp"
SwerveDriveKinematics = "wpi/math/kinematics/SwerveDriveKinematics.hpp"
SwerveDriveOdometry = "wpi/math/kinematics/SwerveDriveOdometry.hpp"
SwerveDriveOdometry3d = "wpi/math/kinematics/SwerveDriveOdometry3d.hpp"
SwerveModulePosition = "wpi/math/kinematics/SwerveModulePosition.hpp"
SwerveModuleState = "wpi/math/kinematics/SwerveModuleState.hpp"
SwerveModuleAcceleration = "wpi/math/kinematics/SwerveModuleAcceleration.hpp"
[tool.semiwrap.extension_modules."wpimath.spline._spline"]
name = "wpimath_spline"
wraps = ["robotpy-native-wpimath"]
depends = ["wpimath_geometry"]
yaml_path = "semiwrap/spline"
[tool.semiwrap.extension_modules."wpimath.spline._spline".headers]
# wpi/math/spline
CubicHermiteSpline = "wpi/math/spline/CubicHermiteSpline.hpp"
QuinticHermiteSpline = "wpi/math/spline/QuinticHermiteSpline.hpp"
Spline = "wpi/math/spline/Spline.hpp"
SplineHelper = "wpi/math/spline/SplineHelper.hpp"
SplineParameterizer = "wpi/math/spline/SplineParameterizer.hpp"
[tool.semiwrap.extension_modules."wpimath._controls._controls"]
name = "wpimath_controls"
wraps = ["robotpy-native-wpimath"]
depends = ["wpimath", "wpimath_geometry", "wpimath_kinematics", "wpimath_spline"]
yaml_path = "semiwrap/controls"
[tool.semiwrap.extension_modules."wpimath._controls._controls".headers]
# wpi/math/controller
ArmFeedforward = "wpi/math/controller/ArmFeedforward.hpp"
BangBangController = "wpi/math/controller/BangBangController.hpp"
@@ -1609,15 +1494,71 @@ SwerveDrivePoseEstimator3d = "wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp"
# UnscentedKalmanFilter = "wpi/math/estimator/UnscentedKalmanFilter.hpp"
# UnscentedTransform = "wpi/math/estimator/UnscentedTransform.hpp"
# wpi/math/filter
Debouncer = "wpi/math/filter/Debouncer.hpp"
LinearFilter = "wpi/math/filter/LinearFilter.hpp"
MedianFilter = "wpi/math/filter/MedianFilter.hpp"
SlewRateLimiter = "wpi/math/filter/SlewRateLimiter.hpp"
# wpi/math/geometry
CoordinateAxis = "wpi/math/geometry/CoordinateAxis.hpp"
CoordinateSystem = "wpi/math/geometry/CoordinateSystem.hpp"
Ellipse2d = "wpi/math/geometry/Ellipse2d.hpp"
Pose2d = "wpi/math/geometry/Pose2d.hpp"
Pose3d = "wpi/math/geometry/Pose3d.hpp"
Quaternion = "wpi/math/geometry/Quaternion.hpp"
Rectangle2d = "wpi/math/geometry/Rectangle2d.hpp"
Rotation2d = "wpi/math/geometry/Rotation2d.hpp"
Rotation3d = "wpi/math/geometry/Rotation3d.hpp"
Transform2d = "wpi/math/geometry/Transform2d.hpp"
Transform3d = "wpi/math/geometry/Transform3d.hpp"
Translation2d = "wpi/math/geometry/Translation2d.hpp"
Translation3d = "wpi/math/geometry/Translation3d.hpp"
Twist2d = "wpi/math/geometry/Twist2d.hpp"
Twist3d = "wpi/math/geometry/Twist3d.hpp"
# wpi/math/interpolation
TimeInterpolatableBuffer = "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
# wpi/math/kinematics
ChassisSpeeds = "wpi/math/kinematics/ChassisSpeeds.hpp"
ChassisAccelerations = "wpi/math/kinematics/ChassisAccelerations.hpp"
DifferentialDriveKinematics = "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
DifferentialDriveOdometry3d = "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"
DifferentialDriveOdometry = "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
DifferentialDriveWheelPositions = "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
DifferentialDriveWheelSpeeds = "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
DifferentialDriveWheelAccelerations = "wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp"
Kinematics = "wpi/math/kinematics/Kinematics.hpp"
MecanumDriveKinematics = "wpi/math/kinematics/MecanumDriveKinematics.hpp"
MecanumDriveOdometry = "wpi/math/kinematics/MecanumDriveOdometry.hpp"
MecanumDriveOdometry3d = "wpi/math/kinematics/MecanumDriveOdometry3d.hpp"
MecanumDriveWheelPositions = "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
MecanumDriveWheelSpeeds = "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
MecanumDriveWheelAccelerations = "wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp"
Odometry = "wpi/math/kinematics/Odometry.hpp"
Odometry3d = "wpi/math/kinematics/Odometry3d.hpp"
SwerveDriveKinematics = "wpi/math/kinematics/SwerveDriveKinematics.hpp"
SwerveDriveOdometry = "wpi/math/kinematics/SwerveDriveOdometry.hpp"
SwerveDriveOdometry3d = "wpi/math/kinematics/SwerveDriveOdometry3d.hpp"
SwerveModulePosition = "wpi/math/kinematics/SwerveModulePosition.hpp"
SwerveModuleState = "wpi/math/kinematics/SwerveModuleState.hpp"
SwerveModuleAcceleration = "wpi/math/kinematics/SwerveModuleAcceleration.hpp"
# wpi/math/optimization
SimulatedAnnealing = "wpi/math/optimization/SimulatedAnnealing.hpp"
# wpi/math/random
# Normal = "wpi/math/random/Normal.hpp"
# wpi/math/path
TravelingSalesman = "wpi/math/path/TravelingSalesman.hpp"
# wpi/math/spline
CubicHermiteSpline = "wpi/math/spline/CubicHermiteSpline.hpp"
QuinticHermiteSpline = "wpi/math/spline/QuinticHermiteSpline.hpp"
Spline = "wpi/math/spline/Spline.hpp"
SplineHelper = "wpi/math/spline/SplineHelper.hpp"
SplineParameterizer = "wpi/math/spline/SplineParameterizer.hpp"
# wpi/math/system
# Discretization = "wpi/math/system/Discretization.hpp"
LinearSystem = "wpi/math/system/LinearSystem.hpp"

3
wpimath/src/main/python/semiwrap/controls/ArmFeedforward.yml → wpimath/src/main/python/semiwrap/ArmFeedforward.yml
View File

@@ -1,6 +1,3 @@
defaults:
subpackage: controller
classes:
wpi::math::ArmFeedforward:
force_type_casters:

3
wpimath/src/main/python/semiwrap/controls/BangBangController.yml → wpimath/src/main/python/semiwrap/BangBangController.yml
View File

@@ -1,6 +1,3 @@
defaults:
subpackage: controller
classes:
wpi::math::BangBangController:
ignored_bases:

3
wpimath/src/main/python/semiwrap/controls/CentripetalAccelerationConstraint.yml → wpimath/src/main/python/semiwrap/CentripetalAccelerationConstraint.yml
View File

@@ -1,6 +1,3 @@
defaults:
subpackage: constraint
classes:
wpi::math::CentripetalAccelerationConstraint:
typealias:

0
wpimath/src/main/python/semiwrap/kinematics/ChassisAccelerations.yml → wpimath/src/main/python/semiwrap/ChassisAccelerations.yml
View File

0
wpimath/src/main/python/semiwrap/kinematics/ChassisSpeeds.yml → wpimath/src/main/python/semiwrap/ChassisSpeeds.yml
View File

3
wpimath/src/main/python/semiwrap/controls/ControlAffinePlantInversionFeedforward.yml → wpimath/src/main/python/semiwrap/ControlAffinePlantInversionFeedforward.yml
View File

@@ -1,6 +1,3 @@
defaults:
subpackage: controller
classes:
wpi::math::ControlAffinePlantInversionFeedforward:
template_params:

0
wpimath/src/main/python/semiwrap/geometry/CoordinateAxis.yml → wpimath/src/main/python/semiwrap/CoordinateAxis.yml
View File

Some files were not shown because too many files have changed in this diff Show More