From 40fb9ff56276e22fd29c4dba308908567d600142 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Wed, 31 Dec 2025 12:06:01 -0500 Subject: [PATCH] [copybara] mostrobotpy to allwpilib (#8503) 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 --- .../src/main/python/native-pyproject.toml | 2 +- apriltag/src/test/python/test_detection.py | 2 +- .../commands2/button/commandgenerichid.py | 3 +- .../commands2/button/commandjoystick.py | 3 +- .../commands2/button/commandps4controller.py | 3 +- .../commands2/button/commandxboxcontroller.py | 3 +- .../python/commands2/button/joystickbutton.py | 2 +- .../main/python/commands2/button/povbutton.py | 2 +- .../main/python/commands2/button/trigger.py | 4 +- .../main/python/commands2/commandscheduler.py | 2 +- .../src/main/python/commands2/pidcommand.py | 2 +- .../src/main/python/commands2/pidsubsystem.py | 2 +- .../python/commands2/profiledpidcommand.py | 3 +- .../python/commands2/profiledpidsubsystem.py | 2 +- .../commands2/trapezoidprofilesubsystem.py | 3 +- .../src/main/python/commands2/typing.py | 3 +- commandsv2/src/test/python/test_pidcommand.py | 9 +- .../test/python/test_profiledpidsubsystem.py | 3 +- .../python/test_trapezoidprofilecommand.py | 7 +- datalog/src/main/python/native-pyproject.toml | 2 +- hal/robotpy_pybind_build_info.bzl | 275 +- hal/src/main/python/native-pyproject.toml | 2 +- hal/src/main/python/pyproject.toml | 87 +- .../main/python/semiwrap/AddressableLED.yml | 9 - .../python/semiwrap/AddressableLEDTypes.yml | 14 - hal/src/main/python/semiwrap/AnalogInput.yml | 23 - hal/src/main/python/semiwrap/CAN.yml | 16 - hal/src/main/python/semiwrap/CANAPI.yml | 13 - hal/src/main/python/semiwrap/CTREPCM.yml | 26 - hal/src/main/python/semiwrap/Constants.yml | 5 - hal/src/main/python/semiwrap/Counter.yml | 12 - hal/src/main/python/semiwrap/DIO.yml | 22 - .../main/python/semiwrap/DashboardOpMode.yml | 6 - hal/src/main/python/semiwrap/DutyCycle.yml | 11 - hal/src/main/python/semiwrap/Encoder.yml | 31 - .../main/python/semiwrap/HandlesInternal.yml | 15 - hal/src/main/python/semiwrap/I2C.yml | 16 - hal/src/main/python/semiwrap/I2CTypes.yml | 6 - hal/src/main/python/semiwrap/PWM.yml | 11 - hal/src/main/python/semiwrap/Ports.yml | 22 - hal/src/main/python/semiwrap/Power.yml | 14 - .../python/semiwrap/PowerDistribution.yml | 105 - hal/src/main/python/semiwrap/REVPH.yml | 82 - hal/src/main/python/semiwrap/SerialPort.yml | 30 - .../simulation/AddressableLEDData.yml | 31 - .../semiwrap/simulation/AnalogInData.yml | 28 - .../semiwrap/simulation/CTREPCMData.yml | 47 - .../python/semiwrap/simulation/DIOData.yml | 33 - .../semiwrap/simulation/DigitalPWMData.yml | 23 - .../semiwrap/simulation/DutyCycleData.yml | 23 - .../semiwrap/simulation/EncoderData.yml | 60 - .../python/semiwrap/simulation/PWMData.yml | 25 - .../simulation/PowerDistributionData.yml | 29 - .../python/semiwrap/simulation/REVPHData.yml | 41 - .../semiwrap/simulation/RoboRioData.yml | 97 - ntcore/src/main/python/native-pyproject.toml | 2 +- romiVendordep/robotpy_pybind_build_info.bzl | 4 +- .../src/main/python/native-pyproject.toml | 2 +- romiVendordep/src/main/python/pyproject.toml | 2 +- wpilibc/BUILD.bazel | 22 +- wpilibc/robotpy_pybind_build_info.bzl | 491 +-- wpilibc/src/main/python/native-pyproject.toml | 2 +- wpilibc/src/main/python/pyproject.toml | 65 +- .../main/python/semiwrap/AddressableLED.yml | 13 +- .../semiwrap/{event => }/BooleanEvent.yml | 0 .../src/main/python/semiwrap/CounterBase.yml | 3 - .../{drive => }/DifferentialDrive.yml | 0 .../{counter => }/EdgeConfiguration.yml | 0 .../python/semiwrap/{event => }/EventLoop.yml | 0 .../src/main/python/semiwrap/GenericHID.yml | 3 - .../semiwrap/{drive => }/MecanumDrive.yml | 0 .../main/python/semiwrap/MotorController.yml | 3 - .../{event => }/NetworkBooleanEvent.yml | 0 .../semiwrap/{drive => }/RobotDriveBase.yml | 0 .../semiwrap/{counter => }/Tachometer.yml | 0 .../semiwrap/{counter => }/UpDownCounter.yml | 0 .../semiwrap/simulation/AddressableLEDSim.yml | 25 + wpilibc/src/main/python/wpilib/__init__.py | 27 +- .../main/python/wpilib/counter/__init__.py | 6 - .../main/python/wpilib/counter/counter.cpp | 7 - .../src/main/python/wpilib/drive/__init__.py | 8 - .../src/main/python/wpilib/drive/drive.cpp | 7 - .../src/main/python/wpilib/event/__init__.py | 6 - .../src/main/python/wpilib/event/event.cpp | 7 - .../main/python/wpilib/interfaces/__init__.py | 4 - .../main/python/wpilib/simulation/__init__.py | 3 - wpilibc/src/test/python/test_wpilib_drive.py | 5 - .../src/test/python/test_wpilib_interfaces.py | 5 - .../src/test/python/test_wpilib_simulation.py | 20 + wpimath/BUILD.bazel | 49 +- wpimath/robotpy_pybind_build_info.bzl | 2718 +++++++---------- wpimath/src/main/python/native-pyproject.toml | 2 +- wpimath/src/main/python/pyproject.toml | 185 +- .../{controls => }/ArmFeedforward.yml | 3 - .../{controls => }/BangBangController.yml | 3 - .../CentripetalAccelerationConstraint.yml | 3 - .../{kinematics => }/ChassisAccelerations.yml | 0 .../{kinematics => }/ChassisSpeeds.yml | 0 ...ControlAffinePlantInversionFeedforward.yml | 3 - .../{geometry => }/CoordinateAxis.yml | 0 .../{geometry => }/CoordinateSystem.yml | 0 .../{spline => }/CubicHermiteSpline.yml | 0 .../semiwrap/{controls => }/DCMotor.yml | 3 - .../semiwrap/{filter => }/Debouncer.yml | 0 .../DifferentialDriveAccelerationLimiter.yml | 3 - .../DifferentialDriveFeedforward.yml | 3 - .../DifferentialDriveKinematics.yml | 0 .../DifferentialDriveKinematicsConstraint.yml | 3 - .../DifferentialDriveOdometry.yml | 0 .../DifferentialDriveOdometry3d.yml | 0 .../DifferentialDrivePoseEstimator.yml | 3 - .../DifferentialDrivePoseEstimator3d.yml | 3 - .../DifferentialDriveVoltageConstraint.yml | 3 - .../DifferentialDriveWheelAccelerations.yml | 0 .../DifferentialDriveWheelPositions.yml | 0 .../DifferentialDriveWheelSpeeds.yml | 0 .../DifferentialDriveWheelVoltages.yml | 4 - .../{controls => }/ElevatorFeedforward.yml | 3 - .../semiwrap/{geometry => }/Ellipse2d.yml | 2 +- .../EllipticalRegionConstraint.yml | 3 - .../{controls => }/ExponentialProfile.yml | 3 - .../{controls => }/ExtendedKalmanFilter.yml | 3 - .../{controls => }/ImplicitModelFollower.yml | 3 - .../semiwrap/{controls => }/KalmanFilter.yml | 3 - .../semiwrap/{kinematics => }/Kinematics.yml | 0 .../LTVDifferentialDriveController.yml | 3 - .../{controls => }/LTVUnicycleController.yml | 3 - .../semiwrap/{filter => }/LinearFilter.yml | 0 .../LinearPlantInversionFeedforward.yml | 3 - .../LinearQuadraticRegulator.yml | 3 - .../semiwrap/{controls => }/LinearSystem.yml | 3 - .../{controls => }/LinearSystemId.yml | 3 - .../{controls => }/LinearSystemLoop.yml | 3 - .../{controls => }/MaxVelocityConstraint.yml | 3 - .../MecanumDriveKinematics.yml | 0 .../MecanumDriveKinematicsConstraint.yml | 3 - .../{kinematics => }/MecanumDriveOdometry.yml | 0 .../MecanumDriveOdometry3d.yml | 0 .../MecanumDrivePoseEstimator.yml | 3 - .../MecanumDrivePoseEstimator3d.yml | 3 - .../MecanumDriveWheelAccelerations.yml | 0 .../MecanumDriveWheelPositions.yml | 0 .../MecanumDriveWheelSpeeds.yml | 0 .../semiwrap/{filter => }/MedianFilter.yml | 0 .../semiwrap/{kinematics => }/Odometry.yml | 0 .../semiwrap/{kinematics => }/Odometry3d.yml | 0 .../semiwrap/{controls => }/PIDController.yml | 3 - .../python/semiwrap/{geometry => }/Pose2d.yml | 2 +- .../python/semiwrap/{geometry => }/Pose3d.yml | 2 +- .../semiwrap/{controls => }/PoseEstimator.yml | 3 - .../{controls => }/PoseEstimator3d.yml | 3 - .../{controls => }/ProfiledPIDController.yml | 3 - .../semiwrap/{geometry => }/Quaternion.yml | 2 +- .../{spline => }/QuinticHermiteSpline.yml | 0 .../semiwrap/{geometry => }/Rectangle2d.yml | 2 +- .../RectangularRegionConstraint.yml | 3 - .../semiwrap/{geometry => }/Rotation2d.yml | 2 +- .../semiwrap/{geometry => }/Rotation3d.yml | 2 +- .../{controls => }/SimpleMotorFeedforward.yml | 3 - .../{controls => }/SimulatedAnnealing.yml | 3 - .../semiwrap/{filter => }/SlewRateLimiter.yml | 0 .../python/semiwrap/{spline => }/Spline.yml | 0 .../semiwrap/{spline => }/SplineHelper.yml | 0 .../{spline => }/SplineParameterizer.yml | 0 .../SwerveDriveKinematics.yml | 0 .../SwerveDriveKinematicsConstraint.yml | 3 - .../{kinematics => }/SwerveDriveOdometry.yml | 0 .../SwerveDriveOdometry3d.yml | 0 .../SwerveDrivePoseEstimator.yml | 3 - .../SwerveDrivePoseEstimator3d.yml | 3 - .../SwerveModuleAcceleration.yml | 0 .../{kinematics => }/SwerveModulePosition.yml | 0 .../{kinematics => }/SwerveModuleState.yml | 0 .../TimeInterpolatableBuffer.yml | 0 .../semiwrap/{controls => }/Trajectory.yml | 5 +- .../{controls => }/TrajectoryConfig.yml | 3 - .../{controls => }/TrajectoryConstraint.yml | 3 - .../{controls => }/TrajectoryGenerator.yml | 3 - .../TrajectoryParameterizer.yml | 3 - .../semiwrap/{geometry => }/Transform2d.yml | 2 +- .../semiwrap/{geometry => }/Transform3d.yml | 2 +- .../semiwrap/{geometry => }/Translation2d.yml | 2 +- .../semiwrap/{geometry => }/Translation3d.yml | 2 +- .../{controls => }/TrapezoidProfile.yml | 3 - .../{controls => }/TravelingSalesman.yml | 3 - .../semiwrap/{geometry => }/Twist2d.yml | 0 .../semiwrap/{geometry => }/Twist3d.yml | 0 wpimath/src/main/python/wpimath/__init__.py | 361 ++- .../main/python/wpimath/_controls/__init__.py | 1 - .../python/wpimath/_controls/controls.cpp | 7 - .../_impl/src/PyTrajectoryConstraint.h | 2 +- .../rpy => _impl/src}/geometryToString.h | 0 .../python/wpimath/controller/__init__.py | 60 - .../main/python/wpimath/estimator/__init__.py | 72 - .../main/python/wpimath/filter/__init__.py | 6 - .../src/main/python/wpimath/filter/filter.cpp | 7 - .../main/python/wpimath/geometry/__init__.py | 38 - .../main/python/wpimath/geometry/geometry.cpp | 7 - .../python/wpimath/interpolation/__init__.py | 22 - .../wpimath/interpolation/interpolation.cpp | 7 - .../python/wpimath/kinematics/__init__.py | 102 - .../python/wpimath/kinematics/kinematics.cpp | 7 - .../python/wpimath/optimization/__init__.py | 4 - .../src/main/python/wpimath/path/__init__.py | 4 - .../main/python/wpimath/spline/__init__.py | 20 - .../src/main/python/wpimath/spline/spline.cpp | 7 - .../main/python/wpimath/system/__init__.py | 40 - .../python/wpimath/system/plant/__init__.py | 3 - .../python/wpimath/trajectory/__init__.py | 20 - .../wpimath/trajectory/constraint/__init__.py | 30 - .../test/python/geometry/test_rotation2d.py | 2 +- .../kinematics/test_chassis_accelerations.py | 119 - .../python/kinematics/test_chassis_speeds.py | 3 +- ..._differential_drive_wheel_accelerations.py | 2 +- .../test_mecanum_drive_wheel_accelerations.py | 2 +- .../src/test/python/kinematics/test_swerve.py | 6 +- .../test_swerve_module_accelerations.py | 3 +- wpimath/src/test/python/test_controller.py | 5 - wpimath/src/test/python/test_estimator.py | 5 - wpimath/src/test/python/test_interpolation.py | 5 +- .../test_optimization_simulated_annealing.py | 2 +- wpimath/src/test/python/test_spline.py | 5 - wpimath/src/test/python/test_system.py | 6 - wpimath/src/test/python/test_trajectory.py | 21 +- .../test_trajectory_exponential_profile.py | 3 +- .../src/test/python/test_trapezoid_profile.py | 6 +- .../trajectory/test_trapezoidal_profile.py | 2 +- wpinet/src/main/python/native-pyproject.toml | 2 +- wpiutil/src/main/python/native-pyproject.toml | 2 +- xrpVendordep/robotpy_pybind_build_info.bzl | 4 +- .../src/main/python/native-pyproject.toml | 2 +- xrpVendordep/src/main/python/pyproject.toml | 4 +- xrpVendordep/src/main/python/xrp/xrp.pc | 2 +- 233 files changed, 1796 insertions(+), 4455 deletions(-) delete mode 100644 hal/src/main/python/semiwrap/AddressableLED.yml delete mode 100644 hal/src/main/python/semiwrap/AddressableLEDTypes.yml delete mode 100644 hal/src/main/python/semiwrap/AnalogInput.yml delete mode 100644 hal/src/main/python/semiwrap/CAN.yml delete mode 100644 hal/src/main/python/semiwrap/CANAPI.yml delete mode 100644 hal/src/main/python/semiwrap/CTREPCM.yml delete mode 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wpimath/src/main/python/semiwrap/{controls => }/SimulatedAnnealing.yml (88%) rename wpimath/src/main/python/semiwrap/{filter => }/SlewRateLimiter.yml (100%) rename wpimath/src/main/python/semiwrap/{spline => }/Spline.yml (100%) rename wpimath/src/main/python/semiwrap/{spline => }/SplineHelper.yml (100%) rename wpimath/src/main/python/semiwrap/{spline => }/SplineParameterizer.yml (100%) rename wpimath/src/main/python/semiwrap/{kinematics => }/SwerveDriveKinematics.yml (100%) rename wpimath/src/main/python/semiwrap/{controls => }/SwerveDriveKinematicsConstraint.yml (96%) rename wpimath/src/main/python/semiwrap/{kinematics => }/SwerveDriveOdometry.yml (100%) rename wpimath/src/main/python/semiwrap/{kinematics => }/SwerveDriveOdometry3d.yml (100%) rename wpimath/src/main/python/semiwrap/{controls => }/SwerveDrivePoseEstimator.yml (98%) rename wpimath/src/main/python/semiwrap/{controls => }/SwerveDrivePoseEstimator3d.yml (96%) rename wpimath/src/main/python/semiwrap/{kinematics => }/SwerveModuleAcceleration.yml (100%) rename wpimath/src/main/python/semiwrap/{kinematics => }/SwerveModulePosition.yml (100%) rename wpimath/src/main/python/semiwrap/{kinematics => }/SwerveModuleState.yml (100%) rename wpimath/src/main/python/semiwrap/{interpolation => }/TimeInterpolatableBuffer.yml (100%) rename wpimath/src/main/python/semiwrap/{controls => }/Trajectory.yml (96%) rename wpimath/src/main/python/semiwrap/{controls => }/TrajectoryConfig.yml (98%) rename wpimath/src/main/python/semiwrap/{controls => }/TrajectoryConstraint.yml (97%) rename wpimath/src/main/python/semiwrap/{controls => }/TrajectoryGenerator.yml (95%) rename wpimath/src/main/python/semiwrap/{controls => }/TrajectoryParameterizer.yml (82%) rename wpimath/src/main/python/semiwrap/{geometry => }/Transform2d.yml (98%) rename wpimath/src/main/python/semiwrap/{geometry => }/Transform3d.yml (98%) rename wpimath/src/main/python/semiwrap/{geometry => }/Translation2d.yml (98%) rename wpimath/src/main/python/semiwrap/{geometry => }/Translation3d.yml (99%) rename wpimath/src/main/python/semiwrap/{controls => }/TrapezoidProfile.yml (98%) rename wpimath/src/main/python/semiwrap/{controls => }/TravelingSalesman.yml (91%) rename wpimath/src/main/python/semiwrap/{geometry => }/Twist2d.yml (100%) rename wpimath/src/main/python/semiwrap/{geometry => }/Twist3d.yml (100%) delete mode 100644 wpimath/src/main/python/wpimath/_controls/__init__.py delete mode 100644 wpimath/src/main/python/wpimath/_controls/controls.cpp rename wpimath/src/main/python/wpimath/{geometry/include/rpy => _impl/src}/geometryToString.h (100%) delete mode 100644 wpimath/src/main/python/wpimath/controller/__init__.py delete mode 100644 wpimath/src/main/python/wpimath/estimator/__init__.py delete mode 100644 wpimath/src/main/python/wpimath/filter/__init__.py delete mode 100644 wpimath/src/main/python/wpimath/filter/filter.cpp delete mode 100644 wpimath/src/main/python/wpimath/geometry/__init__.py delete mode 100644 wpimath/src/main/python/wpimath/geometry/geometry.cpp delete mode 100644 wpimath/src/main/python/wpimath/interpolation/__init__.py delete mode 100644 wpimath/src/main/python/wpimath/interpolation/interpolation.cpp delete mode 100644 wpimath/src/main/python/wpimath/kinematics/__init__.py delete mode 100644 wpimath/src/main/python/wpimath/kinematics/kinematics.cpp delete mode 100644 wpimath/src/main/python/wpimath/optimization/__init__.py delete mode 100644 wpimath/src/main/python/wpimath/path/__init__.py delete mode 100644 wpimath/src/main/python/wpimath/spline/__init__.py delete mode 100644 wpimath/src/main/python/wpimath/spline/spline.cpp delete mode 100644 wpimath/src/main/python/wpimath/system/__init__.py delete mode 100644 wpimath/src/main/python/wpimath/system/plant/__init__.py delete mode 100644 wpimath/src/main/python/wpimath/trajectory/__init__.py delete mode 100644 wpimath/src/main/python/wpimath/trajectory/constraint/__init__.py delete mode 100644 wpimath/src/test/python/kinematics/test_chassis_accelerations.py delete mode 100644 wpimath/src/test/python/test_controller.py delete mode 100644 wpimath/src/test/python/test_estimator.py delete mode 100644 wpimath/src/test/python/test_spline.py delete mode 100644 wpimath/src/test/python/test_system.py diff --git a/apriltag/src/main/python/native-pyproject.toml b/apriltag/src/main/python/native-pyproject.toml index 5142db2c9f..46e22485f4 100644 --- a/apriltag/src/main/python/native-pyproject.toml +++ b/apriltag/src/main/python/native-pyproject.toml @@ -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" diff --git a/apriltag/src/test/python/test_detection.py b/apriltag/src/test/python/test_detection.py index c323120a91..a0c97ac1cc 100644 --- a/apriltag/src/test/python/test_detection.py +++ b/apriltag/src/test/python/test_detection.py @@ -1,6 +1,6 @@ import cv2 import robotpy_apriltag -from wpimath.geometry import Transform3d +from wpimath import Transform3d import math import pathlib diff --git a/commandsv2/src/main/python/commands2/button/commandgenerichid.py b/commandsv2/src/main/python/commands2/button/commandgenerichid.py index 96eaf93e8e..61561de955 100644 --- a/commandsv2/src/main/python/commands2/button/commandgenerichid.py +++ b/commandsv2/src/main/python/commands2/button/commandgenerichid.py @@ -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 diff --git a/commandsv2/src/main/python/commands2/button/commandjoystick.py b/commandsv2/src/main/python/commands2/button/commandjoystick.py index 0b43d8d2ec..0e8f0ad129 100644 --- a/commandsv2/src/main/python/commands2/button/commandjoystick.py +++ b/commandsv2/src/main/python/commands2/button/commandjoystick.py @@ -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 diff --git a/commandsv2/src/main/python/commands2/button/commandps4controller.py b/commandsv2/src/main/python/commands2/button/commandps4controller.py index 8703ef82dd..4e6e70353c 100644 --- a/commandsv2/src/main/python/commands2/button/commandps4controller.py +++ b/commandsv2/src/main/python/commands2/button/commandps4controller.py @@ -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 diff --git a/commandsv2/src/main/python/commands2/button/commandxboxcontroller.py b/commandsv2/src/main/python/commands2/button/commandxboxcontroller.py index 926883c6ce..f5034a0502 100644 --- a/commandsv2/src/main/python/commands2/button/commandxboxcontroller.py +++ b/commandsv2/src/main/python/commands2/button/commandxboxcontroller.py @@ -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 diff --git a/commandsv2/src/main/python/commands2/button/joystickbutton.py b/commandsv2/src/main/python/commands2/button/joystickbutton.py index 0fbb2b4a54..4edd68d59f 100644 --- a/commandsv2/src/main/python/commands2/button/joystickbutton.py +++ b/commandsv2/src/main/python/commands2/button/joystickbutton.py @@ -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 diff --git a/commandsv2/src/main/python/commands2/button/povbutton.py b/commandsv2/src/main/python/commands2/button/povbutton.py index d7114dfdf7..5696dcdf36 100644 --- a/commandsv2/src/main/python/commands2/button/povbutton.py +++ b/commandsv2/src/main/python/commands2/button/povbutton.py @@ -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 diff --git a/commandsv2/src/main/python/commands2/button/trigger.py b/commandsv2/src/main/python/commands2/button/trigger.py index 16127068cd..85f65f3052 100644 --- a/commandsv2/src/main/python/commands2/button/trigger.py +++ b/commandsv2/src/main/python/commands2/button/trigger.py @@ -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 diff --git a/commandsv2/src/main/python/commands2/commandscheduler.py b/commandsv2/src/main/python/commands2/commandscheduler.py index 908395ca40..d1203c8a4d 100644 --- a/commandsv2/src/main/python/commands2/commandscheduler.py +++ b/commandsv2/src/main/python/commands2/commandscheduler.py @@ -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 diff --git a/commandsv2/src/main/python/commands2/pidcommand.py b/commandsv2/src/main/python/commands2/pidcommand.py index 325dec52d2..f4d1c607f5 100644 --- a/commandsv2/src/main/python/commands2/pidcommand.py +++ b/commandsv2/src/main/python/commands2/pidcommand.py @@ -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): diff --git a/commandsv2/src/main/python/commands2/pidsubsystem.py b/commandsv2/src/main/python/commands2/pidsubsystem.py index b875efdcfb..7be1f47f0f 100644 --- a/commandsv2/src/main/python/commands2/pidsubsystem.py +++ b/commandsv2/src/main/python/commands2/pidsubsystem.py @@ -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 diff --git a/commandsv2/src/main/python/commands2/profiledpidcommand.py b/commandsv2/src/main/python/commands2/profiledpidcommand.py index d7ce298b05..50812d4367 100644 --- a/commandsv2/src/main/python/commands2/profiledpidcommand.py +++ b/commandsv2/src/main/python/commands2/profiledpidcommand.py @@ -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 diff --git a/commandsv2/src/main/python/commands2/profiledpidsubsystem.py b/commandsv2/src/main/python/commands2/profiledpidsubsystem.py index 4a05baa77b..357a479db5 100644 --- a/commandsv2/src/main/python/commands2/profiledpidsubsystem.py +++ b/commandsv2/src/main/python/commands2/profiledpidsubsystem.py @@ -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 diff --git a/commandsv2/src/main/python/commands2/trapezoidprofilesubsystem.py b/commandsv2/src/main/python/commands2/trapezoidprofilesubsystem.py index 8efb263280..49411b6907 100644 --- a/commandsv2/src/main/python/commands2/trapezoidprofilesubsystem.py +++ b/commandsv2/src/main/python/commands2/trapezoidprofilesubsystem.py @@ -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 diff --git a/commandsv2/src/main/python/commands2/typing.py b/commandsv2/src/main/python/commands2/typing.py index 616833085a..6a3c8ac6f9 100644 --- a/commandsv2/src/main/python/commands2/typing.py +++ b/commandsv2/src/main/python/commands2/typing.py @@ -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( diff --git a/commandsv2/src/test/python/test_pidcommand.py b/commandsv2/src/test/python/test_pidcommand.py index 5ba51650b3..0c6f073194 100644 --- a/commandsv2/src/test/python/test_pidcommand.py +++ b/commandsv2/src/test/python/test_pidcommand.py @@ -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, diff --git a/commandsv2/src/test/python/test_profiledpidsubsystem.py b/commandsv2/src/test/python/test_profiledpidsubsystem.py index 8b896f3c1d..279d00bc4e 100644 --- a/commandsv2/src/test/python/test_profiledpidsubsystem.py +++ b/commandsv2/src/test/python/test_profiledpidsubsystem.py @@ -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 diff --git a/commandsv2/src/test/python/test_trapezoidprofilecommand.py b/commandsv2/src/test/python/test_trapezoidprofilecommand.py index 730fc821c3..4dd31aac0a 100644 --- a/commandsv2/src/test/python/test_trapezoidprofilecommand.py +++ b/commandsv2/src/test/python/test_trapezoidprofilecommand.py @@ -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 diff --git a/datalog/src/main/python/native-pyproject.toml b/datalog/src/main/python/native-pyproject.toml index 901ccd2103..968ca48dd5 100644 --- a/datalog/src/main/python/native-pyproject.toml +++ b/datalog/src/main/python/native-pyproject.toml @@ -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" diff --git a/hal/robotpy_pybind_build_info.bzl b/hal/robotpy_pybind_build_info.bzl index 4c784538fd..eac6f28fcc 100644 --- a/hal/robotpy_pybind_build_info.bzl +++ b/hal/robotpy_pybind_build_info.bzl @@ -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 = [], ), diff --git a/hal/src/main/python/native-pyproject.toml b/hal/src/main/python/native-pyproject.toml index bac1bc0098..7180e9356e 100644 --- a/hal/src/main/python/native-pyproject.toml +++ b/hal/src/main/python/native-pyproject.toml @@ -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" diff --git a/hal/src/main/python/pyproject.toml b/hal/src/main/python/pyproject.toml index a8c3d1cbd8..41c57f8a19 100644 --- a/hal/src/main/python/pyproject.toml +++ b/hal/src/main/python/pyproject.toml @@ -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" diff --git a/hal/src/main/python/semiwrap/AddressableLED.yml b/hal/src/main/python/semiwrap/AddressableLED.yml deleted file mode 100644 index b211a42ac3..0000000000 --- a/hal/src/main/python/semiwrap/AddressableLED.yml +++ /dev/null @@ -1,9 +0,0 @@ -strip_prefixes: -- HAL_ - -functions: - HAL_InitializeAddressableLED: - HAL_FreeAddressableLED: - HAL_SetAddressableLEDLength: - HAL_SetAddressableLEDStart: - HAL_SetAddressableLEDData: diff --git a/hal/src/main/python/semiwrap/AddressableLEDTypes.yml b/hal/src/main/python/semiwrap/AddressableLEDTypes.yml deleted file mode 100644 index e53f0a0dab..0000000000 --- a/hal/src/main/python/semiwrap/AddressableLEDTypes.yml +++ /dev/null @@ -1,14 +0,0 @@ -strip_prefixes: -- HAL_ - -classes: - HAL_AddressableLEDData: - attributes: - b: - g: - r: -enums: - HAL_AddressableLEDColorOrder: -functions: - format_as: - ignore: true diff --git a/hal/src/main/python/semiwrap/AnalogInput.yml b/hal/src/main/python/semiwrap/AnalogInput.yml deleted file mode 100644 index c1e831f142..0000000000 --- a/hal/src/main/python/semiwrap/AnalogInput.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/CAN.yml b/hal/src/main/python/semiwrap/CAN.yml deleted file mode 100644 index 5ee43184a3..0000000000 --- a/hal/src/main/python/semiwrap/CAN.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/CANAPI.yml b/hal/src/main/python/semiwrap/CANAPI.yml deleted file mode 100644 index 146c19e50f..0000000000 --- a/hal/src/main/python/semiwrap/CANAPI.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/CTREPCM.yml b/hal/src/main/python/semiwrap/CTREPCM.yml deleted file mode 100644 index 9414932395..0000000000 --- a/hal/src/main/python/semiwrap/CTREPCM.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/Constants.yml b/hal/src/main/python/semiwrap/Constants.yml deleted file mode 100644 index bf0a5b4b86..0000000000 --- a/hal/src/main/python/semiwrap/Constants.yml +++ /dev/null @@ -1,5 +0,0 @@ -strip_prefixes: -- HAL_ - -functions: - HAL_GetSystemClockTicksPerMicrosecond: diff --git a/hal/src/main/python/semiwrap/Counter.yml b/hal/src/main/python/semiwrap/Counter.yml deleted file mode 100644 index 70389caa1e..0000000000 --- a/hal/src/main/python/semiwrap/Counter.yml +++ /dev/null @@ -1,12 +0,0 @@ -strip_prefixes: -- HAL_ - -functions: - HAL_InitializeCounter: - HAL_FreeCounter: - HAL_ResetCounter: - HAL_GetCounter: - HAL_GetCounterPeriod: - HAL_SetCounterMaxPeriod: - HAL_GetCounterStopped: - HAL_SetCounterEdgeConfiguration: diff --git a/hal/src/main/python/semiwrap/DIO.yml b/hal/src/main/python/semiwrap/DIO.yml deleted file mode 100644 index 6bae8e7574..0000000000 --- a/hal/src/main/python/semiwrap/DIO.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/DashboardOpMode.yml b/hal/src/main/python/semiwrap/DashboardOpMode.yml deleted file mode 100644 index 34f684159c..0000000000 --- a/hal/src/main/python/semiwrap/DashboardOpMode.yml +++ /dev/null @@ -1,6 +0,0 @@ -functions: - InitializeDashboardOpMode: - SetDashboardOpModeOptions: - StartDashboardOpMode: - EnableDashboardOpMode: - GetDashboardSelectedOpMode: diff --git a/hal/src/main/python/semiwrap/DutyCycle.yml b/hal/src/main/python/semiwrap/DutyCycle.yml deleted file mode 100644 index b3369df5de..0000000000 --- a/hal/src/main/python/semiwrap/DutyCycle.yml +++ /dev/null @@ -1,11 +0,0 @@ -strip_prefixes: -- HAL_ - -functions: - HAL_InitializeDutyCycle: - HAL_FreeDutyCycle: - HAL_SetDutyCycleSimDevice: - ifndef: __FRC_SYSTEMCORE__ - HAL_GetDutyCycleFrequency: - HAL_GetDutyCycleOutput: - HAL_GetDutyCycleHighTime: diff --git a/hal/src/main/python/semiwrap/Encoder.yml b/hal/src/main/python/semiwrap/Encoder.yml deleted file mode 100644 index 3e440e11ba..0000000000 --- a/hal/src/main/python/semiwrap/Encoder.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/HandlesInternal.yml b/hal/src/main/python/semiwrap/HandlesInternal.yml deleted file mode 100644 index 8fd81e0f97..0000000000 --- a/hal/src/main/python/semiwrap/HandlesInternal.yml +++ /dev/null @@ -1,15 +0,0 @@ -strip_prefixes: -- HAL_ - -enums: - HAL_HandleEnum: -functions: - getHandleIndex: - getHandleType: - isHandleType: - isHandleCorrectVersion: - getHandleTypedIndex: - createHandle: -classes: - wpi::hal::HandleBase: - ignore: true diff --git a/hal/src/main/python/semiwrap/I2C.yml b/hal/src/main/python/semiwrap/I2C.yml deleted file mode 100644 index 9a6e020701..0000000000 --- a/hal/src/main/python/semiwrap/I2C.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/I2CTypes.yml b/hal/src/main/python/semiwrap/I2CTypes.yml deleted file mode 100644 index 6286d100e5..0000000000 --- a/hal/src/main/python/semiwrap/I2CTypes.yml +++ /dev/null @@ -1,6 +0,0 @@ -strip_prefixes: -- HAL_ - -enums: - HAL_I2CPort: - value_prefix: HAL_I2C diff --git a/hal/src/main/python/semiwrap/PWM.yml b/hal/src/main/python/semiwrap/PWM.yml deleted file mode 100644 index 099db20b32..0000000000 --- a/hal/src/main/python/semiwrap/PWM.yml +++ /dev/null @@ -1,11 +0,0 @@ -strip_prefixes: -- HAL_ - -functions: - HAL_InitializePWMPort: - HAL_FreePWMPort: - HAL_CheckPWMChannel: - HAL_SetPWMPulseTimeMicroseconds: - HAL_GetPWMPulseTimeMicroseconds: - HAL_SetPWMSimDevice: - HAL_SetPWMOutputPeriod: diff --git a/hal/src/main/python/semiwrap/Ports.yml b/hal/src/main/python/semiwrap/Ports.yml deleted file mode 100644 index f3e422dd42..0000000000 --- a/hal/src/main/python/semiwrap/Ports.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/Power.yml b/hal/src/main/python/semiwrap/Power.yml deleted file mode 100644 index a133b8886d..0000000000 --- a/hal/src/main/python/semiwrap/Power.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/PowerDistribution.yml b/hal/src/main/python/semiwrap/PowerDistribution.yml deleted file mode 100644 index 271495d7a7..0000000000 --- a/hal/src/main/python/semiwrap/PowerDistribution.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/REVPH.yml b/hal/src/main/python/semiwrap/REVPH.yml deleted file mode 100644 index 32532b9c18..0000000000 --- a/hal/src/main/python/semiwrap/REVPH.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/SerialPort.yml b/hal/src/main/python/semiwrap/SerialPort.yml deleted file mode 100644 index fb197b3dd3..0000000000 --- a/hal/src/main/python/semiwrap/SerialPort.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/simulation/AddressableLEDData.yml b/hal/src/main/python/semiwrap/simulation/AddressableLEDData.yml deleted file mode 100644 index 324cd325cb..0000000000 --- a/hal/src/main/python/semiwrap/simulation/AddressableLEDData.yml +++ /dev/null @@ -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 diff --git a/hal/src/main/python/semiwrap/simulation/AnalogInData.yml b/hal/src/main/python/semiwrap/simulation/AnalogInData.yml deleted file mode 100644 index 5b05933578..0000000000 --- a/hal/src/main/python/semiwrap/simulation/AnalogInData.yml +++ /dev/null @@ -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 diff --git a/hal/src/main/python/semiwrap/simulation/CTREPCMData.yml b/hal/src/main/python/semiwrap/simulation/CTREPCMData.yml deleted file mode 100644 index 10c8039370..0000000000 --- a/hal/src/main/python/semiwrap/simulation/CTREPCMData.yml +++ /dev/null @@ -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 diff --git a/hal/src/main/python/semiwrap/simulation/DIOData.yml b/hal/src/main/python/semiwrap/simulation/DIOData.yml deleted file mode 100644 index 54829bc36f..0000000000 --- a/hal/src/main/python/semiwrap/simulation/DIOData.yml +++ /dev/null @@ -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 diff --git a/hal/src/main/python/semiwrap/simulation/DigitalPWMData.yml b/hal/src/main/python/semiwrap/simulation/DigitalPWMData.yml deleted file mode 100644 index 0a32ac2229..0000000000 --- a/hal/src/main/python/semiwrap/simulation/DigitalPWMData.yml +++ /dev/null @@ -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 diff --git a/hal/src/main/python/semiwrap/simulation/DutyCycleData.yml b/hal/src/main/python/semiwrap/simulation/DutyCycleData.yml deleted file mode 100644 index f9eae6b356..0000000000 --- a/hal/src/main/python/semiwrap/simulation/DutyCycleData.yml +++ /dev/null @@ -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 diff --git a/hal/src/main/python/semiwrap/simulation/EncoderData.yml b/hal/src/main/python/semiwrap/simulation/EncoderData.yml deleted file mode 100644 index 94aba57c66..0000000000 --- a/hal/src/main/python/semiwrap/simulation/EncoderData.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/simulation/PWMData.yml b/hal/src/main/python/semiwrap/simulation/PWMData.yml deleted file mode 100644 index cd1c5b1a94..0000000000 --- a/hal/src/main/python/semiwrap/simulation/PWMData.yml +++ /dev/null @@ -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: diff --git a/hal/src/main/python/semiwrap/simulation/PowerDistributionData.yml b/hal/src/main/python/semiwrap/simulation/PowerDistributionData.yml deleted file mode 100644 index 5521218bd5..0000000000 --- a/hal/src/main/python/semiwrap/simulation/PowerDistributionData.yml +++ /dev/null @@ -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 diff --git a/hal/src/main/python/semiwrap/simulation/REVPHData.yml b/hal/src/main/python/semiwrap/simulation/REVPHData.yml deleted file mode 100644 index acaebf35e4..0000000000 --- a/hal/src/main/python/semiwrap/simulation/REVPHData.yml +++ /dev/null @@ -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 diff --git a/hal/src/main/python/semiwrap/simulation/RoboRioData.yml b/hal/src/main/python/semiwrap/simulation/RoboRioData.yml deleted file mode 100644 index e016fed574..0000000000 --- a/hal/src/main/python/semiwrap/simulation/RoboRioData.yml +++ /dev/null @@ -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: diff --git a/ntcore/src/main/python/native-pyproject.toml b/ntcore/src/main/python/native-pyproject.toml index b73ca9d10d..888d18292b 100644 --- a/ntcore/src/main/python/native-pyproject.toml +++ b/ntcore/src/main/python/native-pyproject.toml @@ -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" diff --git a/romiVendordep/robotpy_pybind_build_info.bzl b/romiVendordep/robotpy_pybind_build_info.bzl index 6521194588..b4fc3d776b 100644 --- a/romiVendordep/robotpy_pybind_build_info.bzl +++ b/romiVendordep/robotpy_pybind_build_info.bzl @@ -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", diff --git a/romiVendordep/src/main/python/native-pyproject.toml b/romiVendordep/src/main/python/native-pyproject.toml index c0cb43be65..0a96e8a6d1 100644 --- a/romiVendordep/src/main/python/native-pyproject.toml +++ b/romiVendordep/src/main/python/native-pyproject.toml @@ -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" diff --git a/romiVendordep/src/main/python/pyproject.toml b/romiVendordep/src/main/python/pyproject.toml index 3ebd3cce3a..1c332c5cd4 100644 --- a/romiVendordep/src/main/python/pyproject.toml +++ b/romiVendordep/src/main/python/pyproject.toml @@ -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] diff --git a/wpilibc/BUILD.bazel b/wpilibc/BUILD.bazel index 45a59e4e3b..f346d2a3ee 100644 --- a/wpilibc/BUILD.bazel +++ b/wpilibc/BUILD.bazel @@ -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([ diff --git a/wpilibc/robotpy_pybind_build_info.bzl b/wpilibc/robotpy_pybind_build_info.bzl index aa7ebf9e34..5b4def166d 100644 --- a/wpilibc/robotpy_pybind_build_info.bzl +++ b/wpilibc/robotpy_pybind_build_info.bzl @@ -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"], diff --git a/wpilibc/src/main/python/native-pyproject.toml b/wpilibc/src/main/python/native-pyproject.toml index ea21245916..70371e1eb1 100644 --- a/wpilibc/src/main/python/native-pyproject.toml +++ b/wpilibc/src/main/python/native-pyproject.toml @@ -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" diff --git a/wpilibc/src/main/python/pyproject.toml b/wpilibc/src/main/python/pyproject.toml index 4d2121048b..e22cbf5ae2 100644 --- a/wpilibc/src/main/python/pyproject.toml +++ b/wpilibc/src/main/python/pyproject.toml @@ -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] diff --git a/wpilibc/src/main/python/semiwrap/AddressableLED.yml b/wpilibc/src/main/python/semiwrap/AddressableLED.yml index ac6b1ec16c..3643f333a5 100644 --- a/wpilibc/src/main/python/semiwrap/AddressableLED.yml +++ b/wpilibc/src/main/python/semiwrap/AddressableLED.yml @@ -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; + }) + ; diff --git a/wpilibc/src/main/python/semiwrap/event/BooleanEvent.yml b/wpilibc/src/main/python/semiwrap/BooleanEvent.yml similarity index 100% rename from wpilibc/src/main/python/semiwrap/event/BooleanEvent.yml rename to wpilibc/src/main/python/semiwrap/BooleanEvent.yml diff --git a/wpilibc/src/main/python/semiwrap/CounterBase.yml b/wpilibc/src/main/python/semiwrap/CounterBase.yml index bb857f6b2f..c6b8641d2f 100644 --- a/wpilibc/src/main/python/semiwrap/CounterBase.yml +++ b/wpilibc/src/main/python/semiwrap/CounterBase.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: interfaces - classes: wpi::CounterBase: enums: diff --git a/wpilibc/src/main/python/semiwrap/drive/DifferentialDrive.yml b/wpilibc/src/main/python/semiwrap/DifferentialDrive.yml similarity index 100% rename from wpilibc/src/main/python/semiwrap/drive/DifferentialDrive.yml rename to wpilibc/src/main/python/semiwrap/DifferentialDrive.yml diff --git a/wpilibc/src/main/python/semiwrap/counter/EdgeConfiguration.yml b/wpilibc/src/main/python/semiwrap/EdgeConfiguration.yml similarity index 100% rename from wpilibc/src/main/python/semiwrap/counter/EdgeConfiguration.yml rename to wpilibc/src/main/python/semiwrap/EdgeConfiguration.yml diff --git a/wpilibc/src/main/python/semiwrap/event/EventLoop.yml b/wpilibc/src/main/python/semiwrap/EventLoop.yml similarity index 100% rename from wpilibc/src/main/python/semiwrap/event/EventLoop.yml rename to wpilibc/src/main/python/semiwrap/EventLoop.yml diff --git a/wpilibc/src/main/python/semiwrap/GenericHID.yml b/wpilibc/src/main/python/semiwrap/GenericHID.yml index 26fbfe277a..cc384ca931 100644 --- a/wpilibc/src/main/python/semiwrap/GenericHID.yml +++ b/wpilibc/src/main/python/semiwrap/GenericHID.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: interfaces - extra_includes: - wpi/driverstation/DriverStation.hpp - wpi/event/BooleanEvent.hpp diff --git a/wpilibc/src/main/python/semiwrap/drive/MecanumDrive.yml b/wpilibc/src/main/python/semiwrap/MecanumDrive.yml similarity index 100% rename from wpilibc/src/main/python/semiwrap/drive/MecanumDrive.yml rename to wpilibc/src/main/python/semiwrap/MecanumDrive.yml diff --git a/wpilibc/src/main/python/semiwrap/MotorController.yml b/wpilibc/src/main/python/semiwrap/MotorController.yml index 6f5aeab026..02f87c3f51 100644 --- a/wpilibc/src/main/python/semiwrap/MotorController.yml +++ b/wpilibc/src/main/python/semiwrap/MotorController.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: interfaces - classes: wpi::MotorController: methods: diff --git a/wpilibc/src/main/python/semiwrap/event/NetworkBooleanEvent.yml b/wpilibc/src/main/python/semiwrap/NetworkBooleanEvent.yml similarity index 100% rename from wpilibc/src/main/python/semiwrap/event/NetworkBooleanEvent.yml rename to wpilibc/src/main/python/semiwrap/NetworkBooleanEvent.yml diff --git a/wpilibc/src/main/python/semiwrap/drive/RobotDriveBase.yml b/wpilibc/src/main/python/semiwrap/RobotDriveBase.yml similarity index 100% rename from wpilibc/src/main/python/semiwrap/drive/RobotDriveBase.yml rename to wpilibc/src/main/python/semiwrap/RobotDriveBase.yml diff --git a/wpilibc/src/main/python/semiwrap/counter/Tachometer.yml b/wpilibc/src/main/python/semiwrap/Tachometer.yml similarity index 100% rename from wpilibc/src/main/python/semiwrap/counter/Tachometer.yml rename to wpilibc/src/main/python/semiwrap/Tachometer.yml diff --git a/wpilibc/src/main/python/semiwrap/counter/UpDownCounter.yml b/wpilibc/src/main/python/semiwrap/UpDownCounter.yml similarity index 100% rename from wpilibc/src/main/python/semiwrap/counter/UpDownCounter.yml rename to wpilibc/src/main/python/semiwrap/UpDownCounter.yml diff --git a/wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml b/wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml index ac48cce4fe..6794bc0cda 100644 --- a/wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml +++ b/wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml @@ -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 data(len); + self.GetData(data.data()); + return data; + } SetData: + param_override: + length: + ignore: true + cpp_code: | + [](wpi::sim::AddressableLEDSim &self, std::span &data) { + if (static_cast(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 diff --git a/wpilibc/src/main/python/wpilib/__init__.py b/wpilibc/src/main/python/wpilib/__init__.py index cbaece8d9e..3e483c75fe 100644 --- a/wpilibc/src/main/python/wpilib/__init__.py +++ b/wpilibc/src/main/python/wpilib/__init__.py @@ -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", diff --git a/wpilibc/src/main/python/wpilib/counter/__init__.py b/wpilibc/src/main/python/wpilib/counter/__init__.py deleted file mode 100644 index 756950c354..0000000000 --- a/wpilibc/src/main/python/wpilib/counter/__init__.py +++ /dev/null @@ -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"] diff --git a/wpilibc/src/main/python/wpilib/counter/counter.cpp b/wpilibc/src/main/python/wpilib/counter/counter.cpp deleted file mode 100644 index 7dbe6e455a..0000000000 --- a/wpilibc/src/main/python/wpilib/counter/counter.cpp +++ /dev/null @@ -1,7 +0,0 @@ - -#include "semiwrap_init.wpilib.counter._counter.hpp" - -SEMIWRAP_PYBIND11_MODULE(m) -{ - initWrapper(m); -} diff --git a/wpilibc/src/main/python/wpilib/drive/__init__.py b/wpilibc/src/main/python/wpilib/drive/__init__.py deleted file mode 100644 index 5c9b913e81..0000000000 --- a/wpilibc/src/main/python/wpilib/drive/__init__.py +++ /dev/null @@ -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 diff --git a/wpilibc/src/main/python/wpilib/drive/drive.cpp b/wpilibc/src/main/python/wpilib/drive/drive.cpp deleted file mode 100644 index 2ef4e0efd0..0000000000 --- a/wpilibc/src/main/python/wpilib/drive/drive.cpp +++ /dev/null @@ -1,7 +0,0 @@ - -#include "semiwrap_init.wpilib.drive._drive.hpp" - -SEMIWRAP_PYBIND11_MODULE(m) -{ - initWrapper(m); -} diff --git a/wpilibc/src/main/python/wpilib/event/__init__.py b/wpilibc/src/main/python/wpilib/event/__init__.py deleted file mode 100644 index 3bef5e2308..0000000000 --- a/wpilibc/src/main/python/wpilib/event/__init__.py +++ /dev/null @@ -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"] diff --git a/wpilibc/src/main/python/wpilib/event/event.cpp b/wpilibc/src/main/python/wpilib/event/event.cpp deleted file mode 100644 index 2a317e39c9..0000000000 --- a/wpilibc/src/main/python/wpilib/event/event.cpp +++ /dev/null @@ -1,7 +0,0 @@ - -#include "semiwrap_init.wpilib.event._event.hpp" - -SEMIWRAP_PYBIND11_MODULE(m) -{ - initWrapper(m); -} diff --git a/wpilibc/src/main/python/wpilib/interfaces/__init__.py b/wpilibc/src/main/python/wpilib/interfaces/__init__.py deleted file mode 100644 index db37b3bf1f..0000000000 --- a/wpilibc/src/main/python/wpilib/interfaces/__init__.py +++ /dev/null @@ -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"] diff --git a/wpilibc/src/main/python/wpilib/simulation/__init__.py b/wpilibc/src/main/python/wpilib/simulation/__init__.py index cc9481b7b6..065cff2919 100644 --- a/wpilibc/src/main/python/wpilib/simulation/__init__.py +++ b/wpilibc/src/main/python/wpilib/simulation/__init__.py @@ -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, diff --git a/wpilibc/src/test/python/test_wpilib_drive.py b/wpilibc/src/test/python/test_wpilib_drive.py deleted file mode 100644 index af1d2a672b..0000000000 --- a/wpilibc/src/test/python/test_wpilib_drive.py +++ /dev/null @@ -1,5 +0,0 @@ -import wpilib.drive - - -def test_wpilib_drive(): - pass diff --git a/wpilibc/src/test/python/test_wpilib_interfaces.py b/wpilibc/src/test/python/test_wpilib_interfaces.py deleted file mode 100644 index aff2714c4e..0000000000 --- a/wpilibc/src/test/python/test_wpilib_interfaces.py +++ /dev/null @@ -1,5 +0,0 @@ -import wpilib.interfaces - - -def test_wpilib_interfaces(): - pass diff --git a/wpilibc/src/test/python/test_wpilib_simulation.py b/wpilibc/src/test/python/test_wpilib_simulation.py index 561b2bb05b..32ed4bda82 100644 --- a/wpilibc/src/test/python/test_wpilib_simulation.py +++ b/wpilibc/src/test/python/test_wpilib_simulation.py @@ -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() diff --git a/wpimath/BUILD.bazel b/wpimath/BUILD.bazel index b03ae4f920..7770305ff2 100644 --- a/wpimath/BUILD.bazel +++ b/wpimath/BUILD.bazel @@ -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, diff --git a/wpimath/robotpy_pybind_build_info.bzl b/wpimath/robotpy_pybind_build_info.bzl index 15cb62fd24..028636e51e 100644 --- a/wpimath/robotpy_pybind_build_info.bzl +++ b/wpimath/robotpy_pybind_build_info.bzl @@ -24,6 +24,1101 @@ def wpimath_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], inclu tmpl_class_names = [], trampolines = [], ), + struct( + class_name = "ArmFeedforward", + yml_file = "semiwrap/ArmFeedforward.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ArmFeedforward.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::ArmFeedforward", "wpi__math__ArmFeedforward.hpp"), + ], + ), + struct( + class_name = "BangBangController", + yml_file = "semiwrap/BangBangController.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/BangBangController.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::BangBangController", "wpi__math__BangBangController.hpp"), + ], + ), + struct( + class_name = "ControlAffinePlantInversionFeedforward", + yml_file = "semiwrap/ControlAffinePlantInversionFeedforward.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp", + tmpl_class_names = [ + ("ControlAffinePlantInversionFeedforward_tmpl1", "ControlAffinePlantInversionFeedforward_1_1"), + ("ControlAffinePlantInversionFeedforward_tmpl2", "ControlAffinePlantInversionFeedforward_2_1"), + ("ControlAffinePlantInversionFeedforward_tmpl3", "ControlAffinePlantInversionFeedforward_2_2"), + ], + trampolines = [ + ("wpi::math::ControlAffinePlantInversionFeedforward", "wpi__math__ControlAffinePlantInversionFeedforward.hpp"), + ], + ), + struct( + class_name = "DifferentialDriveAccelerationLimiter", + yml_file = "semiwrap/DifferentialDriveAccelerationLimiter.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DifferentialDriveAccelerationLimiter", "wpi__math__DifferentialDriveAccelerationLimiter.hpp"), + ], + ), + struct( + class_name = "DifferentialDriveFeedforward", + yml_file = "semiwrap/DifferentialDriveFeedforward.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/DifferentialDriveFeedforward.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DifferentialDriveFeedforward", "wpi__math__DifferentialDriveFeedforward.hpp"), + ], + ), + struct( + class_name = "DifferentialDriveWheelVoltages", + yml_file = "semiwrap/DifferentialDriveWheelVoltages.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/DifferentialDriveWheelVoltages.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DifferentialDriveWheelVoltages", "wpi__math__DifferentialDriveWheelVoltages.hpp"), + ], + ), + struct( + class_name = "ElevatorFeedforward", + yml_file = "semiwrap/ElevatorFeedforward.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ElevatorFeedforward.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::ElevatorFeedforward", "wpi__math__ElevatorFeedforward.hpp"), + ], + ), + struct( + class_name = "ImplicitModelFollower", + yml_file = "semiwrap/ImplicitModelFollower.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ImplicitModelFollower.hpp", + tmpl_class_names = [ + ("ImplicitModelFollower_tmpl1", "ImplicitModelFollower_1_1"), + ("ImplicitModelFollower_tmpl2", "ImplicitModelFollower_2_1"), + ("ImplicitModelFollower_tmpl3", "ImplicitModelFollower_2_2"), + ], + trampolines = [ + ("wpi::math::ImplicitModelFollower", "wpi__math__ImplicitModelFollower.hpp"), + ], + ), + struct( + class_name = "LTVDifferentialDriveController", + yml_file = "semiwrap/LTVDifferentialDriveController.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/LTVDifferentialDriveController.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::LTVDifferentialDriveController", "wpi__math__LTVDifferentialDriveController.hpp"), + ], + ), + struct( + class_name = "LTVUnicycleController", + yml_file = "semiwrap/LTVUnicycleController.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/LTVUnicycleController.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::LTVUnicycleController", "wpi__math__LTVUnicycleController.hpp"), + ], + ), + struct( + class_name = "LinearPlantInversionFeedforward", + yml_file = "semiwrap/LinearPlantInversionFeedforward.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/LinearPlantInversionFeedforward.hpp", + tmpl_class_names = [ + ("LinearPlantInversionFeedforward_tmpl1", "LinearPlantInversionFeedforward_1_1"), + ("LinearPlantInversionFeedforward_tmpl2", "LinearPlantInversionFeedforward_2_1"), + ("LinearPlantInversionFeedforward_tmpl3", "LinearPlantInversionFeedforward_2_2"), + ("LinearPlantInversionFeedforward_tmpl4", "LinearPlantInversionFeedforward_3_2"), + ], + trampolines = [ + ("wpi::math::LinearPlantInversionFeedforward", "wpi__math__LinearPlantInversionFeedforward.hpp"), + ], + ), + struct( + class_name = "LinearQuadraticRegulator", + yml_file = "semiwrap/LinearQuadraticRegulator.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/LinearQuadraticRegulator.hpp", + tmpl_class_names = [ + ("LinearQuadraticRegulator_tmpl1", "LinearQuadraticRegulator_1_1"), + ("LinearQuadraticRegulator_tmpl2", "LinearQuadraticRegulator_2_1"), + ("LinearQuadraticRegulator_tmpl3", "LinearQuadraticRegulator_2_2"), + ("LinearQuadraticRegulator_tmpl4", "LinearQuadraticRegulator_3_2"), + ], + trampolines = [ + ("wpi::math::LinearQuadraticRegulator", "wpi__math__LinearQuadraticRegulator.hpp"), + ], + ), + struct( + class_name = "PIDController", + yml_file = "semiwrap/PIDController.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/PIDController.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::PIDController", "wpi__math__PIDController.hpp"), + ], + ), + struct( + class_name = "ProfiledPIDController", + yml_file = "semiwrap/ProfiledPIDController.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ProfiledPIDController.hpp", + tmpl_class_names = [ + ("ProfiledPIDController_tmpl1", "ProfiledPIDController"), + ("ProfiledPIDController_tmpl2", "ProfiledPIDControllerRadians"), + ], + trampolines = [ + ("wpi::math::ProfiledPIDController", "wpi__math__ProfiledPIDController.hpp"), + ], + ), + struct( + class_name = "SimpleMotorFeedforward", + yml_file = "semiwrap/SimpleMotorFeedforward.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/SimpleMotorFeedforward.hpp", + tmpl_class_names = [ + ("SimpleMotorFeedforward_tmpl1", "SimpleMotorFeedforwardMeters"), + ("SimpleMotorFeedforward_tmpl2", "SimpleMotorFeedforwardRadians"), + ], + trampolines = [ + ("wpi::math::SimpleMotorFeedforward", "wpi__math__SimpleMotorFeedforward.hpp"), + ], + ), + struct( + class_name = "DifferentialDrivePoseEstimator", + yml_file = "semiwrap/DifferentialDrivePoseEstimator.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DifferentialDrivePoseEstimator", "wpi__math__DifferentialDrivePoseEstimator.hpp"), + ], + ), + struct( + class_name = "DifferentialDrivePoseEstimator3d", + yml_file = "semiwrap/DifferentialDrivePoseEstimator3d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DifferentialDrivePoseEstimator3d", "wpi__math__DifferentialDrivePoseEstimator3d.hpp"), + ], + ), + struct( + class_name = "ExtendedKalmanFilter", + yml_file = "semiwrap/ExtendedKalmanFilter.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/ExtendedKalmanFilter.hpp", + tmpl_class_names = [ + ("ExtendedKalmanFilter_tmpl1", "ExtendedKalmanFilter_1_1_1"), + ("ExtendedKalmanFilter_tmpl2", "ExtendedKalmanFilter_2_1_1"), + ("ExtendedKalmanFilter_tmpl3", "ExtendedKalmanFilter_2_1_2"), + ("ExtendedKalmanFilter_tmpl4", "ExtendedKalmanFilter_2_2_2"), + ], + trampolines = [ + ("wpi::math::ExtendedKalmanFilter", "wpi__math__ExtendedKalmanFilter.hpp"), + ], + ), + struct( + class_name = "KalmanFilter", + yml_file = "semiwrap/KalmanFilter.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/KalmanFilter.hpp", + tmpl_class_names = [ + ("KalmanFilter_tmpl1", "KalmanFilter_1_1_1"), + ("KalmanFilter_tmpl2", "KalmanFilter_2_1_1"), + ("KalmanFilter_tmpl3", "KalmanFilter_2_1_2"), + ("KalmanFilter_tmpl4", "KalmanFilter_2_2_2"), + ("KalmanFilter_tmpl5", "KalmanFilter_3_2_3"), + ], + trampolines = [ + ("wpi::math::KalmanFilter", "wpi__math__KalmanFilter.hpp"), + ], + ), + struct( + class_name = "MecanumDrivePoseEstimator", + yml_file = "semiwrap/MecanumDrivePoseEstimator.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/MecanumDrivePoseEstimator.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::MecanumDrivePoseEstimator", "wpi__math__MecanumDrivePoseEstimator.hpp"), + ], + ), + struct( + class_name = "MecanumDrivePoseEstimator3d", + yml_file = "semiwrap/MecanumDrivePoseEstimator3d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::MecanumDrivePoseEstimator3d", "wpi__math__MecanumDrivePoseEstimator3d.hpp"), + ], + ), + struct( + class_name = "PoseEstimator", + yml_file = "semiwrap/PoseEstimator.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/PoseEstimator.hpp", + tmpl_class_names = [ + ("PoseEstimator_tmpl1", "DifferentialDrivePoseEstimatorBase"), + ("PoseEstimator_tmpl2", "MecanumDrivePoseEstimatorBase"), + ("PoseEstimator_tmpl3", "SwerveDrive2PoseEstimatorBase"), + ("PoseEstimator_tmpl4", "SwerveDrive3PoseEstimatorBase"), + ("PoseEstimator_tmpl5", "SwerveDrive4PoseEstimatorBase"), + ("PoseEstimator_tmpl6", "SwerveDrive6PoseEstimatorBase"), + ], + trampolines = [ + ("wpi::math::PoseEstimator", "wpi__math__PoseEstimator.hpp"), + ], + ), + struct( + class_name = "PoseEstimator3d", + yml_file = "semiwrap/PoseEstimator3d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/PoseEstimator3d.hpp", + tmpl_class_names = [ + ("PoseEstimator3d_tmpl1", "DifferentialDrivePoseEstimator3dBase"), + ("PoseEstimator3d_tmpl2", "MecanumDrivePoseEstimator3dBase"), + ("PoseEstimator3d_tmpl3", "SwerveDrive2PoseEstimator3dBase"), + ("PoseEstimator3d_tmpl4", "SwerveDrive3PoseEstimator3dBase"), + ("PoseEstimator3d_tmpl5", "SwerveDrive4PoseEstimator3dBase"), + ("PoseEstimator3d_tmpl6", "SwerveDrive6PoseEstimator3dBase"), + ], + trampolines = [ + ("wpi::math::PoseEstimator3d", "wpi__math__PoseEstimator3d.hpp"), + ], + ), + struct( + class_name = "SwerveDrivePoseEstimator", + yml_file = "semiwrap/SwerveDrivePoseEstimator.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/SwerveDrivePoseEstimator.hpp", + tmpl_class_names = [ + ("SwerveDrivePoseEstimator_tmpl1", "SwerveDrive2PoseEstimator"), + ("SwerveDrivePoseEstimator_tmpl2", "SwerveDrive3PoseEstimator"), + ("SwerveDrivePoseEstimator_tmpl3", "SwerveDrive4PoseEstimator"), + ("SwerveDrivePoseEstimator_tmpl4", "SwerveDrive6PoseEstimator"), + ], + trampolines = [ + ("wpi::math::SwerveDrivePoseEstimator", "wpi__math__SwerveDrivePoseEstimator.hpp"), + ], + ), + struct( + class_name = "SwerveDrivePoseEstimator3d", + yml_file = "semiwrap/SwerveDrivePoseEstimator3d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp", + tmpl_class_names = [ + ("SwerveDrivePoseEstimator3d_tmpl1", "SwerveDrive2PoseEstimator3d"), + ("SwerveDrivePoseEstimator3d_tmpl2", "SwerveDrive3PoseEstimator3d"), + ("SwerveDrivePoseEstimator3d_tmpl3", "SwerveDrive4PoseEstimator3d"), + ("SwerveDrivePoseEstimator3d_tmpl4", "SwerveDrive6PoseEstimator3d"), + ], + trampolines = [ + ("wpi::math::SwerveDrivePoseEstimator3d", "wpi__math__SwerveDrivePoseEstimator3d.hpp"), + ], + ), + struct( + class_name = "Debouncer", + yml_file = "semiwrap/Debouncer.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/filter/Debouncer.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Debouncer", "wpi__math__Debouncer.hpp"), + ], + ), + struct( + class_name = "LinearFilter", + yml_file = "semiwrap/LinearFilter.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/filter/LinearFilter.hpp", + tmpl_class_names = [ + ("LinearFilter_tmpl1", "LinearFilter"), + ], + trampolines = [ + ("wpi::math::LinearFilter", "wpi__math__LinearFilter.hpp"), + ], + ), + struct( + class_name = "MedianFilter", + yml_file = "semiwrap/MedianFilter.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/filter/MedianFilter.hpp", + tmpl_class_names = [ + ("MedianFilter_tmpl1", "MedianFilter"), + ], + trampolines = [ + ("wpi::math::MedianFilter", "wpi__math__MedianFilter.hpp"), + ], + ), + struct( + class_name = "SlewRateLimiter", + yml_file = "semiwrap/SlewRateLimiter.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/filter/SlewRateLimiter.hpp", + tmpl_class_names = [ + ("SlewRateLimiter_tmpl1", "SlewRateLimiter"), + ], + trampolines = [ + ("wpi::math::SlewRateLimiter", "wpi__math__SlewRateLimiter.hpp"), + ], + ), + struct( + class_name = "CoordinateAxis", + yml_file = "semiwrap/CoordinateAxis.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/CoordinateAxis.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::CoordinateAxis", "wpi__math__CoordinateAxis.hpp"), + ], + ), + struct( + class_name = "CoordinateSystem", + yml_file = "semiwrap/CoordinateSystem.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/CoordinateSystem.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::CoordinateSystem", "wpi__math__CoordinateSystem.hpp"), + ], + ), + struct( + class_name = "Ellipse2d", + yml_file = "semiwrap/Ellipse2d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Ellipse2d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Ellipse2d", "wpi__math__Ellipse2d.hpp"), + ], + ), + struct( + class_name = "Pose2d", + yml_file = "semiwrap/Pose2d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Pose2d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Pose2d", "wpi__math__Pose2d.hpp"), + ], + ), + struct( + class_name = "Pose3d", + yml_file = "semiwrap/Pose3d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Pose3d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Pose3d", "wpi__math__Pose3d.hpp"), + ], + ), + struct( + class_name = "Quaternion", + yml_file = "semiwrap/Quaternion.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Quaternion.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Quaternion", "wpi__math__Quaternion.hpp"), + ], + ), + struct( + class_name = "Rectangle2d", + yml_file = "semiwrap/Rectangle2d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Rectangle2d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Rectangle2d", "wpi__math__Rectangle2d.hpp"), + ], + ), + struct( + class_name = "Rotation2d", + yml_file = "semiwrap/Rotation2d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Rotation2d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Rotation2d", "wpi__math__Rotation2d.hpp"), + ], + ), + struct( + class_name = "Rotation3d", + yml_file = "semiwrap/Rotation3d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Rotation3d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Rotation3d", "wpi__math__Rotation3d.hpp"), + ], + ), + struct( + class_name = "Transform2d", + yml_file = "semiwrap/Transform2d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Transform2d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Transform2d", "wpi__math__Transform2d.hpp"), + ], + ), + struct( + class_name = "Transform3d", + yml_file = "semiwrap/Transform3d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Transform3d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Transform3d", "wpi__math__Transform3d.hpp"), + ], + ), + struct( + class_name = "Translation2d", + yml_file = "semiwrap/Translation2d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Translation2d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Translation2d", "wpi__math__Translation2d.hpp"), + ], + ), + struct( + class_name = "Translation3d", + yml_file = "semiwrap/Translation3d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Translation3d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Translation3d", "wpi__math__Translation3d.hpp"), + ], + ), + struct( + class_name = "Twist2d", + yml_file = "semiwrap/Twist2d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Twist2d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Twist2d", "wpi__math__Twist2d.hpp"), + ], + ), + struct( + class_name = "Twist3d", + yml_file = "semiwrap/Twist3d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Twist3d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Twist3d", "wpi__math__Twist3d.hpp"), + ], + ), + struct( + class_name = "TimeInterpolatableBuffer", + yml_file = "semiwrap/TimeInterpolatableBuffer.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/interpolation/TimeInterpolatableBuffer.hpp", + tmpl_class_names = [ + ("TimeInterpolatableBuffer_tmpl1", "TimeInterpolatablePose2dBuffer"), + ("TimeInterpolatableBuffer_tmpl2", "TimeInterpolatablePose3dBuffer"), + ("TimeInterpolatableBuffer_tmpl3", "TimeInterpolatableRotation2dBuffer"), + ("TimeInterpolatableBuffer_tmpl4", "TimeInterpolatableRotation3dBuffer"), + ("TimeInterpolatableBuffer_tmpl5", "TimeInterpolatableTranslation2dBuffer"), + ("TimeInterpolatableBuffer_tmpl6", "TimeInterpolatableTranslation3dBuffer"), + ("TimeInterpolatableBuffer_tmpl7", "TimeInterpolatableFloatBuffer"), + ], + trampolines = [ + ("wpi::math::TimeInterpolatableBuffer", "wpi__math__TimeInterpolatableBuffer.hpp"), + ], + ), + struct( + class_name = "ChassisSpeeds", + yml_file = "semiwrap/ChassisSpeeds.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/ChassisSpeeds.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::ChassisSpeeds", "wpi__math__ChassisSpeeds.hpp"), + ], + ), + struct( + class_name = "ChassisAccelerations", + yml_file = "semiwrap/ChassisAccelerations.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/ChassisAccelerations.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::ChassisAccelerations", "wpi__math__ChassisAccelerations.hpp"), + ], + ), + struct( + class_name = "DifferentialDriveKinematics", + yml_file = "semiwrap/DifferentialDriveKinematics.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveKinematics.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DifferentialDriveKinematics", "wpi__math__DifferentialDriveKinematics.hpp"), + ], + ), + struct( + class_name = "DifferentialDriveOdometry3d", + yml_file = "semiwrap/DifferentialDriveOdometry3d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DifferentialDriveOdometry3d", "wpi__math__DifferentialDriveOdometry3d.hpp"), + ], + ), + struct( + class_name = "DifferentialDriveOdometry", + yml_file = "semiwrap/DifferentialDriveOdometry.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveOdometry.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DifferentialDriveOdometry", "wpi__math__DifferentialDriveOdometry.hpp"), + ], + ), + struct( + class_name = "DifferentialDriveWheelPositions", + yml_file = "semiwrap/DifferentialDriveWheelPositions.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DifferentialDriveWheelPositions", "wpi__math__DifferentialDriveWheelPositions.hpp"), + ], + ), + struct( + class_name = "DifferentialDriveWheelSpeeds", + yml_file = "semiwrap/DifferentialDriveWheelSpeeds.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DifferentialDriveWheelSpeeds", "wpi__math__DifferentialDriveWheelSpeeds.hpp"), + ], + ), + struct( + class_name = "DifferentialDriveWheelAccelerations", + yml_file = "semiwrap/DifferentialDriveWheelAccelerations.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DifferentialDriveWheelAccelerations", "wpi__math__DifferentialDriveWheelAccelerations.hpp"), + ], + ), + struct( + class_name = "Kinematics", + yml_file = "semiwrap/Kinematics.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/Kinematics.hpp", + tmpl_class_names = [ + ("Kinematics_tmpl1", "DifferentialDriveKinematicsBase"), + ("Kinematics_tmpl2", "MecanumDriveKinematicsBase"), + ("Kinematics_tmpl3", "SwerveDrive2KinematicsBase"), + ("Kinematics_tmpl4", "SwerveDrive3KinematicsBase"), + ("Kinematics_tmpl5", "SwerveDrive4KinematicsBase"), + ("Kinematics_tmpl6", "SwerveDrive6KinematicsBase"), + ], + trampolines = [ + ("wpi::math::Kinematics", "wpi__math__Kinematics.hpp"), + ], + ), + struct( + class_name = "MecanumDriveKinematics", + yml_file = "semiwrap/MecanumDriveKinematics.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveKinematics.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::MecanumDriveKinematics", "wpi__math__MecanumDriveKinematics.hpp"), + ], + ), + struct( + class_name = "MecanumDriveOdometry", + yml_file = "semiwrap/MecanumDriveOdometry.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveOdometry.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::MecanumDriveOdometry", "wpi__math__MecanumDriveOdometry.hpp"), + ], + ), + struct( + class_name = "MecanumDriveOdometry3d", + yml_file = "semiwrap/MecanumDriveOdometry3d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveOdometry3d.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::MecanumDriveOdometry3d", "wpi__math__MecanumDriveOdometry3d.hpp"), + ], + ), + struct( + class_name = "MecanumDriveWheelPositions", + yml_file = "semiwrap/MecanumDriveWheelPositions.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveWheelPositions.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::MecanumDriveWheelPositions", "wpi__math__MecanumDriveWheelPositions.hpp"), + ], + ), + struct( + class_name = "MecanumDriveWheelSpeeds", + yml_file = "semiwrap/MecanumDriveWheelSpeeds.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::MecanumDriveWheelSpeeds", "wpi__math__MecanumDriveWheelSpeeds.hpp"), + ], + ), + struct( + class_name = "MecanumDriveWheelAccelerations", + yml_file = "semiwrap/MecanumDriveWheelAccelerations.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::MecanumDriveWheelAccelerations", "wpi__math__MecanumDriveWheelAccelerations.hpp"), + ], + ), + struct( + class_name = "Odometry", + yml_file = "semiwrap/Odometry.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/Odometry.hpp", + tmpl_class_names = [ + ("Odometry_tmpl1", "DifferentialDriveOdometryBase"), + ("Odometry_tmpl2", "MecanumDriveOdometryBase"), + ("Odometry_tmpl3", "SwerveDrive2OdometryBase"), + ("Odometry_tmpl4", "SwerveDrive3OdometryBase"), + ("Odometry_tmpl5", "SwerveDrive4OdometryBase"), + ("Odometry_tmpl6", "SwerveDrive6OdometryBase"), + ], + trampolines = [ + ("wpi::math::Odometry", "wpi__math__Odometry.hpp"), + ], + ), + struct( + class_name = "Odometry3d", + yml_file = "semiwrap/Odometry3d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/Odometry3d.hpp", + tmpl_class_names = [ + ("Odometry3d_tmpl1", "DifferentialDriveOdometry3dBase"), + ("Odometry3d_tmpl2", "MecanumDriveOdometry3dBase"), + ("Odometry3d_tmpl3", "SwerveDrive2Odometry3dBase"), + ("Odometry3d_tmpl4", "SwerveDrive3Odometry3dBase"), + ("Odometry3d_tmpl5", "SwerveDrive4Odometry3dBase"), + ("Odometry3d_tmpl6", "SwerveDrive6Odometry3dBase"), + ], + trampolines = [ + ("wpi::math::Odometry3d", "wpi__math__Odometry3d.hpp"), + ], + ), + struct( + class_name = "SwerveDriveKinematics", + yml_file = "semiwrap/SwerveDriveKinematics.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveDriveKinematics.hpp", + tmpl_class_names = [ + ("SwerveDriveKinematics_tmpl1", "SwerveDrive2Kinematics"), + ("SwerveDriveKinematics_tmpl2", "SwerveDrive3Kinematics"), + ("SwerveDriveKinematics_tmpl3", "SwerveDrive4Kinematics"), + ("SwerveDriveKinematics_tmpl4", "SwerveDrive6Kinematics"), + ], + trampolines = [ + ("wpi::math::SwerveDriveKinematics", "wpi__math__SwerveDriveKinematics.hpp"), + ], + ), + struct( + class_name = "SwerveDriveOdometry", + yml_file = "semiwrap/SwerveDriveOdometry.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveDriveOdometry.hpp", + tmpl_class_names = [ + ("SwerveDriveOdometry_tmpl1", "SwerveDrive2Odometry"), + ("SwerveDriveOdometry_tmpl2", "SwerveDrive3Odometry"), + ("SwerveDriveOdometry_tmpl3", "SwerveDrive4Odometry"), + ("SwerveDriveOdometry_tmpl4", "SwerveDrive6Odometry"), + ], + trampolines = [ + ("wpi::math::SwerveDriveOdometry", "wpi__math__SwerveDriveOdometry.hpp"), + ], + ), + struct( + class_name = "SwerveDriveOdometry3d", + yml_file = "semiwrap/SwerveDriveOdometry3d.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveDriveOdometry3d.hpp", + tmpl_class_names = [ + ("SwerveDriveOdometry3d_tmpl1", "SwerveDrive2Odometry3d"), + ("SwerveDriveOdometry3d_tmpl2", "SwerveDrive3Odometry3d"), + ("SwerveDriveOdometry3d_tmpl3", "SwerveDrive4Odometry3d"), + ("SwerveDriveOdometry3d_tmpl4", "SwerveDrive6Odometry3d"), + ], + trampolines = [ + ("wpi::math::SwerveDriveOdometry3d", "wpi__math__SwerveDriveOdometry3d.hpp"), + ], + ), + struct( + class_name = "SwerveModulePosition", + yml_file = "semiwrap/SwerveModulePosition.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveModulePosition.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::SwerveModulePosition", "wpi__math__SwerveModulePosition.hpp"), + ], + ), + struct( + class_name = "SwerveModuleState", + yml_file = "semiwrap/SwerveModuleState.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveModuleState.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::SwerveModuleState", "wpi__math__SwerveModuleState.hpp"), + ], + ), + struct( + class_name = "SwerveModuleAcceleration", + yml_file = "semiwrap/SwerveModuleAcceleration.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveModuleAcceleration.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::SwerveModuleAcceleration", "wpi__math__SwerveModuleAcceleration.hpp"), + ], + ), + struct( + class_name = "SimulatedAnnealing", + yml_file = "semiwrap/SimulatedAnnealing.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/optimization/SimulatedAnnealing.hpp", + tmpl_class_names = [ + ("SimulatedAnnealing_tmpl1", "SimulatedAnnealing"), + ], + trampolines = [ + ("wpi::math::SimulatedAnnealing", "wpi__math__SimulatedAnnealing.hpp"), + ], + ), + struct( + class_name = "TravelingSalesman", + yml_file = "semiwrap/TravelingSalesman.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/path/TravelingSalesman.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::TravelingSalesman", "wpi__math__TravelingSalesman.hpp"), + ], + ), + struct( + class_name = "CubicHermiteSpline", + yml_file = "semiwrap/CubicHermiteSpline.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/CubicHermiteSpline.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::CubicHermiteSpline", "wpi__math__CubicHermiteSpline.hpp"), + ], + ), + struct( + class_name = "QuinticHermiteSpline", + yml_file = "semiwrap/QuinticHermiteSpline.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/QuinticHermiteSpline.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::QuinticHermiteSpline", "wpi__math__QuinticHermiteSpline.hpp"), + ], + ), + struct( + class_name = "Spline", + yml_file = "semiwrap/Spline.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/Spline.hpp", + tmpl_class_names = [ + ("Spline_tmpl1", "Spline3"), + ("Spline_tmpl2", "Spline5"), + ], + trampolines = [ + ("wpi::math::Spline", "wpi__math__Spline.hpp"), + ("wpi::math::Spline::ControlVector", "wpi__math__Spline__ControlVector.hpp"), + ], + ), + struct( + class_name = "SplineHelper", + yml_file = "semiwrap/SplineHelper.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/SplineHelper.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::SplineHelper", "wpi__math__SplineHelper.hpp"), + ], + ), + struct( + class_name = "SplineParameterizer", + yml_file = "semiwrap/SplineParameterizer.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/SplineParameterizer.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::SplineParameterizer", "wpi__math__SplineParameterizer.hpp"), + ], + ), + struct( + class_name = "LinearSystem", + yml_file = "semiwrap/LinearSystem.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/LinearSystem.hpp", + tmpl_class_names = [ + ("LinearSystem_tmpl1", "LinearSystem_1_1_1"), + ("LinearSystem_tmpl2", "LinearSystem_1_1_2"), + ("LinearSystem_tmpl3", "LinearSystem_1_1_3"), + ("LinearSystem_tmpl4", "LinearSystem_2_1_1"), + ("LinearSystem_tmpl5", "LinearSystem_2_1_2"), + ("LinearSystem_tmpl6", "LinearSystem_2_1_3"), + ("LinearSystem_tmpl7", "LinearSystem_2_2_1"), + ("LinearSystem_tmpl8", "LinearSystem_2_2_2"), + ("LinearSystem_tmpl9", "LinearSystem_2_2_3"), + ("LinearSystem_tmpl10", "LinearSystem_3_2_1"), + ("LinearSystem_tmpl11", "LinearSystem_3_2_2"), + ("LinearSystem_tmpl12", "LinearSystem_3_2_3"), + ], + trampolines = [ + ("wpi::math::LinearSystem", "wpi__math__LinearSystem.hpp"), + ], + ), + struct( + class_name = "LinearSystemLoop", + yml_file = "semiwrap/LinearSystemLoop.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/LinearSystemLoop.hpp", + tmpl_class_names = [ + ("LinearSystemLoop_tmpl1", "LinearSystemLoop_1_1_1"), + ("LinearSystemLoop_tmpl2", "LinearSystemLoop_2_1_1"), + ("LinearSystemLoop_tmpl3", "LinearSystemLoop_2_1_2"), + ("LinearSystemLoop_tmpl4", "LinearSystemLoop_2_2_2"), + ("LinearSystemLoop_tmpl5", "LinearSystemLoop_3_2_3"), + ], + trampolines = [ + ("wpi::math::LinearSystemLoop", "wpi__math__LinearSystemLoop.hpp"), + ], + ), + struct( + class_name = "DCMotor", + yml_file = "semiwrap/DCMotor.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/plant/DCMotor.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DCMotor", "wpi__math__DCMotor.hpp"), + ], + ), + struct( + class_name = "LinearSystemId", + yml_file = "semiwrap/LinearSystemId.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/plant/LinearSystemId.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::LinearSystemId", "wpi__math__LinearSystemId.hpp"), + ], + ), + struct( + class_name = "ExponentialProfile", + yml_file = "semiwrap/ExponentialProfile.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/ExponentialProfile.hpp", + tmpl_class_names = [ + ("ExponentialProfile_tmpl1", "ExponentialProfileMeterVolts"), + ], + trampolines = [ + ("wpi::math::ExponentialProfile", "wpi__math__ExponentialProfile.hpp"), + ("wpi::math::ExponentialProfile::Constraints", "wpi__math__ExponentialProfile__Constraints.hpp"), + ("wpi::math::ExponentialProfile::State", "wpi__math__ExponentialProfile__State.hpp"), + ("wpi::math::ExponentialProfile::ProfileTiming", "wpi__math__ExponentialProfile__ProfileTiming.hpp"), + ], + ), + struct( + class_name = "Trajectory", + yml_file = "semiwrap/Trajectory.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/Trajectory.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::Trajectory", "wpi__math__Trajectory.hpp"), + ("wpi::math::Trajectory::State", "wpi__math__Trajectory__State.hpp"), + ], + ), + struct( + class_name = "TrajectoryConfig", + yml_file = "semiwrap/TrajectoryConfig.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/TrajectoryConfig.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::TrajectoryConfig", "wpi__math__TrajectoryConfig.hpp"), + ], + ), + struct( + class_name = "TrajectoryGenerator", + yml_file = "semiwrap/TrajectoryGenerator.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/TrajectoryGenerator.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::TrajectoryGenerator", "wpi__math__TrajectoryGenerator.hpp"), + ], + ), + struct( + class_name = "TrajectoryParameterizer", + yml_file = "semiwrap/TrajectoryParameterizer.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/TrajectoryParameterizer.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::TrajectoryParameterizer", "wpi__math__TrajectoryParameterizer.hpp"), + ], + ), + struct( + class_name = "TrapezoidProfile", + yml_file = "semiwrap/TrapezoidProfile.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/TrapezoidProfile.hpp", + tmpl_class_names = [ + ("TrapezoidProfile_tmpl1", "TrapezoidProfile"), + ("TrapezoidProfile_tmpl2", "TrapezoidProfileRadians"), + ], + trampolines = [ + ("wpi::math::TrapezoidProfile", "wpi__math__TrapezoidProfile.hpp"), + ("wpi::math::TrapezoidProfile::Constraints", "wpi__math__TrapezoidProfile__Constraints.hpp"), + ("wpi::math::TrapezoidProfile::State", "wpi__math__TrapezoidProfile__State.hpp"), + ], + ), + struct( + class_name = "CentripetalAccelerationConstraint", + yml_file = "semiwrap/CentripetalAccelerationConstraint.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::CentripetalAccelerationConstraint", "wpi__math__CentripetalAccelerationConstraint.hpp"), + ], + ), + struct( + class_name = "DifferentialDriveKinematicsConstraint", + yml_file = "semiwrap/DifferentialDriveKinematicsConstraint.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DifferentialDriveKinematicsConstraint", "wpi__math__DifferentialDriveKinematicsConstraint.hpp"), + ], + ), + struct( + class_name = "DifferentialDriveVoltageConstraint", + yml_file = "semiwrap/DifferentialDriveVoltageConstraint.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::DifferentialDriveVoltageConstraint", "wpi__math__DifferentialDriveVoltageConstraint.hpp"), + ], + ), + struct( + class_name = "EllipticalRegionConstraint", + yml_file = "semiwrap/EllipticalRegionConstraint.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp", + tmpl_class_names = [ + ("EllipticalRegionConstraint_tmpl1", "EllipticalRegionConstraint"), + ], + trampolines = [ + ("wpi::math::EllipticalRegionConstraint", "wpi__math__EllipticalRegionConstraint.hpp"), + ], + ), + struct( + class_name = "MaxVelocityConstraint", + yml_file = "semiwrap/MaxVelocityConstraint.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::MaxVelocityConstraint", "wpi__math__MaxVelocityConstraint.hpp"), + ], + ), + struct( + class_name = "MecanumDriveKinematicsConstraint", + yml_file = "semiwrap/MecanumDriveKinematicsConstraint.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::MecanumDriveKinematicsConstraint", "wpi__math__MecanumDriveKinematicsConstraint.hpp"), + ], + ), + struct( + class_name = "RectangularRegionConstraint", + yml_file = "semiwrap/RectangularRegionConstraint.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp", + tmpl_class_names = [ + ("RectangularRegionConstraint_tmpl1", "RectangularRegionConstraint"), + ], + trampolines = [ + ("wpi::math::RectangularRegionConstraint", "wpi__math__RectangularRegionConstraint.hpp"), + ], + ), + struct( + class_name = "SwerveDriveKinematicsConstraint", + yml_file = "semiwrap/SwerveDriveKinematicsConstraint.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp", + tmpl_class_names = [ + ("SwerveDriveKinematicsConstraint_tmpl1", "SwerveDrive2KinematicsConstraint"), + ("SwerveDriveKinematicsConstraint_tmpl2", "SwerveDrive3KinematicsConstraint"), + ("SwerveDriveKinematicsConstraint_tmpl3", "SwerveDrive4KinematicsConstraint"), + ("SwerveDriveKinematicsConstraint_tmpl4", "SwerveDrive6KinematicsConstraint"), + ], + trampolines = [ + ("wpi::math::SwerveDriveKinematicsConstraint", "wpi__math__SwerveDriveKinematicsConstraint.hpp"), + ], + ), + struct( + class_name = "TrajectoryConstraint", + yml_file = "semiwrap/TrajectoryConstraint.yml", + header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", + header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/TrajectoryConstraint.hpp", + tmpl_class_names = [], + trampolines = [ + ("wpi::math::TrajectoryConstraint", "wpi__math__TrajectoryConstraint.hpp"), + ("wpi::math::TrajectoryConstraint::MinMax", "wpi__math__TrajectoryConstraint__MinMax.hpp"), + ], + ), ] resolve_casters( @@ -103,1599 +1198,6 @@ def wpimath_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], inclu tags = ["manual", "robotpy"], ) -def wpimath_filter_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []): - WPIMATH_FILTER_HEADER_GEN = [ - struct( - class_name = "Debouncer", - yml_file = "semiwrap/filter/Debouncer.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/filter/Debouncer.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Debouncer", "wpi__math__Debouncer.hpp"), - ], - ), - struct( - class_name = "LinearFilter", - yml_file = "semiwrap/filter/LinearFilter.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/filter/LinearFilter.hpp", - tmpl_class_names = [ - ("LinearFilter_tmpl1", "LinearFilter"), - ], - trampolines = [ - ("wpi::math::LinearFilter", "wpi__math__LinearFilter.hpp"), - ], - ), - struct( - class_name = "MedianFilter", - yml_file = "semiwrap/filter/MedianFilter.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/filter/MedianFilter.hpp", - tmpl_class_names = [ - ("MedianFilter_tmpl1", "MedianFilter"), - ], - trampolines = [ - ("wpi::math::MedianFilter", "wpi__math__MedianFilter.hpp"), - ], - ), - struct( - class_name = "SlewRateLimiter", - yml_file = "semiwrap/filter/SlewRateLimiter.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/filter/SlewRateLimiter.hpp", - tmpl_class_names = [ - ("SlewRateLimiter_tmpl1", "SlewRateLimiter"), - ], - trampolines = [ - ("wpi::math::SlewRateLimiter", "wpi__math__SlewRateLimiter.hpp"), - ], - ), - ] - - resolve_casters( - name = "wpimath_filter.resolve_casters", - caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json", ":src/main/python/wpimath/wpimath-casters.pybind11.json"], - casters_pkl_file = "wpimath_filter.casters.pkl", - dep_file = "wpimath_filter.casters.d", - ) - - gen_libinit( - name = "wpimath_filter.gen_lib_init", - output_file = "src/main/python/wpimath/filter/_init__filter.py", - modules = ["native.wpimath._init_robotpy_native_wpimath", "wpimath._init__wpimath"], - ) - - gen_pkgconf( - name = "wpimath_filter.gen_pkgconf", - libinit_py = "wpimath.filter._init__filter", - module_pkg_name = "wpimath.filter._filter", - output_file = "wpimath_filter.pc", - pkg_name = "wpimath_filter", - install_path = "src/main/python/wpimath/filter", - project_file = "src/main/python/pyproject.toml", - package_root = "src/main/python/wpimath/__init__.py", - ) - - gen_modinit_hpp( - name = "wpimath_filter.gen_modinit_hpp", - input_dats = [x.class_name for x in WPIMATH_FILTER_HEADER_GEN], - libname = "_filter", - output_file = "semiwrap_init.wpimath.filter._filter.hpp", - ) - - run_header_gen( - name = "wpimath_filter", - casters_pickle = "wpimath_filter.casters.pkl", - header_gen_config = WPIMATH_FILTER_HEADER_GEN, - trampoline_subpath = "src/main/python/wpimath/filter", - deps = header_to_dat_deps, - local_native_libraries = [ - "//wpimath:robotpy-native-wpimath.copy_headers", - "//wpiutil:robotpy-native-wpiutil.copy_headers", - ], - ) - - create_pybind_library( - name = "wpimath_filter", - install_path = "src/main/python/wpimath/filter/", - extension_name = "_filter", - generated_srcs = [":wpimath_filter.generated_srcs"], - semiwrap_header = [":wpimath_filter.gen_modinit_hpp"], - deps = [ - ":wpimath_filter.tmpl_hdrs", - ":wpimath_filter.trampoline_hdrs", - "//wpimath:wpimath", - "//wpimath:wpimath-casters", - "//wpimath:wpimath_pybind_library", - "//wpiutil:wpiutil", - "//wpiutil:wpiutil_pybind_library", - ], - dynamic_deps = [ - "//wpimath:shared/wpimath", - "//wpiutil:shared/wpiutil", - ], - extra_hdrs = extra_hdrs, - extra_srcs = srcs, - includes = includes, - ) - - native.filegroup( - name = "wpimath_filter.generated_files", - srcs = [ - "wpimath_filter.gen_modinit_hpp.gen", - "wpimath_filter.header_gen_files", - "wpimath_filter.gen_pkgconf", - "wpimath_filter.gen_lib_init", - ], - tags = ["manual", "robotpy"], - ) - -def wpimath_geometry_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []): - WPIMATH_GEOMETRY_HEADER_GEN = [ - struct( - class_name = "CoordinateAxis", - yml_file = "semiwrap/geometry/CoordinateAxis.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/CoordinateAxis.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::CoordinateAxis", "wpi__math__CoordinateAxis.hpp"), - ], - ), - struct( - class_name = "CoordinateSystem", - yml_file = "semiwrap/geometry/CoordinateSystem.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/CoordinateSystem.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::CoordinateSystem", "wpi__math__CoordinateSystem.hpp"), - ], - ), - struct( - class_name = "Ellipse2d", - yml_file = "semiwrap/geometry/Ellipse2d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Ellipse2d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Ellipse2d", "wpi__math__Ellipse2d.hpp"), - ], - ), - struct( - class_name = "Pose2d", - yml_file = "semiwrap/geometry/Pose2d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Pose2d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Pose2d", "wpi__math__Pose2d.hpp"), - ], - ), - struct( - class_name = "Pose3d", - yml_file = "semiwrap/geometry/Pose3d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Pose3d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Pose3d", "wpi__math__Pose3d.hpp"), - ], - ), - struct( - class_name = "Quaternion", - yml_file = "semiwrap/geometry/Quaternion.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Quaternion.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Quaternion", "wpi__math__Quaternion.hpp"), - ], - ), - struct( - class_name = "Rectangle2d", - yml_file = "semiwrap/geometry/Rectangle2d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Rectangle2d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Rectangle2d", "wpi__math__Rectangle2d.hpp"), - ], - ), - struct( - class_name = "Rotation2d", - yml_file = "semiwrap/geometry/Rotation2d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Rotation2d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Rotation2d", "wpi__math__Rotation2d.hpp"), - ], - ), - struct( - class_name = "Rotation3d", - yml_file = "semiwrap/geometry/Rotation3d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Rotation3d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Rotation3d", "wpi__math__Rotation3d.hpp"), - ], - ), - struct( - class_name = "Transform2d", - yml_file = "semiwrap/geometry/Transform2d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Transform2d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Transform2d", "wpi__math__Transform2d.hpp"), - ], - ), - struct( - class_name = "Transform3d", - yml_file = "semiwrap/geometry/Transform3d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Transform3d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Transform3d", "wpi__math__Transform3d.hpp"), - ], - ), - struct( - class_name = "Translation2d", - yml_file = "semiwrap/geometry/Translation2d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Translation2d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Translation2d", "wpi__math__Translation2d.hpp"), - ], - ), - struct( - class_name = "Translation3d", - yml_file = "semiwrap/geometry/Translation3d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Translation3d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Translation3d", "wpi__math__Translation3d.hpp"), - ], - ), - struct( - class_name = "Twist2d", - yml_file = "semiwrap/geometry/Twist2d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Twist2d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Twist2d", "wpi__math__Twist2d.hpp"), - ], - ), - struct( - class_name = "Twist3d", - yml_file = "semiwrap/geometry/Twist3d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Twist3d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Twist3d", "wpi__math__Twist3d.hpp"), - ], - ), - ] - - resolve_casters( - name = "wpimath_geometry.resolve_casters", - caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json", ":src/main/python/wpimath/wpimath-casters.pybind11.json"], - casters_pkl_file = "wpimath_geometry.casters.pkl", - dep_file = "wpimath_geometry.casters.d", - ) - - gen_libinit( - name = "wpimath_geometry.gen_lib_init", - output_file = "src/main/python/wpimath/geometry/_init__geometry.py", - modules = ["native.wpimath._init_robotpy_native_wpimath", "wpimath._init__wpimath"], - ) - - gen_pkgconf( - name = "wpimath_geometry.gen_pkgconf", - libinit_py = "wpimath.geometry._init__geometry", - module_pkg_name = "wpimath.geometry._geometry", - output_file = "wpimath_geometry.pc", - pkg_name = "wpimath_geometry", - install_path = "src/main/python/wpimath/geometry", - project_file = "src/main/python/pyproject.toml", - package_root = "src/main/python/wpimath/__init__.py", - ) - - gen_modinit_hpp( - name = "wpimath_geometry.gen_modinit_hpp", - input_dats = [x.class_name for x in WPIMATH_GEOMETRY_HEADER_GEN], - libname = "_geometry", - output_file = "semiwrap_init.wpimath.geometry._geometry.hpp", - ) - - run_header_gen( - name = "wpimath_geometry", - casters_pickle = "wpimath_geometry.casters.pkl", - header_gen_config = WPIMATH_GEOMETRY_HEADER_GEN, - trampoline_subpath = "src/main/python/wpimath/geometry", - deps = header_to_dat_deps, - local_native_libraries = [ - "//wpimath:robotpy-native-wpimath.copy_headers", - "//wpiutil:robotpy-native-wpiutil.copy_headers", - ], - ) - - create_pybind_library( - name = "wpimath_geometry", - install_path = "src/main/python/wpimath/geometry/", - extension_name = "_geometry", - generated_srcs = [":wpimath_geometry.generated_srcs"], - semiwrap_header = [":wpimath_geometry.gen_modinit_hpp"], - deps = [ - ":wpimath_geometry.tmpl_hdrs", - ":wpimath_geometry.trampoline_hdrs", - "//wpimath:wpimath", - "//wpimath:wpimath-casters", - "//wpimath:wpimath_pybind_library", - "//wpiutil:wpiutil", - "//wpiutil:wpiutil_pybind_library", - ], - dynamic_deps = [ - "//wpimath:shared/wpimath", - "//wpiutil:shared/wpiutil", - ], - extra_hdrs = extra_hdrs, - extra_srcs = srcs, - includes = includes, - ) - - native.filegroup( - name = "wpimath_geometry.generated_files", - srcs = [ - "wpimath_geometry.gen_modinit_hpp.gen", - "wpimath_geometry.header_gen_files", - "wpimath_geometry.gen_pkgconf", - "wpimath_geometry.gen_lib_init", - ], - tags = ["manual", "robotpy"], - ) - -def wpimath_interpolation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []): - WPIMATH_INTERPOLATION_HEADER_GEN = [ - struct( - class_name = "TimeInterpolatableBuffer", - yml_file = "semiwrap/interpolation/TimeInterpolatableBuffer.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/interpolation/TimeInterpolatableBuffer.hpp", - tmpl_class_names = [ - ("TimeInterpolatableBuffer_tmpl1", "TimeInterpolatablePose2dBuffer"), - ("TimeInterpolatableBuffer_tmpl2", "TimeInterpolatablePose3dBuffer"), - ("TimeInterpolatableBuffer_tmpl3", "TimeInterpolatableRotation2dBuffer"), - ("TimeInterpolatableBuffer_tmpl4", "TimeInterpolatableRotation3dBuffer"), - ("TimeInterpolatableBuffer_tmpl5", "TimeInterpolatableTranslation2dBuffer"), - ("TimeInterpolatableBuffer_tmpl6", "TimeInterpolatableTranslation3dBuffer"), - ("TimeInterpolatableBuffer_tmpl7", "TimeInterpolatableFloatBuffer"), - ], - trampolines = [ - ("wpi::math::TimeInterpolatableBuffer", "wpi__math__TimeInterpolatableBuffer.hpp"), - ], - ), - ] - - resolve_casters( - name = "wpimath_interpolation.resolve_casters", - caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json", ":src/main/python/wpimath/wpimath-casters.pybind11.json"], - casters_pkl_file = "wpimath_interpolation.casters.pkl", - dep_file = "wpimath_interpolation.casters.d", - ) - - gen_libinit( - name = "wpimath_interpolation.gen_lib_init", - output_file = "src/main/python/wpimath/interpolation/_init__interpolation.py", - modules = ["native.wpimath._init_robotpy_native_wpimath", "wpimath.geometry._init__geometry"], - ) - - gen_pkgconf( - name = "wpimath_interpolation.gen_pkgconf", - libinit_py = "wpimath.interpolation._init__interpolation", - module_pkg_name = "wpimath.interpolation._interpolation", - output_file = "wpimath_interpolation.pc", - pkg_name = "wpimath_interpolation", - install_path = "src/main/python/wpimath/interpolation", - project_file = "src/main/python/pyproject.toml", - package_root = "src/main/python/wpimath/__init__.py", - ) - - gen_modinit_hpp( - name = "wpimath_interpolation.gen_modinit_hpp", - input_dats = [x.class_name for x in WPIMATH_INTERPOLATION_HEADER_GEN], - libname = "_interpolation", - output_file = "semiwrap_init.wpimath.interpolation._interpolation.hpp", - ) - - run_header_gen( - name = "wpimath_interpolation", - casters_pickle = "wpimath_interpolation.casters.pkl", - header_gen_config = WPIMATH_INTERPOLATION_HEADER_GEN, - trampoline_subpath = "src/main/python/wpimath/interpolation", - deps = header_to_dat_deps, - local_native_libraries = [ - "//wpimath:robotpy-native-wpimath.copy_headers", - "//wpiutil:robotpy-native-wpiutil.copy_headers", - ], - ) - - create_pybind_library( - name = "wpimath_interpolation", - install_path = "src/main/python/wpimath/interpolation/", - extension_name = "_interpolation", - generated_srcs = [":wpimath_interpolation.generated_srcs"], - semiwrap_header = [":wpimath_interpolation.gen_modinit_hpp"], - deps = [ - ":wpimath_interpolation.tmpl_hdrs", - ":wpimath_interpolation.trampoline_hdrs", - "//wpimath:wpimath", - "//wpimath:wpimath-casters", - "//wpimath:wpimath_geometry_pybind_library", - "//wpimath:wpimath_pybind_library", - "//wpiutil:wpiutil", - "//wpiutil:wpiutil_pybind_library", - ], - dynamic_deps = [ - "//wpimath:shared/wpimath", - "//wpiutil:shared/wpiutil", - ], - extra_hdrs = extra_hdrs, - extra_srcs = srcs, - includes = includes, - ) - - native.filegroup( - name = "wpimath_interpolation.generated_files", - srcs = [ - "wpimath_interpolation.gen_modinit_hpp.gen", - "wpimath_interpolation.header_gen_files", - "wpimath_interpolation.gen_pkgconf", - "wpimath_interpolation.gen_lib_init", - ], - tags = ["manual", "robotpy"], - ) - -def wpimath_kinematics_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []): - WPIMATH_KINEMATICS_HEADER_GEN = [ - struct( - class_name = "ChassisSpeeds", - yml_file = "semiwrap/kinematics/ChassisSpeeds.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/ChassisSpeeds.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::ChassisSpeeds", "wpi__math__ChassisSpeeds.hpp"), - ], - ), - struct( - class_name = "ChassisAccelerations", - yml_file = "semiwrap/kinematics/ChassisAccelerations.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/ChassisAccelerations.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::ChassisAccelerations", "wpi__math__ChassisAccelerations.hpp"), - ], - ), - struct( - class_name = "DifferentialDriveKinematics", - yml_file = "semiwrap/kinematics/DifferentialDriveKinematics.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveKinematics.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DifferentialDriveKinematics", "wpi__math__DifferentialDriveKinematics.hpp"), - ], - ), - struct( - class_name = "DifferentialDriveOdometry3d", - yml_file = "semiwrap/kinematics/DifferentialDriveOdometry3d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DifferentialDriveOdometry3d", "wpi__math__DifferentialDriveOdometry3d.hpp"), - ], - ), - struct( - class_name = "DifferentialDriveOdometry", - yml_file = "semiwrap/kinematics/DifferentialDriveOdometry.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveOdometry.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DifferentialDriveOdometry", "wpi__math__DifferentialDriveOdometry.hpp"), - ], - ), - struct( - class_name = "DifferentialDriveWheelPositions", - yml_file = "semiwrap/kinematics/DifferentialDriveWheelPositions.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DifferentialDriveWheelPositions", "wpi__math__DifferentialDriveWheelPositions.hpp"), - ], - ), - struct( - class_name = "DifferentialDriveWheelSpeeds", - yml_file = "semiwrap/kinematics/DifferentialDriveWheelSpeeds.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DifferentialDriveWheelSpeeds", "wpi__math__DifferentialDriveWheelSpeeds.hpp"), - ], - ), - struct( - class_name = "DifferentialDriveWheelAccelerations", - yml_file = "semiwrap/kinematics/DifferentialDriveWheelAccelerations.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DifferentialDriveWheelAccelerations", "wpi__math__DifferentialDriveWheelAccelerations.hpp"), - ], - ), - struct( - class_name = "Kinematics", - yml_file = "semiwrap/kinematics/Kinematics.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/Kinematics.hpp", - tmpl_class_names = [ - ("Kinematics_tmpl1", "DifferentialDriveKinematicsBase"), - ("Kinematics_tmpl2", "MecanumDriveKinematicsBase"), - ("Kinematics_tmpl3", "SwerveDrive2KinematicsBase"), - ("Kinematics_tmpl4", "SwerveDrive3KinematicsBase"), - ("Kinematics_tmpl5", "SwerveDrive4KinematicsBase"), - ("Kinematics_tmpl6", "SwerveDrive6KinematicsBase"), - ], - trampolines = [ - ("wpi::math::Kinematics", "wpi__math__Kinematics.hpp"), - ], - ), - struct( - class_name = "MecanumDriveKinematics", - yml_file = "semiwrap/kinematics/MecanumDriveKinematics.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveKinematics.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::MecanumDriveKinematics", "wpi__math__MecanumDriveKinematics.hpp"), - ], - ), - struct( - class_name = "MecanumDriveOdometry", - yml_file = "semiwrap/kinematics/MecanumDriveOdometry.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveOdometry.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::MecanumDriveOdometry", "wpi__math__MecanumDriveOdometry.hpp"), - ], - ), - struct( - class_name = "MecanumDriveOdometry3d", - yml_file = "semiwrap/kinematics/MecanumDriveOdometry3d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveOdometry3d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::MecanumDriveOdometry3d", "wpi__math__MecanumDriveOdometry3d.hpp"), - ], - ), - struct( - class_name = "MecanumDriveWheelPositions", - yml_file = "semiwrap/kinematics/MecanumDriveWheelPositions.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveWheelPositions.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::MecanumDriveWheelPositions", "wpi__math__MecanumDriveWheelPositions.hpp"), - ], - ), - struct( - class_name = "MecanumDriveWheelSpeeds", - yml_file = "semiwrap/kinematics/MecanumDriveWheelSpeeds.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::MecanumDriveWheelSpeeds", "wpi__math__MecanumDriveWheelSpeeds.hpp"), - ], - ), - struct( - class_name = "MecanumDriveWheelAccelerations", - yml_file = "semiwrap/kinematics/MecanumDriveWheelAccelerations.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::MecanumDriveWheelAccelerations", "wpi__math__MecanumDriveWheelAccelerations.hpp"), - ], - ), - struct( - class_name = "Odometry", - yml_file = "semiwrap/kinematics/Odometry.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/Odometry.hpp", - tmpl_class_names = [ - ("Odometry_tmpl1", "DifferentialDriveOdometryBase"), - ("Odometry_tmpl2", "MecanumDriveOdometryBase"), - ("Odometry_tmpl3", "SwerveDrive2OdometryBase"), - ("Odometry_tmpl4", "SwerveDrive3OdometryBase"), - ("Odometry_tmpl5", "SwerveDrive4OdometryBase"), - ("Odometry_tmpl6", "SwerveDrive6OdometryBase"), - ], - trampolines = [ - ("wpi::math::Odometry", "wpi__math__Odometry.hpp"), - ], - ), - struct( - class_name = "Odometry3d", - yml_file = "semiwrap/kinematics/Odometry3d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/Odometry3d.hpp", - tmpl_class_names = [ - ("Odometry3d_tmpl1", "DifferentialDriveOdometry3dBase"), - ("Odometry3d_tmpl2", "MecanumDriveOdometry3dBase"), - ("Odometry3d_tmpl3", "SwerveDrive2Odometry3dBase"), - ("Odometry3d_tmpl4", "SwerveDrive3Odometry3dBase"), - ("Odometry3d_tmpl5", "SwerveDrive4Odometry3dBase"), - ("Odometry3d_tmpl6", "SwerveDrive6Odometry3dBase"), - ], - trampolines = [ - ("wpi::math::Odometry3d", "wpi__math__Odometry3d.hpp"), - ], - ), - struct( - class_name = "SwerveDriveKinematics", - yml_file = "semiwrap/kinematics/SwerveDriveKinematics.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveDriveKinematics.hpp", - tmpl_class_names = [ - ("SwerveDriveKinematics_tmpl1", "SwerveDrive2Kinematics"), - ("SwerveDriveKinematics_tmpl2", "SwerveDrive3Kinematics"), - ("SwerveDriveKinematics_tmpl3", "SwerveDrive4Kinematics"), - ("SwerveDriveKinematics_tmpl4", "SwerveDrive6Kinematics"), - ], - trampolines = [ - ("wpi::math::SwerveDriveKinematics", "wpi__math__SwerveDriveKinematics.hpp"), - ], - ), - struct( - class_name = "SwerveDriveOdometry", - yml_file = "semiwrap/kinematics/SwerveDriveOdometry.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveDriveOdometry.hpp", - tmpl_class_names = [ - ("SwerveDriveOdometry_tmpl1", "SwerveDrive2Odometry"), - ("SwerveDriveOdometry_tmpl2", "SwerveDrive3Odometry"), - ("SwerveDriveOdometry_tmpl3", "SwerveDrive4Odometry"), - ("SwerveDriveOdometry_tmpl4", "SwerveDrive6Odometry"), - ], - trampolines = [ - ("wpi::math::SwerveDriveOdometry", "wpi__math__SwerveDriveOdometry.hpp"), - ], - ), - struct( - class_name = "SwerveDriveOdometry3d", - yml_file = "semiwrap/kinematics/SwerveDriveOdometry3d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveDriveOdometry3d.hpp", - tmpl_class_names = [ - ("SwerveDriveOdometry3d_tmpl1", "SwerveDrive2Odometry3d"), - ("SwerveDriveOdometry3d_tmpl2", "SwerveDrive3Odometry3d"), - ("SwerveDriveOdometry3d_tmpl3", "SwerveDrive4Odometry3d"), - ("SwerveDriveOdometry3d_tmpl4", "SwerveDrive6Odometry3d"), - ], - trampolines = [ - ("wpi::math::SwerveDriveOdometry3d", "wpi__math__SwerveDriveOdometry3d.hpp"), - ], - ), - struct( - class_name = "SwerveModulePosition", - yml_file = "semiwrap/kinematics/SwerveModulePosition.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveModulePosition.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::SwerveModulePosition", "wpi__math__SwerveModulePosition.hpp"), - ], - ), - struct( - class_name = "SwerveModuleState", - yml_file = "semiwrap/kinematics/SwerveModuleState.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveModuleState.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::SwerveModuleState", "wpi__math__SwerveModuleState.hpp"), - ], - ), - struct( - class_name = "SwerveModuleAcceleration", - yml_file = "semiwrap/kinematics/SwerveModuleAcceleration.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveModuleAcceleration.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::SwerveModuleAcceleration", "wpi__math__SwerveModuleAcceleration.hpp"), - ], - ), - ] - - resolve_casters( - name = "wpimath_kinematics.resolve_casters", - caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json", ":src/main/python/wpimath/wpimath-casters.pybind11.json"], - casters_pkl_file = "wpimath_kinematics.casters.pkl", - dep_file = "wpimath_kinematics.casters.d", - ) - - gen_libinit( - name = "wpimath_kinematics.gen_lib_init", - output_file = "src/main/python/wpimath/kinematics/_init__kinematics.py", - modules = ["native.wpimath._init_robotpy_native_wpimath", "wpimath.geometry._init__geometry"], - ) - - gen_pkgconf( - name = "wpimath_kinematics.gen_pkgconf", - libinit_py = "wpimath.kinematics._init__kinematics", - module_pkg_name = "wpimath.kinematics._kinematics", - output_file = "wpimath_kinematics.pc", - pkg_name = "wpimath_kinematics", - install_path = "src/main/python/wpimath/kinematics", - project_file = "src/main/python/pyproject.toml", - package_root = "src/main/python/wpimath/__init__.py", - ) - - gen_modinit_hpp( - name = "wpimath_kinematics.gen_modinit_hpp", - input_dats = [x.class_name for x in WPIMATH_KINEMATICS_HEADER_GEN], - libname = "_kinematics", - output_file = "semiwrap_init.wpimath.kinematics._kinematics.hpp", - ) - - run_header_gen( - name = "wpimath_kinematics", - casters_pickle = "wpimath_kinematics.casters.pkl", - header_gen_config = WPIMATH_KINEMATICS_HEADER_GEN, - trampoline_subpath = "src/main/python/wpimath/kinematics", - deps = header_to_dat_deps, - local_native_libraries = [ - "//wpimath:robotpy-native-wpimath.copy_headers", - "//wpiutil:robotpy-native-wpiutil.copy_headers", - ], - ) - - create_pybind_library( - name = "wpimath_kinematics", - install_path = "src/main/python/wpimath/kinematics/", - extension_name = "_kinematics", - generated_srcs = [":wpimath_kinematics.generated_srcs"], - semiwrap_header = [":wpimath_kinematics.gen_modinit_hpp"], - deps = [ - ":wpimath_kinematics.tmpl_hdrs", - ":wpimath_kinematics.trampoline_hdrs", - "//wpimath:wpimath", - "//wpimath:wpimath-casters", - "//wpimath:wpimath_geometry_pybind_library", - "//wpimath:wpimath_pybind_library", - "//wpiutil:wpiutil", - "//wpiutil:wpiutil_pybind_library", - ], - dynamic_deps = [ - "//wpimath:shared/wpimath", - "//wpiutil:shared/wpiutil", - ], - extra_hdrs = extra_hdrs, - extra_srcs = srcs, - includes = includes, - ) - - native.filegroup( - name = "wpimath_kinematics.generated_files", - srcs = [ - "wpimath_kinematics.gen_modinit_hpp.gen", - "wpimath_kinematics.header_gen_files", - "wpimath_kinematics.gen_pkgconf", - "wpimath_kinematics.gen_lib_init", - ], - tags = ["manual", "robotpy"], - ) - -def wpimath_spline_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []): - WPIMATH_SPLINE_HEADER_GEN = [ - struct( - class_name = "CubicHermiteSpline", - yml_file = "semiwrap/spline/CubicHermiteSpline.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/CubicHermiteSpline.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::CubicHermiteSpline", "wpi__math__CubicHermiteSpline.hpp"), - ], - ), - struct( - class_name = "QuinticHermiteSpline", - yml_file = "semiwrap/spline/QuinticHermiteSpline.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/QuinticHermiteSpline.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::QuinticHermiteSpline", "wpi__math__QuinticHermiteSpline.hpp"), - ], - ), - struct( - class_name = "Spline", - yml_file = "semiwrap/spline/Spline.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/Spline.hpp", - tmpl_class_names = [ - ("Spline_tmpl1", "Spline3"), - ("Spline_tmpl2", "Spline5"), - ], - trampolines = [ - ("wpi::math::Spline", "wpi__math__Spline.hpp"), - ("wpi::math::Spline::ControlVector", "wpi__math__Spline__ControlVector.hpp"), - ], - ), - struct( - class_name = "SplineHelper", - yml_file = "semiwrap/spline/SplineHelper.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/SplineHelper.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::SplineHelper", "wpi__math__SplineHelper.hpp"), - ], - ), - struct( - class_name = "SplineParameterizer", - yml_file = "semiwrap/spline/SplineParameterizer.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/SplineParameterizer.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::SplineParameterizer", "wpi__math__SplineParameterizer.hpp"), - ], - ), - ] - - resolve_casters( - name = "wpimath_spline.resolve_casters", - caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json", ":src/main/python/wpimath/wpimath-casters.pybind11.json"], - casters_pkl_file = "wpimath_spline.casters.pkl", - dep_file = "wpimath_spline.casters.d", - ) - - gen_libinit( - name = "wpimath_spline.gen_lib_init", - output_file = "src/main/python/wpimath/spline/_init__spline.py", - modules = ["native.wpimath._init_robotpy_native_wpimath", "wpimath.geometry._init__geometry"], - ) - - gen_pkgconf( - name = "wpimath_spline.gen_pkgconf", - libinit_py = "wpimath.spline._init__spline", - module_pkg_name = "wpimath.spline._spline", - output_file = "wpimath_spline.pc", - pkg_name = "wpimath_spline", - install_path = "src/main/python/wpimath/spline", - project_file = "src/main/python/pyproject.toml", - package_root = "src/main/python/wpimath/__init__.py", - ) - - gen_modinit_hpp( - name = "wpimath_spline.gen_modinit_hpp", - input_dats = [x.class_name for x in WPIMATH_SPLINE_HEADER_GEN], - libname = "_spline", - output_file = "semiwrap_init.wpimath.spline._spline.hpp", - ) - - run_header_gen( - name = "wpimath_spline", - casters_pickle = "wpimath_spline.casters.pkl", - header_gen_config = WPIMATH_SPLINE_HEADER_GEN, - trampoline_subpath = "src/main/python/wpimath/spline", - deps = header_to_dat_deps, - local_native_libraries = [ - "//wpimath:robotpy-native-wpimath.copy_headers", - "//wpiutil:robotpy-native-wpiutil.copy_headers", - ], - ) - - create_pybind_library( - name = "wpimath_spline", - install_path = "src/main/python/wpimath/spline/", - extension_name = "_spline", - generated_srcs = [":wpimath_spline.generated_srcs"], - semiwrap_header = [":wpimath_spline.gen_modinit_hpp"], - deps = [ - ":wpimath_spline.tmpl_hdrs", - ":wpimath_spline.trampoline_hdrs", - "//wpimath:wpimath", - "//wpimath:wpimath-casters", - "//wpimath:wpimath_geometry_pybind_library", - "//wpimath:wpimath_pybind_library", - "//wpiutil:wpiutil", - "//wpiutil:wpiutil_pybind_library", - ], - dynamic_deps = [ - "//wpimath:shared/wpimath", - "//wpiutil:shared/wpiutil", - ], - extra_hdrs = extra_hdrs, - extra_srcs = srcs, - includes = includes, - ) - - native.filegroup( - name = "wpimath_spline.generated_files", - srcs = [ - "wpimath_spline.gen_modinit_hpp.gen", - "wpimath_spline.header_gen_files", - "wpimath_spline.gen_pkgconf", - "wpimath_spline.gen_lib_init", - ], - tags = ["manual", "robotpy"], - ) - -def wpimath_controls_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []): - WPIMATH_CONTROLS_HEADER_GEN = [ - struct( - class_name = "ArmFeedforward", - yml_file = "semiwrap/controls/ArmFeedforward.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ArmFeedforward.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::ArmFeedforward", "wpi__math__ArmFeedforward.hpp"), - ], - ), - struct( - class_name = "BangBangController", - yml_file = "semiwrap/controls/BangBangController.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/BangBangController.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::BangBangController", "wpi__math__BangBangController.hpp"), - ], - ), - struct( - class_name = "ControlAffinePlantInversionFeedforward", - yml_file = "semiwrap/controls/ControlAffinePlantInversionFeedforward.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp", - tmpl_class_names = [ - ("ControlAffinePlantInversionFeedforward_tmpl1", "ControlAffinePlantInversionFeedforward_1_1"), - ("ControlAffinePlantInversionFeedforward_tmpl2", "ControlAffinePlantInversionFeedforward_2_1"), - ("ControlAffinePlantInversionFeedforward_tmpl3", "ControlAffinePlantInversionFeedforward_2_2"), - ], - trampolines = [ - ("wpi::math::ControlAffinePlantInversionFeedforward", "wpi__math__ControlAffinePlantInversionFeedforward.hpp"), - ], - ), - struct( - class_name = "DifferentialDriveAccelerationLimiter", - yml_file = "semiwrap/controls/DifferentialDriveAccelerationLimiter.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DifferentialDriveAccelerationLimiter", "wpi__math__DifferentialDriveAccelerationLimiter.hpp"), - ], - ), - struct( - class_name = "DifferentialDriveFeedforward", - yml_file = "semiwrap/controls/DifferentialDriveFeedforward.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/DifferentialDriveFeedforward.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DifferentialDriveFeedforward", "wpi__math__DifferentialDriveFeedforward.hpp"), - ], - ), - struct( - class_name = "DifferentialDriveWheelVoltages", - yml_file = "semiwrap/controls/DifferentialDriveWheelVoltages.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/DifferentialDriveWheelVoltages.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DifferentialDriveWheelVoltages", "wpi__math__DifferentialDriveWheelVoltages.hpp"), - ], - ), - struct( - class_name = "ElevatorFeedforward", - yml_file = "semiwrap/controls/ElevatorFeedforward.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ElevatorFeedforward.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::ElevatorFeedforward", "wpi__math__ElevatorFeedforward.hpp"), - ], - ), - struct( - class_name = "ImplicitModelFollower", - yml_file = "semiwrap/controls/ImplicitModelFollower.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ImplicitModelFollower.hpp", - tmpl_class_names = [ - ("ImplicitModelFollower_tmpl1", "ImplicitModelFollower_1_1"), - ("ImplicitModelFollower_tmpl2", "ImplicitModelFollower_2_1"), - ("ImplicitModelFollower_tmpl3", "ImplicitModelFollower_2_2"), - ], - trampolines = [ - ("wpi::math::ImplicitModelFollower", "wpi__math__ImplicitModelFollower.hpp"), - ], - ), - struct( - class_name = "LTVDifferentialDriveController", - yml_file = "semiwrap/controls/LTVDifferentialDriveController.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/LTVDifferentialDriveController.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::LTVDifferentialDriveController", "wpi__math__LTVDifferentialDriveController.hpp"), - ], - ), - struct( - class_name = "LTVUnicycleController", - yml_file = "semiwrap/controls/LTVUnicycleController.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/LTVUnicycleController.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::LTVUnicycleController", "wpi__math__LTVUnicycleController.hpp"), - ], - ), - struct( - class_name = "LinearPlantInversionFeedforward", - yml_file = "semiwrap/controls/LinearPlantInversionFeedforward.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/LinearPlantInversionFeedforward.hpp", - tmpl_class_names = [ - ("LinearPlantInversionFeedforward_tmpl1", "LinearPlantInversionFeedforward_1_1"), - ("LinearPlantInversionFeedforward_tmpl2", "LinearPlantInversionFeedforward_2_1"), - ("LinearPlantInversionFeedforward_tmpl3", "LinearPlantInversionFeedforward_2_2"), - ("LinearPlantInversionFeedforward_tmpl4", "LinearPlantInversionFeedforward_3_2"), - ], - trampolines = [ - ("wpi::math::LinearPlantInversionFeedforward", "wpi__math__LinearPlantInversionFeedforward.hpp"), - ], - ), - struct( - class_name = "LinearQuadraticRegulator", - yml_file = "semiwrap/controls/LinearQuadraticRegulator.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/LinearQuadraticRegulator.hpp", - tmpl_class_names = [ - ("LinearQuadraticRegulator_tmpl1", "LinearQuadraticRegulator_1_1"), - ("LinearQuadraticRegulator_tmpl2", "LinearQuadraticRegulator_2_1"), - ("LinearQuadraticRegulator_tmpl3", "LinearQuadraticRegulator_2_2"), - ("LinearQuadraticRegulator_tmpl4", "LinearQuadraticRegulator_3_2"), - ], - trampolines = [ - ("wpi::math::LinearQuadraticRegulator", "wpi__math__LinearQuadraticRegulator.hpp"), - ], - ), - struct( - class_name = "PIDController", - yml_file = "semiwrap/controls/PIDController.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/PIDController.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::PIDController", "wpi__math__PIDController.hpp"), - ], - ), - struct( - class_name = "ProfiledPIDController", - yml_file = "semiwrap/controls/ProfiledPIDController.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ProfiledPIDController.hpp", - tmpl_class_names = [ - ("ProfiledPIDController_tmpl1", "ProfiledPIDController"), - ("ProfiledPIDController_tmpl2", "ProfiledPIDControllerRadians"), - ], - trampolines = [ - ("wpi::math::ProfiledPIDController", "wpi__math__ProfiledPIDController.hpp"), - ], - ), - struct( - class_name = "SimpleMotorFeedforward", - yml_file = "semiwrap/controls/SimpleMotorFeedforward.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/SimpleMotorFeedforward.hpp", - tmpl_class_names = [ - ("SimpleMotorFeedforward_tmpl1", "SimpleMotorFeedforwardMeters"), - ("SimpleMotorFeedforward_tmpl2", "SimpleMotorFeedforwardRadians"), - ], - trampolines = [ - ("wpi::math::SimpleMotorFeedforward", "wpi__math__SimpleMotorFeedforward.hpp"), - ], - ), - struct( - class_name = "DifferentialDrivePoseEstimator", - yml_file = "semiwrap/controls/DifferentialDrivePoseEstimator.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DifferentialDrivePoseEstimator", "wpi__math__DifferentialDrivePoseEstimator.hpp"), - ], - ), - struct( - class_name = "DifferentialDrivePoseEstimator3d", - yml_file = "semiwrap/controls/DifferentialDrivePoseEstimator3d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DifferentialDrivePoseEstimator3d", "wpi__math__DifferentialDrivePoseEstimator3d.hpp"), - ], - ), - struct( - class_name = "ExtendedKalmanFilter", - yml_file = "semiwrap/controls/ExtendedKalmanFilter.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/ExtendedKalmanFilter.hpp", - tmpl_class_names = [ - ("ExtendedKalmanFilter_tmpl1", "ExtendedKalmanFilter_1_1_1"), - ("ExtendedKalmanFilter_tmpl2", "ExtendedKalmanFilter_2_1_1"), - ("ExtendedKalmanFilter_tmpl3", "ExtendedKalmanFilter_2_1_2"), - ("ExtendedKalmanFilter_tmpl4", "ExtendedKalmanFilter_2_2_2"), - ], - trampolines = [ - ("wpi::math::ExtendedKalmanFilter", "wpi__math__ExtendedKalmanFilter.hpp"), - ], - ), - struct( - class_name = "KalmanFilter", - yml_file = "semiwrap/controls/KalmanFilter.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/KalmanFilter.hpp", - tmpl_class_names = [ - ("KalmanFilter_tmpl1", "KalmanFilter_1_1_1"), - ("KalmanFilter_tmpl2", "KalmanFilter_2_1_1"), - ("KalmanFilter_tmpl3", "KalmanFilter_2_1_2"), - ("KalmanFilter_tmpl4", "KalmanFilter_2_2_2"), - ("KalmanFilter_tmpl5", "KalmanFilter_3_2_3"), - ], - trampolines = [ - ("wpi::math::KalmanFilter", "wpi__math__KalmanFilter.hpp"), - ], - ), - struct( - class_name = "MecanumDrivePoseEstimator", - yml_file = "semiwrap/controls/MecanumDrivePoseEstimator.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/MecanumDrivePoseEstimator.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::MecanumDrivePoseEstimator", "wpi__math__MecanumDrivePoseEstimator.hpp"), - ], - ), - struct( - class_name = "MecanumDrivePoseEstimator3d", - yml_file = "semiwrap/controls/MecanumDrivePoseEstimator3d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::MecanumDrivePoseEstimator3d", "wpi__math__MecanumDrivePoseEstimator3d.hpp"), - ], - ), - struct( - class_name = "PoseEstimator", - yml_file = "semiwrap/controls/PoseEstimator.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/PoseEstimator.hpp", - tmpl_class_names = [ - ("PoseEstimator_tmpl1", "DifferentialDrivePoseEstimatorBase"), - ("PoseEstimator_tmpl2", "MecanumDrivePoseEstimatorBase"), - ("PoseEstimator_tmpl3", "SwerveDrive2PoseEstimatorBase"), - ("PoseEstimator_tmpl4", "SwerveDrive3PoseEstimatorBase"), - ("PoseEstimator_tmpl5", "SwerveDrive4PoseEstimatorBase"), - ("PoseEstimator_tmpl6", "SwerveDrive6PoseEstimatorBase"), - ], - trampolines = [ - ("wpi::math::PoseEstimator", "wpi__math__PoseEstimator.hpp"), - ], - ), - struct( - class_name = "PoseEstimator3d", - yml_file = "semiwrap/controls/PoseEstimator3d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/PoseEstimator3d.hpp", - tmpl_class_names = [ - ("PoseEstimator3d_tmpl1", "DifferentialDrivePoseEstimator3dBase"), - ("PoseEstimator3d_tmpl2", "MecanumDrivePoseEstimator3dBase"), - ("PoseEstimator3d_tmpl3", "SwerveDrive2PoseEstimator3dBase"), - ("PoseEstimator3d_tmpl4", "SwerveDrive3PoseEstimator3dBase"), - ("PoseEstimator3d_tmpl5", "SwerveDrive4PoseEstimator3dBase"), - ("PoseEstimator3d_tmpl6", "SwerveDrive6PoseEstimator3dBase"), - ], - trampolines = [ - ("wpi::math::PoseEstimator3d", "wpi__math__PoseEstimator3d.hpp"), - ], - ), - struct( - class_name = "SwerveDrivePoseEstimator", - yml_file = "semiwrap/controls/SwerveDrivePoseEstimator.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/SwerveDrivePoseEstimator.hpp", - tmpl_class_names = [ - ("SwerveDrivePoseEstimator_tmpl1", "SwerveDrive2PoseEstimator"), - ("SwerveDrivePoseEstimator_tmpl2", "SwerveDrive3PoseEstimator"), - ("SwerveDrivePoseEstimator_tmpl3", "SwerveDrive4PoseEstimator"), - ("SwerveDrivePoseEstimator_tmpl4", "SwerveDrive6PoseEstimator"), - ], - trampolines = [ - ("wpi::math::SwerveDrivePoseEstimator", "wpi__math__SwerveDrivePoseEstimator.hpp"), - ], - ), - struct( - class_name = "SwerveDrivePoseEstimator3d", - yml_file = "semiwrap/controls/SwerveDrivePoseEstimator3d.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp", - tmpl_class_names = [ - ("SwerveDrivePoseEstimator3d_tmpl1", "SwerveDrive2PoseEstimator3d"), - ("SwerveDrivePoseEstimator3d_tmpl2", "SwerveDrive3PoseEstimator3d"), - ("SwerveDrivePoseEstimator3d_tmpl3", "SwerveDrive4PoseEstimator3d"), - ("SwerveDrivePoseEstimator3d_tmpl4", "SwerveDrive6PoseEstimator3d"), - ], - trampolines = [ - ("wpi::math::SwerveDrivePoseEstimator3d", "wpi__math__SwerveDrivePoseEstimator3d.hpp"), - ], - ), - struct( - class_name = "SimulatedAnnealing", - yml_file = "semiwrap/controls/SimulatedAnnealing.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/optimization/SimulatedAnnealing.hpp", - tmpl_class_names = [ - ("SimulatedAnnealing_tmpl1", "SimulatedAnnealing"), - ], - trampolines = [ - ("wpi::math::SimulatedAnnealing", "wpi__math__SimulatedAnnealing.hpp"), - ], - ), - struct( - class_name = "TravelingSalesman", - yml_file = "semiwrap/controls/TravelingSalesman.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/path/TravelingSalesman.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::TravelingSalesman", "wpi__math__TravelingSalesman.hpp"), - ], - ), - struct( - class_name = "LinearSystem", - yml_file = "semiwrap/controls/LinearSystem.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/LinearSystem.hpp", - tmpl_class_names = [ - ("LinearSystem_tmpl1", "LinearSystem_1_1_1"), - ("LinearSystem_tmpl2", "LinearSystem_1_1_2"), - ("LinearSystem_tmpl3", "LinearSystem_1_1_3"), - ("LinearSystem_tmpl4", "LinearSystem_2_1_1"), - ("LinearSystem_tmpl5", "LinearSystem_2_1_2"), - ("LinearSystem_tmpl6", "LinearSystem_2_1_3"), - ("LinearSystem_tmpl7", "LinearSystem_2_2_1"), - ("LinearSystem_tmpl8", "LinearSystem_2_2_2"), - ("LinearSystem_tmpl9", "LinearSystem_2_2_3"), - ("LinearSystem_tmpl10", "LinearSystem_3_2_1"), - ("LinearSystem_tmpl11", "LinearSystem_3_2_2"), - ("LinearSystem_tmpl12", "LinearSystem_3_2_3"), - ], - trampolines = [ - ("wpi::math::LinearSystem", "wpi__math__LinearSystem.hpp"), - ], - ), - struct( - class_name = "LinearSystemLoop", - yml_file = "semiwrap/controls/LinearSystemLoop.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/LinearSystemLoop.hpp", - tmpl_class_names = [ - ("LinearSystemLoop_tmpl1", "LinearSystemLoop_1_1_1"), - ("LinearSystemLoop_tmpl2", "LinearSystemLoop_2_1_1"), - ("LinearSystemLoop_tmpl3", "LinearSystemLoop_2_1_2"), - ("LinearSystemLoop_tmpl4", "LinearSystemLoop_2_2_2"), - ("LinearSystemLoop_tmpl5", "LinearSystemLoop_3_2_3"), - ], - trampolines = [ - ("wpi::math::LinearSystemLoop", "wpi__math__LinearSystemLoop.hpp"), - ], - ), - struct( - class_name = "DCMotor", - yml_file = "semiwrap/controls/DCMotor.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/plant/DCMotor.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DCMotor", "wpi__math__DCMotor.hpp"), - ], - ), - struct( - class_name = "LinearSystemId", - yml_file = "semiwrap/controls/LinearSystemId.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/plant/LinearSystemId.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::LinearSystemId", "wpi__math__LinearSystemId.hpp"), - ], - ), - struct( - class_name = "ExponentialProfile", - yml_file = "semiwrap/controls/ExponentialProfile.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/ExponentialProfile.hpp", - tmpl_class_names = [ - ("ExponentialProfile_tmpl1", "ExponentialProfileMeterVolts"), - ], - trampolines = [ - ("wpi::math::ExponentialProfile", "wpi__math__ExponentialProfile.hpp"), - ("wpi::math::ExponentialProfile::Constraints", "wpi__math__ExponentialProfile__Constraints.hpp"), - ("wpi::math::ExponentialProfile::State", "wpi__math__ExponentialProfile__State.hpp"), - ("wpi::math::ExponentialProfile::ProfileTiming", "wpi__math__ExponentialProfile__ProfileTiming.hpp"), - ], - ), - struct( - class_name = "Trajectory", - yml_file = "semiwrap/controls/Trajectory.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/Trajectory.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::Trajectory", "wpi__math__Trajectory.hpp"), - ("wpi::math::Trajectory::State", "wpi__math__Trajectory__State.hpp"), - ], - ), - struct( - class_name = "TrajectoryConfig", - yml_file = "semiwrap/controls/TrajectoryConfig.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/TrajectoryConfig.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::TrajectoryConfig", "wpi__math__TrajectoryConfig.hpp"), - ], - ), - struct( - class_name = "TrajectoryGenerator", - yml_file = "semiwrap/controls/TrajectoryGenerator.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/TrajectoryGenerator.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::TrajectoryGenerator", "wpi__math__TrajectoryGenerator.hpp"), - ], - ), - struct( - class_name = "TrajectoryParameterizer", - yml_file = "semiwrap/controls/TrajectoryParameterizer.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/TrajectoryParameterizer.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::TrajectoryParameterizer", "wpi__math__TrajectoryParameterizer.hpp"), - ], - ), - struct( - class_name = "TrapezoidProfile", - yml_file = "semiwrap/controls/TrapezoidProfile.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/TrapezoidProfile.hpp", - tmpl_class_names = [ - ("TrapezoidProfile_tmpl1", "TrapezoidProfile"), - ("TrapezoidProfile_tmpl2", "TrapezoidProfileRadians"), - ], - trampolines = [ - ("wpi::math::TrapezoidProfile", "wpi__math__TrapezoidProfile.hpp"), - ("wpi::math::TrapezoidProfile::Constraints", "wpi__math__TrapezoidProfile__Constraints.hpp"), - ("wpi::math::TrapezoidProfile::State", "wpi__math__TrapezoidProfile__State.hpp"), - ], - ), - struct( - class_name = "CentripetalAccelerationConstraint", - yml_file = "semiwrap/controls/CentripetalAccelerationConstraint.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::CentripetalAccelerationConstraint", "wpi__math__CentripetalAccelerationConstraint.hpp"), - ], - ), - struct( - class_name = "DifferentialDriveKinematicsConstraint", - yml_file = "semiwrap/controls/DifferentialDriveKinematicsConstraint.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DifferentialDriveKinematicsConstraint", "wpi__math__DifferentialDriveKinematicsConstraint.hpp"), - ], - ), - struct( - class_name = "DifferentialDriveVoltageConstraint", - yml_file = "semiwrap/controls/DifferentialDriveVoltageConstraint.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::DifferentialDriveVoltageConstraint", "wpi__math__DifferentialDriveVoltageConstraint.hpp"), - ], - ), - struct( - class_name = "EllipticalRegionConstraint", - yml_file = "semiwrap/controls/EllipticalRegionConstraint.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp", - tmpl_class_names = [ - ("EllipticalRegionConstraint_tmpl1", "EllipticalRegionConstraint"), - ], - trampolines = [ - ("wpi::math::EllipticalRegionConstraint", "wpi__math__EllipticalRegionConstraint.hpp"), - ], - ), - struct( - class_name = "MaxVelocityConstraint", - yml_file = "semiwrap/controls/MaxVelocityConstraint.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::MaxVelocityConstraint", "wpi__math__MaxVelocityConstraint.hpp"), - ], - ), - struct( - class_name = "MecanumDriveKinematicsConstraint", - yml_file = "semiwrap/controls/MecanumDriveKinematicsConstraint.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::MecanumDriveKinematicsConstraint", "wpi__math__MecanumDriveKinematicsConstraint.hpp"), - ], - ), - struct( - class_name = "RectangularRegionConstraint", - yml_file = "semiwrap/controls/RectangularRegionConstraint.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp", - tmpl_class_names = [ - ("RectangularRegionConstraint_tmpl1", "RectangularRegionConstraint"), - ], - trampolines = [ - ("wpi::math::RectangularRegionConstraint", "wpi__math__RectangularRegionConstraint.hpp"), - ], - ), - struct( - class_name = "SwerveDriveKinematicsConstraint", - yml_file = "semiwrap/controls/SwerveDriveKinematicsConstraint.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp", - tmpl_class_names = [ - ("SwerveDriveKinematicsConstraint_tmpl1", "SwerveDrive2KinematicsConstraint"), - ("SwerveDriveKinematicsConstraint_tmpl2", "SwerveDrive3KinematicsConstraint"), - ("SwerveDriveKinematicsConstraint_tmpl3", "SwerveDrive4KinematicsConstraint"), - ("SwerveDriveKinematicsConstraint_tmpl4", "SwerveDrive6KinematicsConstraint"), - ], - trampolines = [ - ("wpi::math::SwerveDriveKinematicsConstraint", "wpi__math__SwerveDriveKinematicsConstraint.hpp"), - ], - ), - struct( - class_name = "TrajectoryConstraint", - yml_file = "semiwrap/controls/TrajectoryConstraint.yml", - header_root = "$(execpath :robotpy-native-wpimath.copy_headers)", - header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/TrajectoryConstraint.hpp", - tmpl_class_names = [], - trampolines = [ - ("wpi::math::TrajectoryConstraint", "wpi__math__TrajectoryConstraint.hpp"), - ("wpi::math::TrajectoryConstraint::MinMax", "wpi__math__TrajectoryConstraint__MinMax.hpp"), - ], - ), - ] - - resolve_casters( - name = "wpimath_controls.resolve_casters", - caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json", ":src/main/python/wpimath/wpimath-casters.pybind11.json"], - casters_pkl_file = "wpimath_controls.casters.pkl", - dep_file = "wpimath_controls.casters.d", - ) - - gen_libinit( - name = "wpimath_controls.gen_lib_init", - output_file = "src/main/python/wpimath/_controls/_init__controls.py", - modules = ["native.wpimath._init_robotpy_native_wpimath", "wpimath._init__wpimath", "wpimath.geometry._init__geometry", "wpimath.kinematics._init__kinematics", "wpimath.spline._init__spline"], - ) - - gen_pkgconf( - name = "wpimath_controls.gen_pkgconf", - libinit_py = "wpimath._controls._init__controls", - module_pkg_name = "wpimath._controls._controls", - output_file = "wpimath_controls.pc", - pkg_name = "wpimath_controls", - install_path = "src/main/python/wpimath/_controls", - project_file = "src/main/python/pyproject.toml", - package_root = "src/main/python/wpimath/__init__.py", - ) - - gen_modinit_hpp( - name = "wpimath_controls.gen_modinit_hpp", - input_dats = [x.class_name for x in WPIMATH_CONTROLS_HEADER_GEN], - libname = "_controls", - output_file = "semiwrap_init.wpimath._controls._controls.hpp", - ) - - run_header_gen( - name = "wpimath_controls", - casters_pickle = "wpimath_controls.casters.pkl", - header_gen_config = WPIMATH_CONTROLS_HEADER_GEN, - trampoline_subpath = "src/main/python/wpimath/_controls", - deps = header_to_dat_deps, - local_native_libraries = [ - "//wpimath:robotpy-native-wpimath.copy_headers", - "//wpiutil:robotpy-native-wpiutil.copy_headers", - ], - ) - - create_pybind_library( - name = "wpimath_controls", - install_path = "src/main/python/wpimath/_controls/", - extension_name = "_controls", - generated_srcs = [":wpimath_controls.generated_srcs"], - semiwrap_header = [":wpimath_controls.gen_modinit_hpp"], - deps = [ - ":wpimath_controls.tmpl_hdrs", - ":wpimath_controls.trampoline_hdrs", - "//wpimath:wpimath", - "//wpimath:wpimath-casters", - "//wpimath:wpimath_geometry_pybind_library", - "//wpimath:wpimath_kinematics_pybind_library", - "//wpimath:wpimath_pybind_library", - "//wpimath:wpimath_spline_pybind_library", - "//wpiutil:wpiutil", - "//wpiutil:wpiutil_pybind_library", - ], - dynamic_deps = [ - "//wpimath:shared/wpimath", - "//wpiutil:shared/wpiutil", - ], - extra_hdrs = extra_hdrs, - extra_srcs = srcs, - includes = includes, - ) - - native.filegroup( - name = "wpimath_controls.generated_files", - srcs = [ - "wpimath_controls.gen_modinit_hpp.gen", - "wpimath_controls.header_gen_files", - "wpimath_controls.gen_pkgconf", - "wpimath_controls.gen_lib_init", - ], - tags = ["manual", "robotpy"], - ) - def publish_library_casters(): publish_casters( name = "publish_casters", @@ -1721,12 +1223,6 @@ def define_pybind_library(name, pkgcfgs = []): name = "{}.generated_files".format(name), srcs = [ "wpimath.generated_files", - "wpimath_filter.generated_files", - "wpimath_geometry.generated_files", - "wpimath_interpolation.generated_files", - "wpimath_kinematics.generated_files", - "wpimath_spline.generated_files", - "wpimath_controls.generated_files", ], tags = ["manual", "robotpy"], visibility = ["//visibility:public"], @@ -1737,12 +1233,6 @@ def define_pybind_library(name, pkgcfgs = []): name = "{}.generated_pkgcfg_files".format(name), srcs = [ "src/main/python/wpimath/wpimath.pc", - "src/main/python/wpimath/filter/wpimath_filter.pc", - "src/main/python/wpimath/geometry/wpimath_geometry.pc", - "src/main/python/wpimath/interpolation/wpimath_interpolation.pc", - "src/main/python/wpimath/kinematics/wpimath_kinematics.pc", - "src/main/python/wpimath/spline/wpimath_spline.pc", - "src/main/python/wpimath/_controls/wpimath_controls.pc", "src/main/python/wpimath/wpimath-casters.pc", "src/main/python/wpimath/wpimath-casters.pybind11.json", ], @@ -1767,31 +1257,13 @@ def define_pybind_library(name, pkgcfgs = []): name = name, srcs = native.glob(["src/main/python/wpimath/**/*.py"]) + [ "src/main/python/wpimath/_init__wpimath.py", - "src/main/python/wpimath/filter/_init__filter.py", - "src/main/python/wpimath/geometry/_init__geometry.py", - "src/main/python/wpimath/interpolation/_init__interpolation.py", - "src/main/python/wpimath/kinematics/_init__kinematics.py", - "src/main/python/wpimath/spline/_init__spline.py", - "src/main/python/wpimath/_controls/_init__controls.py", "{}.generate_version".format(name), ], data = [ "{}.generated_pkgcfg_files".format(name), "{}.extra_files".format(name), ":src/main/python/wpimath/_wpimath", - ":src/main/python/wpimath/filter/_filter", - ":src/main/python/wpimath/geometry/_geometry", - ":src/main/python/wpimath/interpolation/_interpolation", - ":src/main/python/wpimath/kinematics/_kinematics", - ":src/main/python/wpimath/spline/_spline", - ":src/main/python/wpimath/_controls/_controls", ":wpimath.trampoline_hdr_files", - ":wpimath_filter.trampoline_hdr_files", - ":wpimath_geometry.trampoline_hdr_files", - ":wpimath_interpolation.trampoline_hdr_files", - ":wpimath_kinematics.trampoline_hdr_files", - ":wpimath_spline.trampoline_hdr_files", - ":wpimath_controls.trampoline_hdr_files", ], imports = ["src/main/python"], deps = [ diff --git a/wpimath/src/main/python/native-pyproject.toml b/wpimath/src/main/python/native-pyproject.toml index 65094363ab..5769d64a41 100644 --- a/wpimath/src/main/python/native-pyproject.toml +++ b/wpimath/src/main/python/native-pyproject.toml @@ -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" diff --git a/wpimath/src/main/python/pyproject.toml b/wpimath/src/main/python/pyproject.toml index 34f1916670..5d2f7615a9 100644 --- a/wpimath/src/main/python/pyproject.toml +++ b/wpimath/src/main/python/pyproject.toml @@ -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" diff --git a/wpimath/src/main/python/semiwrap/controls/ArmFeedforward.yml b/wpimath/src/main/python/semiwrap/ArmFeedforward.yml similarity index 97% rename from wpimath/src/main/python/semiwrap/controls/ArmFeedforward.yml rename to wpimath/src/main/python/semiwrap/ArmFeedforward.yml index 65d3920dfc..10c5976273 100644 --- a/wpimath/src/main/python/semiwrap/controls/ArmFeedforward.yml +++ b/wpimath/src/main/python/semiwrap/ArmFeedforward.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - classes: wpi::math::ArmFeedforward: force_type_casters: diff --git a/wpimath/src/main/python/semiwrap/controls/BangBangController.yml b/wpimath/src/main/python/semiwrap/BangBangController.yml similarity index 91% rename from wpimath/src/main/python/semiwrap/controls/BangBangController.yml rename to wpimath/src/main/python/semiwrap/BangBangController.yml index daf522a642..62b9e6a20a 100644 --- a/wpimath/src/main/python/semiwrap/controls/BangBangController.yml +++ b/wpimath/src/main/python/semiwrap/BangBangController.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - classes: wpi::math::BangBangController: ignored_bases: diff --git a/wpimath/src/main/python/semiwrap/controls/CentripetalAccelerationConstraint.yml b/wpimath/src/main/python/semiwrap/CentripetalAccelerationConstraint.yml similarity index 93% rename from wpimath/src/main/python/semiwrap/controls/CentripetalAccelerationConstraint.yml rename to wpimath/src/main/python/semiwrap/CentripetalAccelerationConstraint.yml index 5de0cacf8d..0de3696ac3 100644 --- a/wpimath/src/main/python/semiwrap/controls/CentripetalAccelerationConstraint.yml +++ b/wpimath/src/main/python/semiwrap/CentripetalAccelerationConstraint.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: constraint - classes: wpi::math::CentripetalAccelerationConstraint: typealias: diff --git a/wpimath/src/main/python/semiwrap/kinematics/ChassisAccelerations.yml b/wpimath/src/main/python/semiwrap/ChassisAccelerations.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/ChassisAccelerations.yml rename to wpimath/src/main/python/semiwrap/ChassisAccelerations.yml diff --git a/wpimath/src/main/python/semiwrap/kinematics/ChassisSpeeds.yml b/wpimath/src/main/python/semiwrap/ChassisSpeeds.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/ChassisSpeeds.yml rename to wpimath/src/main/python/semiwrap/ChassisSpeeds.yml diff --git a/wpimath/src/main/python/semiwrap/controls/ControlAffinePlantInversionFeedforward.yml b/wpimath/src/main/python/semiwrap/ControlAffinePlantInversionFeedforward.yml similarity index 97% rename from wpimath/src/main/python/semiwrap/controls/ControlAffinePlantInversionFeedforward.yml rename to wpimath/src/main/python/semiwrap/ControlAffinePlantInversionFeedforward.yml index d765af91fd..c9258ceda2 100644 --- a/wpimath/src/main/python/semiwrap/controls/ControlAffinePlantInversionFeedforward.yml +++ b/wpimath/src/main/python/semiwrap/ControlAffinePlantInversionFeedforward.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - classes: wpi::math::ControlAffinePlantInversionFeedforward: template_params: diff --git a/wpimath/src/main/python/semiwrap/geometry/CoordinateAxis.yml b/wpimath/src/main/python/semiwrap/CoordinateAxis.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/geometry/CoordinateAxis.yml rename to wpimath/src/main/python/semiwrap/CoordinateAxis.yml diff --git a/wpimath/src/main/python/semiwrap/geometry/CoordinateSystem.yml b/wpimath/src/main/python/semiwrap/CoordinateSystem.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/geometry/CoordinateSystem.yml rename to wpimath/src/main/python/semiwrap/CoordinateSystem.yml diff --git a/wpimath/src/main/python/semiwrap/spline/CubicHermiteSpline.yml b/wpimath/src/main/python/semiwrap/CubicHermiteSpline.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/spline/CubicHermiteSpline.yml rename to wpimath/src/main/python/semiwrap/CubicHermiteSpline.yml diff --git a/wpimath/src/main/python/semiwrap/controls/DCMotor.yml b/wpimath/src/main/python/semiwrap/DCMotor.yml similarity index 96% rename from wpimath/src/main/python/semiwrap/controls/DCMotor.yml rename to wpimath/src/main/python/semiwrap/DCMotor.yml index c5fd38711e..f5a4b7c59d 100644 --- a/wpimath/src/main/python/semiwrap/controls/DCMotor.yml +++ b/wpimath/src/main/python/semiwrap/DCMotor.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: plant - extra_includes: - wpystruct.h diff --git a/wpimath/src/main/python/semiwrap/filter/Debouncer.yml b/wpimath/src/main/python/semiwrap/Debouncer.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/filter/Debouncer.yml rename to wpimath/src/main/python/semiwrap/Debouncer.yml diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveAccelerationLimiter.yml b/wpimath/src/main/python/semiwrap/DifferentialDriveAccelerationLimiter.yml similarity index 93% rename from wpimath/src/main/python/semiwrap/controls/DifferentialDriveAccelerationLimiter.yml rename to wpimath/src/main/python/semiwrap/DifferentialDriveAccelerationLimiter.yml index 291fdea9c4..31ad391eb1 100644 --- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveAccelerationLimiter.yml +++ b/wpimath/src/main/python/semiwrap/DifferentialDriveAccelerationLimiter.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - classes: wpi::math::DifferentialDriveAccelerationLimiter: methods: diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveFeedforward.yml b/wpimath/src/main/python/semiwrap/DifferentialDriveFeedforward.yml similarity index 97% rename from wpimath/src/main/python/semiwrap/controls/DifferentialDriveFeedforward.yml rename to wpimath/src/main/python/semiwrap/DifferentialDriveFeedforward.yml index edd1d33bad..6abe7270d8 100644 --- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveFeedforward.yml +++ b/wpimath/src/main/python/semiwrap/DifferentialDriveFeedforward.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - classes: wpi::math::DifferentialDriveFeedforward: force_type_casters: diff --git a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveKinematics.yml b/wpimath/src/main/python/semiwrap/DifferentialDriveKinematics.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveKinematics.yml rename to wpimath/src/main/python/semiwrap/DifferentialDriveKinematics.yml diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveKinematicsConstraint.yml b/wpimath/src/main/python/semiwrap/DifferentialDriveKinematicsConstraint.yml similarity index 94% rename from wpimath/src/main/python/semiwrap/controls/DifferentialDriveKinematicsConstraint.yml rename to wpimath/src/main/python/semiwrap/DifferentialDriveKinematicsConstraint.yml index 9a74332425..b1280fb028 100644 --- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveKinematicsConstraint.yml +++ b/wpimath/src/main/python/semiwrap/DifferentialDriveKinematicsConstraint.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: constraint - classes: wpi::math::DifferentialDriveKinematicsConstraint: typealias: diff --git a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry.yml b/wpimath/src/main/python/semiwrap/DifferentialDriveOdometry.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry.yml rename to wpimath/src/main/python/semiwrap/DifferentialDriveOdometry.yml diff --git a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry3d.yml b/wpimath/src/main/python/semiwrap/DifferentialDriveOdometry3d.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry3d.yml rename to wpimath/src/main/python/semiwrap/DifferentialDriveOdometry3d.yml diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator.yml b/wpimath/src/main/python/semiwrap/DifferentialDrivePoseEstimator.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator.yml rename to wpimath/src/main/python/semiwrap/DifferentialDrivePoseEstimator.yml index f765ca54c2..7e8a6ec112 100644 --- a/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator.yml +++ b/wpimath/src/main/python/semiwrap/DifferentialDrivePoseEstimator.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: estimator - classes: wpi::math::DifferentialDrivePoseEstimator: force_no_trampoline: true diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator3d.yml b/wpimath/src/main/python/semiwrap/DifferentialDrivePoseEstimator3d.yml similarity index 93% rename from wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator3d.yml rename to wpimath/src/main/python/semiwrap/DifferentialDrivePoseEstimator3d.yml index 3466dbef79..b63aca0ae3 100644 --- a/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator3d.yml +++ b/wpimath/src/main/python/semiwrap/DifferentialDrivePoseEstimator3d.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: estimator - classes: wpi::math::DifferentialDrivePoseEstimator3d: force_no_trampoline: true diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveVoltageConstraint.yml b/wpimath/src/main/python/semiwrap/DifferentialDriveVoltageConstraint.yml similarity index 85% rename from wpimath/src/main/python/semiwrap/controls/DifferentialDriveVoltageConstraint.yml rename to wpimath/src/main/python/semiwrap/DifferentialDriveVoltageConstraint.yml index e8720f9865..5565b12dfc 100644 --- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveVoltageConstraint.yml +++ b/wpimath/src/main/python/semiwrap/DifferentialDriveVoltageConstraint.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: constraint - classes: wpi::math::DifferentialDriveVoltageConstraint: typealias: diff --git a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelAccelerations.yml b/wpimath/src/main/python/semiwrap/DifferentialDriveWheelAccelerations.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelAccelerations.yml rename to wpimath/src/main/python/semiwrap/DifferentialDriveWheelAccelerations.yml diff --git a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelPositions.yml b/wpimath/src/main/python/semiwrap/DifferentialDriveWheelPositions.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelPositions.yml rename to wpimath/src/main/python/semiwrap/DifferentialDriveWheelPositions.yml diff --git a/wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelSpeeds.yml b/wpimath/src/main/python/semiwrap/DifferentialDriveWheelSpeeds.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelSpeeds.yml rename to wpimath/src/main/python/semiwrap/DifferentialDriveWheelSpeeds.yml diff --git a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveWheelVoltages.yml b/wpimath/src/main/python/semiwrap/DifferentialDriveWheelVoltages.yml similarity index 94% rename from wpimath/src/main/python/semiwrap/controls/DifferentialDriveWheelVoltages.yml rename to wpimath/src/main/python/semiwrap/DifferentialDriveWheelVoltages.yml index f2c0f5c4d7..53fe7ceb8a 100644 --- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveWheelVoltages.yml +++ b/wpimath/src/main/python/semiwrap/DifferentialDriveWheelVoltages.yml @@ -1,7 +1,3 @@ -defaults: - subpackage: controller - - classes: wpi::math::DifferentialDriveWheelVoltages: force_no_default_constructor: true diff --git a/wpimath/src/main/python/semiwrap/controls/ElevatorFeedforward.yml b/wpimath/src/main/python/semiwrap/ElevatorFeedforward.yml similarity index 96% rename from wpimath/src/main/python/semiwrap/controls/ElevatorFeedforward.yml rename to wpimath/src/main/python/semiwrap/ElevatorFeedforward.yml index 974d22b42e..ff7d5a10d5 100644 --- a/wpimath/src/main/python/semiwrap/controls/ElevatorFeedforward.yml +++ b/wpimath/src/main/python/semiwrap/ElevatorFeedforward.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - classes: wpi::math::ElevatorFeedforward: force_type_casters: diff --git a/wpimath/src/main/python/semiwrap/geometry/Ellipse2d.yml b/wpimath/src/main/python/semiwrap/Ellipse2d.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/geometry/Ellipse2d.yml rename to wpimath/src/main/python/semiwrap/Ellipse2d.yml index bf717940f3..641f1778ba 100644 --- a/wpimath/src/main/python/semiwrap/geometry/Ellipse2d.yml +++ b/wpimath/src/main/python/semiwrap/Ellipse2d.yml @@ -1,5 +1,5 @@ extra_includes: -- rpy/geometryToString.h +- geometryToString.h - wpystruct.h classes: diff --git a/wpimath/src/main/python/semiwrap/controls/EllipticalRegionConstraint.yml b/wpimath/src/main/python/semiwrap/EllipticalRegionConstraint.yml similarity index 97% rename from wpimath/src/main/python/semiwrap/controls/EllipticalRegionConstraint.yml rename to wpimath/src/main/python/semiwrap/EllipticalRegionConstraint.yml index d8c8dadbf8..0318e2372a 100644 --- a/wpimath/src/main/python/semiwrap/controls/EllipticalRegionConstraint.yml +++ b/wpimath/src/main/python/semiwrap/EllipticalRegionConstraint.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: constraint - extra_includes: - PyTrajectoryConstraint.h diff --git a/wpimath/src/main/python/semiwrap/controls/ExponentialProfile.yml b/wpimath/src/main/python/semiwrap/ExponentialProfile.yml similarity index 97% rename from wpimath/src/main/python/semiwrap/controls/ExponentialProfile.yml rename to wpimath/src/main/python/semiwrap/ExponentialProfile.yml index 96532b038f..5082664d1c 100644 --- a/wpimath/src/main/python/semiwrap/controls/ExponentialProfile.yml +++ b/wpimath/src/main/python/semiwrap/ExponentialProfile.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: trajectory - classes: wpi::math::ExponentialProfile: force_type_casters: diff --git a/wpimath/src/main/python/semiwrap/controls/ExtendedKalmanFilter.yml b/wpimath/src/main/python/semiwrap/ExtendedKalmanFilter.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/controls/ExtendedKalmanFilter.yml rename to wpimath/src/main/python/semiwrap/ExtendedKalmanFilter.yml index 95338b6999..7d3a63ee35 100644 --- a/wpimath/src/main/python/semiwrap/controls/ExtendedKalmanFilter.yml +++ b/wpimath/src/main/python/semiwrap/ExtendedKalmanFilter.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: estimator - classes: wpi::math::ExtendedKalmanFilter: template_params: diff --git a/wpimath/src/main/python/semiwrap/controls/ImplicitModelFollower.yml b/wpimath/src/main/python/semiwrap/ImplicitModelFollower.yml similarity index 97% rename from wpimath/src/main/python/semiwrap/controls/ImplicitModelFollower.yml rename to wpimath/src/main/python/semiwrap/ImplicitModelFollower.yml index f1d240a3c2..b09f00733d 100644 --- a/wpimath/src/main/python/semiwrap/controls/ImplicitModelFollower.yml +++ b/wpimath/src/main/python/semiwrap/ImplicitModelFollower.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - classes: wpi::math::ImplicitModelFollower: template_params: diff --git a/wpimath/src/main/python/semiwrap/controls/KalmanFilter.yml b/wpimath/src/main/python/semiwrap/KalmanFilter.yml similarity index 96% rename from wpimath/src/main/python/semiwrap/controls/KalmanFilter.yml rename to wpimath/src/main/python/semiwrap/KalmanFilter.yml index 94b780203c..d363c948db 100644 --- a/wpimath/src/main/python/semiwrap/controls/KalmanFilter.yml +++ b/wpimath/src/main/python/semiwrap/KalmanFilter.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: estimator - classes: wpi::math::KalmanFilter: template_params: diff --git a/wpimath/src/main/python/semiwrap/kinematics/Kinematics.yml b/wpimath/src/main/python/semiwrap/Kinematics.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/Kinematics.yml rename to wpimath/src/main/python/semiwrap/Kinematics.yml diff --git a/wpimath/src/main/python/semiwrap/controls/LTVDifferentialDriveController.yml b/wpimath/src/main/python/semiwrap/LTVDifferentialDriveController.yml similarity index 93% rename from wpimath/src/main/python/semiwrap/controls/LTVDifferentialDriveController.yml rename to wpimath/src/main/python/semiwrap/LTVDifferentialDriveController.yml index 5b63d020f4..2041b92dae 100644 --- a/wpimath/src/main/python/semiwrap/controls/LTVDifferentialDriveController.yml +++ b/wpimath/src/main/python/semiwrap/LTVDifferentialDriveController.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - classes: wpi::math::LTVDifferentialDriveController: methods: diff --git a/wpimath/src/main/python/semiwrap/controls/LTVUnicycleController.yml b/wpimath/src/main/python/semiwrap/LTVUnicycleController.yml similarity index 94% rename from wpimath/src/main/python/semiwrap/controls/LTVUnicycleController.yml rename to wpimath/src/main/python/semiwrap/LTVUnicycleController.yml index 0c94264d05..0505811595 100644 --- a/wpimath/src/main/python/semiwrap/controls/LTVUnicycleController.yml +++ b/wpimath/src/main/python/semiwrap/LTVUnicycleController.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - classes: wpi::math::LTVUnicycleController: methods: diff --git a/wpimath/src/main/python/semiwrap/filter/LinearFilter.yml b/wpimath/src/main/python/semiwrap/LinearFilter.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/filter/LinearFilter.yml rename to wpimath/src/main/python/semiwrap/LinearFilter.yml diff --git a/wpimath/src/main/python/semiwrap/controls/LinearPlantInversionFeedforward.yml b/wpimath/src/main/python/semiwrap/LinearPlantInversionFeedforward.yml similarity index 97% rename from wpimath/src/main/python/semiwrap/controls/LinearPlantInversionFeedforward.yml rename to wpimath/src/main/python/semiwrap/LinearPlantInversionFeedforward.yml index 4e6743d348..f56fae7547 100644 --- a/wpimath/src/main/python/semiwrap/controls/LinearPlantInversionFeedforward.yml +++ b/wpimath/src/main/python/semiwrap/LinearPlantInversionFeedforward.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - classes: wpi::math::LinearPlantInversionFeedforward: template_params: diff --git a/wpimath/src/main/python/semiwrap/controls/LinearQuadraticRegulator.yml b/wpimath/src/main/python/semiwrap/LinearQuadraticRegulator.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/controls/LinearQuadraticRegulator.yml rename to wpimath/src/main/python/semiwrap/LinearQuadraticRegulator.yml index 025b5c0cf6..835d06fe7c 100644 --- a/wpimath/src/main/python/semiwrap/controls/LinearQuadraticRegulator.yml +++ b/wpimath/src/main/python/semiwrap/LinearQuadraticRegulator.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - classes: wpi::math::LinearQuadraticRegulator: template_params: diff --git a/wpimath/src/main/python/semiwrap/controls/LinearSystem.yml b/wpimath/src/main/python/semiwrap/LinearSystem.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/controls/LinearSystem.yml rename to wpimath/src/main/python/semiwrap/LinearSystem.yml index 52ccfd459d..242381ba4e 100644 --- a/wpimath/src/main/python/semiwrap/controls/LinearSystem.yml +++ b/wpimath/src/main/python/semiwrap/LinearSystem.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: system - classes: wpi::math::LinearSystem: template_params: diff --git a/wpimath/src/main/python/semiwrap/controls/LinearSystemId.yml b/wpimath/src/main/python/semiwrap/LinearSystemId.yml similarity index 99% rename from wpimath/src/main/python/semiwrap/controls/LinearSystemId.yml rename to wpimath/src/main/python/semiwrap/LinearSystemId.yml index 052bddddc3..dd06745334 100644 --- a/wpimath/src/main/python/semiwrap/controls/LinearSystemId.yml +++ b/wpimath/src/main/python/semiwrap/LinearSystemId.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: plant - classes: wpi::math::LinearSystemId: typealias: diff --git a/wpimath/src/main/python/semiwrap/controls/LinearSystemLoop.yml b/wpimath/src/main/python/semiwrap/LinearSystemLoop.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/controls/LinearSystemLoop.yml rename to wpimath/src/main/python/semiwrap/LinearSystemLoop.yml index 00a6897c84..55d53ab997 100644 --- a/wpimath/src/main/python/semiwrap/controls/LinearSystemLoop.yml +++ b/wpimath/src/main/python/semiwrap/LinearSystemLoop.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: system - classes: wpi::math::LinearSystemLoop: template_params: diff --git a/wpimath/src/main/python/semiwrap/controls/MaxVelocityConstraint.yml b/wpimath/src/main/python/semiwrap/MaxVelocityConstraint.yml similarity index 92% rename from wpimath/src/main/python/semiwrap/controls/MaxVelocityConstraint.yml rename to wpimath/src/main/python/semiwrap/MaxVelocityConstraint.yml index b6a2c94f31..a75e63f0a0 100644 --- a/wpimath/src/main/python/semiwrap/controls/MaxVelocityConstraint.yml +++ b/wpimath/src/main/python/semiwrap/MaxVelocityConstraint.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: constraint - classes: wpi::math::MaxVelocityConstraint: typealias: diff --git a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveKinematics.yml b/wpimath/src/main/python/semiwrap/MecanumDriveKinematics.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/MecanumDriveKinematics.yml rename to wpimath/src/main/python/semiwrap/MecanumDriveKinematics.yml diff --git a/wpimath/src/main/python/semiwrap/controls/MecanumDriveKinematicsConstraint.yml b/wpimath/src/main/python/semiwrap/MecanumDriveKinematicsConstraint.yml similarity index 94% rename from wpimath/src/main/python/semiwrap/controls/MecanumDriveKinematicsConstraint.yml rename to wpimath/src/main/python/semiwrap/MecanumDriveKinematicsConstraint.yml index acf677b0a3..64249e3aa7 100644 --- a/wpimath/src/main/python/semiwrap/controls/MecanumDriveKinematicsConstraint.yml +++ b/wpimath/src/main/python/semiwrap/MecanumDriveKinematicsConstraint.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: constraint - classes: wpi::math::MecanumDriveKinematicsConstraint: typealias: diff --git a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry.yml b/wpimath/src/main/python/semiwrap/MecanumDriveOdometry.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry.yml rename to wpimath/src/main/python/semiwrap/MecanumDriveOdometry.yml diff --git a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry3d.yml b/wpimath/src/main/python/semiwrap/MecanumDriveOdometry3d.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry3d.yml rename to wpimath/src/main/python/semiwrap/MecanumDriveOdometry3d.yml diff --git a/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator.yml b/wpimath/src/main/python/semiwrap/MecanumDrivePoseEstimator.yml similarity index 97% rename from wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator.yml rename to wpimath/src/main/python/semiwrap/MecanumDrivePoseEstimator.yml index 48c27ad85c..3e6d0927a0 100644 --- a/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator.yml +++ b/wpimath/src/main/python/semiwrap/MecanumDrivePoseEstimator.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: estimator - classes: wpi::math::MecanumDrivePoseEstimator: force_no_trampoline: true diff --git a/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator3d.yml b/wpimath/src/main/python/semiwrap/MecanumDrivePoseEstimator3d.yml similarity index 92% rename from wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator3d.yml rename to wpimath/src/main/python/semiwrap/MecanumDrivePoseEstimator3d.yml index 66a08e5f38..84599fdc0d 100644 --- a/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator3d.yml +++ b/wpimath/src/main/python/semiwrap/MecanumDrivePoseEstimator3d.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: estimator - classes: wpi::math::MecanumDrivePoseEstimator3d: force_no_trampoline: true diff --git a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelAccelerations.yml b/wpimath/src/main/python/semiwrap/MecanumDriveWheelAccelerations.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelAccelerations.yml rename to wpimath/src/main/python/semiwrap/MecanumDriveWheelAccelerations.yml diff --git a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelPositions.yml b/wpimath/src/main/python/semiwrap/MecanumDriveWheelPositions.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelPositions.yml rename to wpimath/src/main/python/semiwrap/MecanumDriveWheelPositions.yml diff --git a/wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelSpeeds.yml b/wpimath/src/main/python/semiwrap/MecanumDriveWheelSpeeds.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelSpeeds.yml rename to wpimath/src/main/python/semiwrap/MecanumDriveWheelSpeeds.yml diff --git a/wpimath/src/main/python/semiwrap/filter/MedianFilter.yml b/wpimath/src/main/python/semiwrap/MedianFilter.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/filter/MedianFilter.yml rename to wpimath/src/main/python/semiwrap/MedianFilter.yml diff --git a/wpimath/src/main/python/semiwrap/kinematics/Odometry.yml b/wpimath/src/main/python/semiwrap/Odometry.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/Odometry.yml rename to wpimath/src/main/python/semiwrap/Odometry.yml diff --git a/wpimath/src/main/python/semiwrap/kinematics/Odometry3d.yml b/wpimath/src/main/python/semiwrap/Odometry3d.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/Odometry3d.yml rename to wpimath/src/main/python/semiwrap/Odometry3d.yml diff --git a/wpimath/src/main/python/semiwrap/controls/PIDController.yml b/wpimath/src/main/python/semiwrap/PIDController.yml similarity index 96% rename from wpimath/src/main/python/semiwrap/controls/PIDController.yml rename to wpimath/src/main/python/semiwrap/PIDController.yml index 00b2b07bc8..cb1f7e1cb5 100644 --- a/wpimath/src/main/python/semiwrap/controls/PIDController.yml +++ b/wpimath/src/main/python/semiwrap/PIDController.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - classes: wpi::math::PIDController: ignored_bases: diff --git a/wpimath/src/main/python/semiwrap/geometry/Pose2d.yml b/wpimath/src/main/python/semiwrap/Pose2d.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/geometry/Pose2d.yml rename to wpimath/src/main/python/semiwrap/Pose2d.yml index 2cc1c8ecff..0f4d9bb937 100644 --- a/wpimath/src/main/python/semiwrap/geometry/Pose2d.yml +++ b/wpimath/src/main/python/semiwrap/Pose2d.yml @@ -1,5 +1,5 @@ extra_includes: -- rpy/geometryToString.h +- geometryToString.h - wpystruct.h functions: diff --git a/wpimath/src/main/python/semiwrap/geometry/Pose3d.yml b/wpimath/src/main/python/semiwrap/Pose3d.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/geometry/Pose3d.yml rename to wpimath/src/main/python/semiwrap/Pose3d.yml index 93f6755bae..e4491d5204 100644 --- a/wpimath/src/main/python/semiwrap/geometry/Pose3d.yml +++ b/wpimath/src/main/python/semiwrap/Pose3d.yml @@ -1,5 +1,5 @@ extra_includes: -- rpy/geometryToString.h +- geometryToString.h - wpystruct.h functions: diff --git a/wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml b/wpimath/src/main/python/semiwrap/PoseEstimator.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml rename to wpimath/src/main/python/semiwrap/PoseEstimator.yml index afa7f35b24..d32e02ee01 100644 --- a/wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml +++ b/wpimath/src/main/python/semiwrap/PoseEstimator.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: estimator - extra_includes: - wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp - wpi/math/kinematics/DifferentialDriveWheelPositions.hpp diff --git a/wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml b/wpimath/src/main/python/semiwrap/PoseEstimator3d.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml rename to wpimath/src/main/python/semiwrap/PoseEstimator3d.yml index 72d4bd0f25..ec7bd23756 100644 --- a/wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml +++ b/wpimath/src/main/python/semiwrap/PoseEstimator3d.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: estimator - extra_includes: - wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp - wpi/math/kinematics/DifferentialDriveWheelPositions.hpp diff --git a/wpimath/src/main/python/semiwrap/controls/ProfiledPIDController.yml b/wpimath/src/main/python/semiwrap/ProfiledPIDController.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/controls/ProfiledPIDController.yml rename to wpimath/src/main/python/semiwrap/ProfiledPIDController.yml index f814482a9d..dc60a8c0de 100644 --- a/wpimath/src/main/python/semiwrap/controls/ProfiledPIDController.yml +++ b/wpimath/src/main/python/semiwrap/ProfiledPIDController.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - functions: IncrementAndGetProfiledPIDControllerInstances: ignore: true diff --git a/wpimath/src/main/python/semiwrap/geometry/Quaternion.yml b/wpimath/src/main/python/semiwrap/Quaternion.yml similarity index 97% rename from wpimath/src/main/python/semiwrap/geometry/Quaternion.yml rename to wpimath/src/main/python/semiwrap/Quaternion.yml index 717305bc06..71c2be4186 100644 --- a/wpimath/src/main/python/semiwrap/geometry/Quaternion.yml +++ b/wpimath/src/main/python/semiwrap/Quaternion.yml @@ -1,5 +1,5 @@ extra_includes: -- rpy/geometryToString.h +- geometryToString.h - wpystruct.h functions: diff --git a/wpimath/src/main/python/semiwrap/spline/QuinticHermiteSpline.yml b/wpimath/src/main/python/semiwrap/QuinticHermiteSpline.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/spline/QuinticHermiteSpline.yml rename to wpimath/src/main/python/semiwrap/QuinticHermiteSpline.yml diff --git a/wpimath/src/main/python/semiwrap/geometry/Rectangle2d.yml b/wpimath/src/main/python/semiwrap/Rectangle2d.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/geometry/Rectangle2d.yml rename to wpimath/src/main/python/semiwrap/Rectangle2d.yml index f02d69100a..c28893fadb 100644 --- a/wpimath/src/main/python/semiwrap/geometry/Rectangle2d.yml +++ b/wpimath/src/main/python/semiwrap/Rectangle2d.yml @@ -1,5 +1,5 @@ extra_includes: -- rpy/geometryToString.h +- geometryToString.h - wpystruct.h classes: diff --git a/wpimath/src/main/python/semiwrap/controls/RectangularRegionConstraint.yml b/wpimath/src/main/python/semiwrap/RectangularRegionConstraint.yml similarity index 94% rename from wpimath/src/main/python/semiwrap/controls/RectangularRegionConstraint.yml rename to wpimath/src/main/python/semiwrap/RectangularRegionConstraint.yml index 6aec5b8931..b33b453aa6 100644 --- a/wpimath/src/main/python/semiwrap/controls/RectangularRegionConstraint.yml +++ b/wpimath/src/main/python/semiwrap/RectangularRegionConstraint.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: constraint - extra_includes: - PyTrajectoryConstraint.h diff --git a/wpimath/src/main/python/semiwrap/geometry/Rotation2d.yml b/wpimath/src/main/python/semiwrap/Rotation2d.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/geometry/Rotation2d.yml rename to wpimath/src/main/python/semiwrap/Rotation2d.yml index 51c9489d58..23f1ab22ea 100644 --- a/wpimath/src/main/python/semiwrap/geometry/Rotation2d.yml +++ b/wpimath/src/main/python/semiwrap/Rotation2d.yml @@ -1,5 +1,5 @@ extra_includes: -- rpy/geometryToString.h +- geometryToString.h - wpystruct.h functions: diff --git a/wpimath/src/main/python/semiwrap/geometry/Rotation3d.yml b/wpimath/src/main/python/semiwrap/Rotation3d.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/geometry/Rotation3d.yml rename to wpimath/src/main/python/semiwrap/Rotation3d.yml index 8e2f469b1a..8187011fe1 100644 --- a/wpimath/src/main/python/semiwrap/geometry/Rotation3d.yml +++ b/wpimath/src/main/python/semiwrap/Rotation3d.yml @@ -1,5 +1,5 @@ extra_includes: -- rpy/geometryToString.h +- geometryToString.h - wpystruct.h functions: diff --git a/wpimath/src/main/python/semiwrap/controls/SimpleMotorFeedforward.yml b/wpimath/src/main/python/semiwrap/SimpleMotorFeedforward.yml similarity index 97% rename from wpimath/src/main/python/semiwrap/controls/SimpleMotorFeedforward.yml rename to wpimath/src/main/python/semiwrap/SimpleMotorFeedforward.yml index 2bab307c39..0431556c02 100644 --- a/wpimath/src/main/python/semiwrap/controls/SimpleMotorFeedforward.yml +++ b/wpimath/src/main/python/semiwrap/SimpleMotorFeedforward.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: controller - extra_includes: - wpi/units/dimensionless.hpp diff --git a/wpimath/src/main/python/semiwrap/controls/SimulatedAnnealing.yml b/wpimath/src/main/python/semiwrap/SimulatedAnnealing.yml similarity index 88% rename from wpimath/src/main/python/semiwrap/controls/SimulatedAnnealing.yml rename to wpimath/src/main/python/semiwrap/SimulatedAnnealing.yml index eac432a109..20f4f35934 100644 --- a/wpimath/src/main/python/semiwrap/controls/SimulatedAnnealing.yml +++ b/wpimath/src/main/python/semiwrap/SimulatedAnnealing.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: optimization - extra_includes: - gilsafe_object.h diff --git a/wpimath/src/main/python/semiwrap/filter/SlewRateLimiter.yml b/wpimath/src/main/python/semiwrap/SlewRateLimiter.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/filter/SlewRateLimiter.yml rename to wpimath/src/main/python/semiwrap/SlewRateLimiter.yml diff --git a/wpimath/src/main/python/semiwrap/spline/Spline.yml b/wpimath/src/main/python/semiwrap/Spline.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/spline/Spline.yml rename to wpimath/src/main/python/semiwrap/Spline.yml diff --git a/wpimath/src/main/python/semiwrap/spline/SplineHelper.yml b/wpimath/src/main/python/semiwrap/SplineHelper.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/spline/SplineHelper.yml rename to wpimath/src/main/python/semiwrap/SplineHelper.yml diff --git a/wpimath/src/main/python/semiwrap/spline/SplineParameterizer.yml b/wpimath/src/main/python/semiwrap/SplineParameterizer.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/spline/SplineParameterizer.yml rename to wpimath/src/main/python/semiwrap/SplineParameterizer.yml diff --git a/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveKinematics.yml b/wpimath/src/main/python/semiwrap/SwerveDriveKinematics.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/SwerveDriveKinematics.yml rename to wpimath/src/main/python/semiwrap/SwerveDriveKinematics.yml diff --git a/wpimath/src/main/python/semiwrap/controls/SwerveDriveKinematicsConstraint.yml b/wpimath/src/main/python/semiwrap/SwerveDriveKinematicsConstraint.yml similarity index 96% rename from wpimath/src/main/python/semiwrap/controls/SwerveDriveKinematicsConstraint.yml rename to wpimath/src/main/python/semiwrap/SwerveDriveKinematicsConstraint.yml index 4f53b57a28..41a2170299 100644 --- a/wpimath/src/main/python/semiwrap/controls/SwerveDriveKinematicsConstraint.yml +++ b/wpimath/src/main/python/semiwrap/SwerveDriveKinematicsConstraint.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: constraint - classes: wpi::math::SwerveDriveKinematicsConstraint: template_params: diff --git a/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry.yml b/wpimath/src/main/python/semiwrap/SwerveDriveOdometry.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry.yml rename to wpimath/src/main/python/semiwrap/SwerveDriveOdometry.yml diff --git a/wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry3d.yml b/wpimath/src/main/python/semiwrap/SwerveDriveOdometry3d.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry3d.yml rename to wpimath/src/main/python/semiwrap/SwerveDriveOdometry3d.yml diff --git a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml b/wpimath/src/main/python/semiwrap/SwerveDrivePoseEstimator.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml rename to wpimath/src/main/python/semiwrap/SwerveDrivePoseEstimator.yml index 05c75827e0..956623de34 100644 --- a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml +++ b/wpimath/src/main/python/semiwrap/SwerveDrivePoseEstimator.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: estimator - extra_includes: - wpi/math/kinematics/SwerveModuleState.hpp diff --git a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml b/wpimath/src/main/python/semiwrap/SwerveDrivePoseEstimator3d.yml similarity index 96% rename from wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml rename to wpimath/src/main/python/semiwrap/SwerveDrivePoseEstimator3d.yml index d895537b31..d1a3c10f96 100644 --- a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml +++ b/wpimath/src/main/python/semiwrap/SwerveDrivePoseEstimator3d.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: estimator - extra_includes: - wpi/math/kinematics/SwerveModuleState.hpp diff --git a/wpimath/src/main/python/semiwrap/kinematics/SwerveModuleAcceleration.yml b/wpimath/src/main/python/semiwrap/SwerveModuleAcceleration.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/SwerveModuleAcceleration.yml rename to wpimath/src/main/python/semiwrap/SwerveModuleAcceleration.yml diff --git a/wpimath/src/main/python/semiwrap/kinematics/SwerveModulePosition.yml b/wpimath/src/main/python/semiwrap/SwerveModulePosition.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/SwerveModulePosition.yml rename to wpimath/src/main/python/semiwrap/SwerveModulePosition.yml diff --git a/wpimath/src/main/python/semiwrap/kinematics/SwerveModuleState.yml b/wpimath/src/main/python/semiwrap/SwerveModuleState.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/kinematics/SwerveModuleState.yml rename to wpimath/src/main/python/semiwrap/SwerveModuleState.yml diff --git a/wpimath/src/main/python/semiwrap/interpolation/TimeInterpolatableBuffer.yml b/wpimath/src/main/python/semiwrap/TimeInterpolatableBuffer.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/interpolation/TimeInterpolatableBuffer.yml rename to wpimath/src/main/python/semiwrap/TimeInterpolatableBuffer.yml diff --git a/wpimath/src/main/python/semiwrap/controls/Trajectory.yml b/wpimath/src/main/python/semiwrap/Trajectory.yml similarity index 96% rename from wpimath/src/main/python/semiwrap/controls/Trajectory.yml rename to wpimath/src/main/python/semiwrap/Trajectory.yml index 30e2debe2f..a697871166 100644 --- a/wpimath/src/main/python/semiwrap/controls/Trajectory.yml +++ b/wpimath/src/main/python/semiwrap/Trajectory.yml @@ -1,8 +1,5 @@ -defaults: - subpackage: trajectory - extra_includes: -- rpy/geometryToString.h +- geometryToString.h functions: to_json: diff --git a/wpimath/src/main/python/semiwrap/controls/TrajectoryConfig.yml b/wpimath/src/main/python/semiwrap/TrajectoryConfig.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/controls/TrajectoryConfig.yml rename to wpimath/src/main/python/semiwrap/TrajectoryConfig.yml index 6622f8bf2d..5cc5d6c950 100644 --- a/wpimath/src/main/python/semiwrap/controls/TrajectoryConfig.yml +++ b/wpimath/src/main/python/semiwrap/TrajectoryConfig.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: trajectory - extra_includes: - PyTrajectoryConstraint.h diff --git a/wpimath/src/main/python/semiwrap/controls/TrajectoryConstraint.yml b/wpimath/src/main/python/semiwrap/TrajectoryConstraint.yml similarity index 97% rename from wpimath/src/main/python/semiwrap/controls/TrajectoryConstraint.yml rename to wpimath/src/main/python/semiwrap/TrajectoryConstraint.yml index e905595f80..a9a31fbbd1 100644 --- a/wpimath/src/main/python/semiwrap/controls/TrajectoryConstraint.yml +++ b/wpimath/src/main/python/semiwrap/TrajectoryConstraint.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: constraint - classes: wpi::math::TrajectoryConstraint: force_type_casters: diff --git a/wpimath/src/main/python/semiwrap/controls/TrajectoryGenerator.yml b/wpimath/src/main/python/semiwrap/TrajectoryGenerator.yml similarity index 95% rename from wpimath/src/main/python/semiwrap/controls/TrajectoryGenerator.yml rename to wpimath/src/main/python/semiwrap/TrajectoryGenerator.yml index 585af5ea69..4e2db0bd4b 100644 --- a/wpimath/src/main/python/semiwrap/controls/TrajectoryGenerator.yml +++ b/wpimath/src/main/python/semiwrap/TrajectoryGenerator.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: trajectory - extra_includes: - wpi/math/spline/CubicHermiteSpline.hpp - wpi/math/spline/QuinticHermiteSpline.hpp diff --git a/wpimath/src/main/python/semiwrap/controls/TrajectoryParameterizer.yml b/wpimath/src/main/python/semiwrap/TrajectoryParameterizer.yml similarity index 82% rename from wpimath/src/main/python/semiwrap/controls/TrajectoryParameterizer.yml rename to wpimath/src/main/python/semiwrap/TrajectoryParameterizer.yml index b102e527b1..ccacb66341 100644 --- a/wpimath/src/main/python/semiwrap/controls/TrajectoryParameterizer.yml +++ b/wpimath/src/main/python/semiwrap/TrajectoryParameterizer.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: trajectory - classes: wpi::math::TrajectoryParameterizer: force_type_casters: diff --git a/wpimath/src/main/python/semiwrap/geometry/Transform2d.yml b/wpimath/src/main/python/semiwrap/Transform2d.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/geometry/Transform2d.yml rename to wpimath/src/main/python/semiwrap/Transform2d.yml index ce14e4833b..9a21a9d393 100644 --- a/wpimath/src/main/python/semiwrap/geometry/Transform2d.yml +++ b/wpimath/src/main/python/semiwrap/Transform2d.yml @@ -1,6 +1,6 @@ extra_includes: - wpi/math/geometry/Pose2d.hpp -- rpy/geometryToString.h +- geometryToString.h - wpystruct.h classes: diff --git a/wpimath/src/main/python/semiwrap/geometry/Transform3d.yml b/wpimath/src/main/python/semiwrap/Transform3d.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/geometry/Transform3d.yml rename to wpimath/src/main/python/semiwrap/Transform3d.yml index d45d6d78d0..453a327182 100644 --- a/wpimath/src/main/python/semiwrap/geometry/Transform3d.yml +++ b/wpimath/src/main/python/semiwrap/Transform3d.yml @@ -1,5 +1,5 @@ extra_includes: -- rpy/geometryToString.h +- geometryToString.h - wpystruct.h classes: diff --git a/wpimath/src/main/python/semiwrap/geometry/Translation2d.yml b/wpimath/src/main/python/semiwrap/Translation2d.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/geometry/Translation2d.yml rename to wpimath/src/main/python/semiwrap/Translation2d.yml index a00387586b..1aea9d5a66 100644 --- a/wpimath/src/main/python/semiwrap/geometry/Translation2d.yml +++ b/wpimath/src/main/python/semiwrap/Translation2d.yml @@ -1,5 +1,5 @@ extra_includes: -- rpy/geometryToString.h +- geometryToString.h - wpystruct.h - pybind11/eigen.h diff --git a/wpimath/src/main/python/semiwrap/geometry/Translation3d.yml b/wpimath/src/main/python/semiwrap/Translation3d.yml similarity index 99% rename from wpimath/src/main/python/semiwrap/geometry/Translation3d.yml rename to wpimath/src/main/python/semiwrap/Translation3d.yml index 6a1d8379e8..408cefbedf 100644 --- a/wpimath/src/main/python/semiwrap/geometry/Translation3d.yml +++ b/wpimath/src/main/python/semiwrap/Translation3d.yml @@ -1,5 +1,5 @@ extra_includes: -- rpy/geometryToString.h +- geometryToString.h - wpystruct.h - pybind11/eigen.h diff --git a/wpimath/src/main/python/semiwrap/controls/TrapezoidProfile.yml b/wpimath/src/main/python/semiwrap/TrapezoidProfile.yml similarity index 98% rename from wpimath/src/main/python/semiwrap/controls/TrapezoidProfile.yml rename to wpimath/src/main/python/semiwrap/TrapezoidProfile.yml index 8eea00a1a2..7fff00fbca 100644 --- a/wpimath/src/main/python/semiwrap/controls/TrapezoidProfile.yml +++ b/wpimath/src/main/python/semiwrap/TrapezoidProfile.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: trajectory - classes: wpi::math::TrapezoidProfile: force_type_casters: diff --git a/wpimath/src/main/python/semiwrap/controls/TravelingSalesman.yml b/wpimath/src/main/python/semiwrap/TravelingSalesman.yml similarity index 91% rename from wpimath/src/main/python/semiwrap/controls/TravelingSalesman.yml rename to wpimath/src/main/python/semiwrap/TravelingSalesman.yml index de8af84b2b..261e0a320d 100644 --- a/wpimath/src/main/python/semiwrap/controls/TravelingSalesman.yml +++ b/wpimath/src/main/python/semiwrap/TravelingSalesman.yml @@ -1,6 +1,3 @@ -defaults: - subpackage: path - classes: wpi::math::TravelingSalesman: methods: diff --git a/wpimath/src/main/python/semiwrap/geometry/Twist2d.yml b/wpimath/src/main/python/semiwrap/Twist2d.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/geometry/Twist2d.yml rename to wpimath/src/main/python/semiwrap/Twist2d.yml diff --git a/wpimath/src/main/python/semiwrap/geometry/Twist3d.yml b/wpimath/src/main/python/semiwrap/Twist3d.yml similarity index 100% rename from wpimath/src/main/python/semiwrap/geometry/Twist3d.yml rename to wpimath/src/main/python/semiwrap/Twist3d.yml diff --git a/wpimath/src/main/python/wpimath/__init__.py b/wpimath/src/main/python/wpimath/__init__.py index 84d08d3524..da2a921c7f 100644 --- a/wpimath/src/main/python/wpimath/__init__.py +++ b/wpimath/src/main/python/wpimath/__init__.py @@ -1,10 +1,186 @@ from . import _init__wpimath # noqa: F401 -# Needed for stubgen -from . import geometry - # autogenerated by 'semiwrap create-imports wpimath wpimath._wpimath' from ._wpimath import ( + ArmFeedforward, + BangBangController, + CentripetalAccelerationConstraint, + ChassisAccelerations, + ChassisSpeeds, + ControlAffinePlantInversionFeedforward_1_1, + ControlAffinePlantInversionFeedforward_2_1, + ControlAffinePlantInversionFeedforward_2_2, + CoordinateAxis, + CoordinateSystem, + CubicHermiteSpline, + DCMotor, + Debouncer, + DifferentialDriveAccelerationLimiter, + DifferentialDriveFeedforward, + DifferentialDriveKinematics, + DifferentialDriveKinematicsBase, + DifferentialDriveKinematicsConstraint, + DifferentialDriveOdometry, + DifferentialDriveOdometry3d, + DifferentialDriveOdometry3dBase, + DifferentialDriveOdometryBase, + DifferentialDrivePoseEstimator, + DifferentialDrivePoseEstimator3d, + DifferentialDrivePoseEstimator3dBase, + DifferentialDrivePoseEstimatorBase, + DifferentialDriveVoltageConstraint, + DifferentialDriveWheelAccelerations, + DifferentialDriveWheelPositions, + DifferentialDriveWheelSpeeds, + DifferentialDriveWheelVoltages, + ElevatorFeedforward, + Ellipse2d, + EllipticalRegionConstraint, + ExponentialProfileMeterVolts, + ExtendedKalmanFilter_1_1_1, + ExtendedKalmanFilter_2_1_1, + ExtendedKalmanFilter_2_1_2, + ExtendedKalmanFilter_2_2_2, + ImplicitModelFollower_1_1, + ImplicitModelFollower_2_1, + ImplicitModelFollower_2_2, + KalmanFilter_1_1_1, + KalmanFilter_2_1_1, + KalmanFilter_2_1_2, + KalmanFilter_2_2_2, + KalmanFilter_3_2_3, + LTVDifferentialDriveController, + LTVUnicycleController, + LinearFilter, + LinearPlantInversionFeedforward_1_1, + LinearPlantInversionFeedforward_2_1, + LinearPlantInversionFeedforward_2_2, + LinearPlantInversionFeedforward_3_2, + LinearQuadraticRegulator_1_1, + LinearQuadraticRegulator_2_1, + LinearQuadraticRegulator_2_2, + LinearQuadraticRegulator_3_2, + LinearSystemId, + LinearSystemLoop_1_1_1, + LinearSystemLoop_2_1_1, + LinearSystemLoop_2_1_2, + LinearSystemLoop_2_2_2, + LinearSystemLoop_3_2_3, + LinearSystem_1_1_1, + LinearSystem_1_1_2, + LinearSystem_1_1_3, + LinearSystem_2_1_1, + LinearSystem_2_1_2, + LinearSystem_2_1_3, + LinearSystem_2_2_1, + LinearSystem_2_2_2, + LinearSystem_2_2_3, + LinearSystem_3_2_1, + LinearSystem_3_2_2, + LinearSystem_3_2_3, + MaxVelocityConstraint, + MecanumDriveKinematics, + MecanumDriveKinematicsBase, + MecanumDriveKinematicsConstraint, + MecanumDriveOdometry, + MecanumDriveOdometry3d, + MecanumDriveOdometry3dBase, + MecanumDriveOdometryBase, + MecanumDrivePoseEstimator, + MecanumDrivePoseEstimator3d, + MecanumDrivePoseEstimator3dBase, + MecanumDrivePoseEstimatorBase, + MecanumDriveWheelAccelerations, + MecanumDriveWheelPositions, + MecanumDriveWheelSpeeds, + MedianFilter, + PIDController, + Pose2d, + Pose3d, + ProfiledPIDController, + ProfiledPIDControllerRadians, + Quaternion, + QuinticHermiteSpline, + Rectangle2d, + RectangularRegionConstraint, + Rotation2d, + Rotation3d, + SimpleMotorFeedforwardMeters, + SimpleMotorFeedforwardRadians, + SimulatedAnnealing, + SlewRateLimiter, + Spline3, + Spline5, + SplineHelper, + SplineParameterizer, + SwerveDrive2Kinematics, + SwerveDrive2KinematicsBase, + SwerveDrive2KinematicsConstraint, + SwerveDrive2Odometry, + SwerveDrive2Odometry3d, + SwerveDrive2Odometry3dBase, + SwerveDrive2OdometryBase, + SwerveDrive2PoseEstimator, + SwerveDrive2PoseEstimator3d, + SwerveDrive2PoseEstimator3dBase, + SwerveDrive2PoseEstimatorBase, + SwerveDrive3Kinematics, + SwerveDrive3KinematicsBase, + SwerveDrive3KinematicsConstraint, + SwerveDrive3Odometry, + SwerveDrive3Odometry3d, + SwerveDrive3Odometry3dBase, + SwerveDrive3OdometryBase, + SwerveDrive3PoseEstimator, + SwerveDrive3PoseEstimator3d, + SwerveDrive3PoseEstimator3dBase, + SwerveDrive3PoseEstimatorBase, + SwerveDrive4Kinematics, + SwerveDrive4KinematicsBase, + SwerveDrive4KinematicsConstraint, + SwerveDrive4Odometry, + SwerveDrive4Odometry3d, + SwerveDrive4Odometry3dBase, + SwerveDrive4OdometryBase, + SwerveDrive4PoseEstimator, + SwerveDrive4PoseEstimator3d, + SwerveDrive4PoseEstimator3dBase, + SwerveDrive4PoseEstimatorBase, + SwerveDrive6Kinematics, + SwerveDrive6KinematicsBase, + SwerveDrive6KinematicsConstraint, + SwerveDrive6Odometry, + SwerveDrive6Odometry3d, + SwerveDrive6Odometry3dBase, + SwerveDrive6OdometryBase, + SwerveDrive6PoseEstimator, + SwerveDrive6PoseEstimator3d, + SwerveDrive6PoseEstimator3dBase, + SwerveDrive6PoseEstimatorBase, + SwerveModuleAcceleration, + SwerveModulePosition, + SwerveModuleState, + TimeInterpolatableFloatBuffer, + TimeInterpolatablePose2dBuffer, + TimeInterpolatablePose3dBuffer, + TimeInterpolatableRotation2dBuffer, + TimeInterpolatableRotation3dBuffer, + TimeInterpolatableTranslation2dBuffer, + TimeInterpolatableTranslation3dBuffer, + Trajectory, + TrajectoryConfig, + TrajectoryConstraint, + TrajectoryGenerator, + TrajectoryParameterizer, + Transform2d, + Transform3d, + Translation2d, + Translation3d, + TrapezoidProfile, + TrapezoidProfileRadians, + TravelingSalesman, + Twist2d, + Twist3d, angleModulus, applyDeadband, inputModulus, @@ -13,6 +189,185 @@ from ._wpimath import ( ) __all__ = [ + "ArmFeedforward", + "BangBangController", + "CentripetalAccelerationConstraint", + "ChassisAccelerations", + "ChassisSpeeds", + "ControlAffinePlantInversionFeedforward_1_1", + "ControlAffinePlantInversionFeedforward_2_1", + "ControlAffinePlantInversionFeedforward_2_2", + "CoordinateAxis", + "CoordinateSystem", + "CubicHermiteSpline", + "DCMotor", + "Debouncer", + "DifferentialDriveAccelerationLimiter", + "DifferentialDriveFeedforward", + "DifferentialDriveKinematics", + "DifferentialDriveKinematicsBase", + "DifferentialDriveKinematicsConstraint", + "DifferentialDriveOdometry", + "DifferentialDriveOdometry3d", + "DifferentialDriveOdometry3dBase", + "DifferentialDriveOdometryBase", + "DifferentialDrivePoseEstimator", + "DifferentialDrivePoseEstimator3d", + "DifferentialDrivePoseEstimator3dBase", + "DifferentialDrivePoseEstimatorBase", + "DifferentialDriveVoltageConstraint", + "DifferentialDriveWheelAccelerations", + "DifferentialDriveWheelPositions", + "DifferentialDriveWheelSpeeds", + "DifferentialDriveWheelVoltages", + "ElevatorFeedforward", + "Ellipse2d", + "EllipticalRegionConstraint", + "ExponentialProfileMeterVolts", + "ExtendedKalmanFilter_1_1_1", + "ExtendedKalmanFilter_2_1_1", + "ExtendedKalmanFilter_2_1_2", + "ExtendedKalmanFilter_2_2_2", + "ImplicitModelFollower_1_1", + "ImplicitModelFollower_2_1", + "ImplicitModelFollower_2_2", + "KalmanFilter_1_1_1", + "KalmanFilter_2_1_1", + "KalmanFilter_2_1_2", + "KalmanFilter_2_2_2", + "KalmanFilter_3_2_3", + "LTVDifferentialDriveController", + "LTVUnicycleController", + "LinearFilter", + "LinearPlantInversionFeedforward_1_1", + "LinearPlantInversionFeedforward_2_1", + "LinearPlantInversionFeedforward_2_2", + "LinearPlantInversionFeedforward_3_2", + "LinearQuadraticRegulator_1_1", + "LinearQuadraticRegulator_2_1", + "LinearQuadraticRegulator_2_2", + "LinearQuadraticRegulator_3_2", + "LinearSystemId", + "LinearSystemLoop_1_1_1", + "LinearSystemLoop_2_1_1", + "LinearSystemLoop_2_1_2", + "LinearSystemLoop_2_2_2", + "LinearSystemLoop_3_2_3", + "LinearSystem_1_1_1", + "LinearSystem_1_1_2", + "LinearSystem_1_1_3", + "LinearSystem_2_1_1", + "LinearSystem_2_1_2", + "LinearSystem_2_1_3", + "LinearSystem_2_2_1", + "LinearSystem_2_2_2", + "LinearSystem_2_2_3", + "LinearSystem_3_2_1", + "LinearSystem_3_2_2", + "LinearSystem_3_2_3", + "MaxVelocityConstraint", + "MecanumDriveKinematics", + "MecanumDriveKinematicsBase", + "MecanumDriveKinematicsConstraint", + "MecanumDriveOdometry", + "MecanumDriveOdometry3d", + "MecanumDriveOdometry3dBase", + "MecanumDriveOdometryBase", + "MecanumDrivePoseEstimator", + "MecanumDrivePoseEstimator3d", + "MecanumDrivePoseEstimator3dBase", + "MecanumDrivePoseEstimatorBase", + "MecanumDriveWheelAccelerations", + "MecanumDriveWheelPositions", + "MecanumDriveWheelSpeeds", + "MedianFilter", + "PIDController", + "Pose2d", + "Pose3d", + "ProfiledPIDController", + "ProfiledPIDControllerRadians", + "Quaternion", + "QuinticHermiteSpline", + "Rectangle2d", + "RectangularRegionConstraint", + "Rotation2d", + "Rotation3d", + "SimpleMotorFeedforwardMeters", + "SimpleMotorFeedforwardRadians", + "SimulatedAnnealing", + "SlewRateLimiter", + "Spline3", + "Spline5", + "SplineHelper", + "SplineParameterizer", + "SwerveDrive2Kinematics", + "SwerveDrive2KinematicsBase", + "SwerveDrive2KinematicsConstraint", + "SwerveDrive2Odometry", + "SwerveDrive2Odometry3d", + "SwerveDrive2Odometry3dBase", + "SwerveDrive2OdometryBase", + "SwerveDrive2PoseEstimator", + "SwerveDrive2PoseEstimator3d", + "SwerveDrive2PoseEstimator3dBase", + "SwerveDrive2PoseEstimatorBase", + "SwerveDrive3Kinematics", + "SwerveDrive3KinematicsBase", + "SwerveDrive3KinematicsConstraint", + "SwerveDrive3Odometry", + "SwerveDrive3Odometry3d", + "SwerveDrive3Odometry3dBase", + "SwerveDrive3OdometryBase", + "SwerveDrive3PoseEstimator", + "SwerveDrive3PoseEstimator3d", + "SwerveDrive3PoseEstimator3dBase", + "SwerveDrive3PoseEstimatorBase", + "SwerveDrive4Kinematics", + "SwerveDrive4KinematicsBase", + "SwerveDrive4KinematicsConstraint", + "SwerveDrive4Odometry", + "SwerveDrive4Odometry3d", + "SwerveDrive4Odometry3dBase", + "SwerveDrive4OdometryBase", + "SwerveDrive4PoseEstimator", + "SwerveDrive4PoseEstimator3d", + "SwerveDrive4PoseEstimator3dBase", + "SwerveDrive4PoseEstimatorBase", + "SwerveDrive6Kinematics", + "SwerveDrive6KinematicsBase", + "SwerveDrive6KinematicsConstraint", + "SwerveDrive6Odometry", + "SwerveDrive6Odometry3d", + "SwerveDrive6Odometry3dBase", + "SwerveDrive6OdometryBase", + "SwerveDrive6PoseEstimator", + "SwerveDrive6PoseEstimator3d", + "SwerveDrive6PoseEstimator3dBase", + "SwerveDrive6PoseEstimatorBase", + "SwerveModuleAcceleration", + "SwerveModulePosition", + "SwerveModuleState", + "TimeInterpolatableFloatBuffer", + "TimeInterpolatablePose2dBuffer", + "TimeInterpolatablePose3dBuffer", + "TimeInterpolatableRotation2dBuffer", + "TimeInterpolatableRotation3dBuffer", + "TimeInterpolatableTranslation2dBuffer", + "TimeInterpolatableTranslation3dBuffer", + "Trajectory", + "TrajectoryConfig", + "TrajectoryConstraint", + "TrajectoryGenerator", + "TrajectoryParameterizer", + "Transform2d", + "Transform3d", + "Translation2d", + "Translation3d", + "TrapezoidProfile", + "TrapezoidProfileRadians", + "TravelingSalesman", + "Twist2d", + "Twist3d", "angleModulus", "applyDeadband", "inputModulus", diff --git a/wpimath/src/main/python/wpimath/_controls/__init__.py b/wpimath/src/main/python/wpimath/_controls/__init__.py deleted file mode 100644 index d3c258e60c..0000000000 --- a/wpimath/src/main/python/wpimath/_controls/__init__.py +++ /dev/null @@ -1 +0,0 @@ -from . import _init__controls diff --git a/wpimath/src/main/python/wpimath/_controls/controls.cpp b/wpimath/src/main/python/wpimath/_controls/controls.cpp deleted file mode 100644 index 1c5864fe0e..0000000000 --- a/wpimath/src/main/python/wpimath/_controls/controls.cpp +++ /dev/null @@ -1,7 +0,0 @@ - -#include "semiwrap_init.wpimath._controls._controls.hpp" - -SEMIWRAP_PYBIND11_MODULE(m) -{ - initWrapper(m); -} diff --git a/wpimath/src/main/python/wpimath/_impl/src/PyTrajectoryConstraint.h b/wpimath/src/main/python/wpimath/_impl/src/PyTrajectoryConstraint.h index e80ff79298..51712c0c9e 100644 --- a/wpimath/src/main/python/wpimath/_impl/src/PyTrajectoryConstraint.h +++ b/wpimath/src/main/python/wpimath/_impl/src/PyTrajectoryConstraint.h @@ -31,7 +31,7 @@ namespace detail { template <> struct type_caster { using value_conv = make_caster>; - PYBIND11_TYPE_CASTER(wpi::math::PyTrajectoryConstraint, _("wpimath._controls._controls.constraint.TrajectoryConstraint")); + PYBIND11_TYPE_CASTER(wpi::math::PyTrajectoryConstraint, _("wpimath._wpimath.TrajectoryConstraint")); bool load(handle src, bool convert) { value_conv conv; diff --git a/wpimath/src/main/python/wpimath/geometry/include/rpy/geometryToString.h b/wpimath/src/main/python/wpimath/_impl/src/geometryToString.h similarity index 100% rename from wpimath/src/main/python/wpimath/geometry/include/rpy/geometryToString.h rename to wpimath/src/main/python/wpimath/_impl/src/geometryToString.h diff --git a/wpimath/src/main/python/wpimath/controller/__init__.py b/wpimath/src/main/python/wpimath/controller/__init__.py deleted file mode 100644 index 842eab4506..0000000000 --- a/wpimath/src/main/python/wpimath/controller/__init__.py +++ /dev/null @@ -1,60 +0,0 @@ -# autogenerated by 'semiwrap create-imports wpimath.controller wpimath._controls._controls.controller' -from .._controls._controls.controller import ( - ArmFeedforward, - BangBangController, - ControlAffinePlantInversionFeedforward_1_1, - ControlAffinePlantInversionFeedforward_2_1, - ControlAffinePlantInversionFeedforward_2_2, - DifferentialDriveAccelerationLimiter, - DifferentialDriveFeedforward, - DifferentialDriveWheelVoltages, - ElevatorFeedforward, - ImplicitModelFollower_1_1, - ImplicitModelFollower_2_1, - ImplicitModelFollower_2_2, - LTVDifferentialDriveController, - LTVUnicycleController, - LinearPlantInversionFeedforward_1_1, - LinearPlantInversionFeedforward_2_1, - LinearPlantInversionFeedforward_2_2, - LinearPlantInversionFeedforward_3_2, - LinearQuadraticRegulator_1_1, - LinearQuadraticRegulator_2_1, - LinearQuadraticRegulator_2_2, - LinearQuadraticRegulator_3_2, - PIDController, - ProfiledPIDController, - ProfiledPIDControllerRadians, - SimpleMotorFeedforwardMeters, - SimpleMotorFeedforwardRadians, -) - -__all__ = [ - "ArmFeedforward", - "BangBangController", - "ControlAffinePlantInversionFeedforward_1_1", - "ControlAffinePlantInversionFeedforward_2_1", - "ControlAffinePlantInversionFeedforward_2_2", - "DifferentialDriveAccelerationLimiter", - "DifferentialDriveFeedforward", - "DifferentialDriveWheelVoltages", - "ElevatorFeedforward", - "ImplicitModelFollower_1_1", - "ImplicitModelFollower_2_1", - "ImplicitModelFollower_2_2", - "LTVDifferentialDriveController", - "LTVUnicycleController", - "LinearPlantInversionFeedforward_1_1", - "LinearPlantInversionFeedforward_2_1", - "LinearPlantInversionFeedforward_2_2", - "LinearPlantInversionFeedforward_3_2", - "LinearQuadraticRegulator_1_1", - "LinearQuadraticRegulator_2_1", - "LinearQuadraticRegulator_2_2", - "LinearQuadraticRegulator_3_2", - "PIDController", - "ProfiledPIDController", - "ProfiledPIDControllerRadians", - "SimpleMotorFeedforwardMeters", - "SimpleMotorFeedforwardRadians", -] diff --git a/wpimath/src/main/python/wpimath/estimator/__init__.py b/wpimath/src/main/python/wpimath/estimator/__init__.py deleted file mode 100644 index dd9b3ca8ef..0000000000 --- a/wpimath/src/main/python/wpimath/estimator/__init__.py +++ /dev/null @@ -1,72 +0,0 @@ -# autogenerated by 'semiwrap create-imports wpimath.estimator wpimath._controls._controls.estimator' -from .._controls._controls.estimator import ( - DifferentialDrivePoseEstimator, - DifferentialDrivePoseEstimator3d, - DifferentialDrivePoseEstimator3dBase, - DifferentialDrivePoseEstimatorBase, - ExtendedKalmanFilter_1_1_1, - ExtendedKalmanFilter_2_1_1, - ExtendedKalmanFilter_2_1_2, - ExtendedKalmanFilter_2_2_2, - KalmanFilter_1_1_1, - KalmanFilter_2_1_1, - KalmanFilter_2_1_2, - KalmanFilter_2_2_2, - KalmanFilter_3_2_3, - MecanumDrivePoseEstimator, - MecanumDrivePoseEstimator3d, - MecanumDrivePoseEstimator3dBase, - MecanumDrivePoseEstimatorBase, - SwerveDrive2PoseEstimator, - SwerveDrive2PoseEstimator3d, - SwerveDrive2PoseEstimator3dBase, - SwerveDrive2PoseEstimatorBase, - SwerveDrive3PoseEstimator, - SwerveDrive3PoseEstimator3d, - SwerveDrive3PoseEstimator3dBase, - SwerveDrive3PoseEstimatorBase, - SwerveDrive4PoseEstimator, - SwerveDrive4PoseEstimator3d, - SwerveDrive4PoseEstimator3dBase, - SwerveDrive4PoseEstimatorBase, - SwerveDrive6PoseEstimator, - SwerveDrive6PoseEstimator3d, - SwerveDrive6PoseEstimator3dBase, - SwerveDrive6PoseEstimatorBase, -) - -__all__ = [ - "DifferentialDrivePoseEstimator", - "DifferentialDrivePoseEstimator3d", - "DifferentialDrivePoseEstimator3dBase", - "DifferentialDrivePoseEstimatorBase", - "ExtendedKalmanFilter_1_1_1", - "ExtendedKalmanFilter_2_1_1", - "ExtendedKalmanFilter_2_1_2", - "ExtendedKalmanFilter_2_2_2", - "KalmanFilter_1_1_1", - "KalmanFilter_2_1_1", - "KalmanFilter_2_1_2", - "KalmanFilter_2_2_2", - "KalmanFilter_3_2_3", - "MecanumDrivePoseEstimator", - "MecanumDrivePoseEstimator3d", - "MecanumDrivePoseEstimator3dBase", - "MecanumDrivePoseEstimatorBase", - "SwerveDrive2PoseEstimator", - "SwerveDrive2PoseEstimator3d", - "SwerveDrive2PoseEstimator3dBase", - "SwerveDrive2PoseEstimatorBase", - "SwerveDrive3PoseEstimator", - "SwerveDrive3PoseEstimator3d", - "SwerveDrive3PoseEstimator3dBase", - "SwerveDrive3PoseEstimatorBase", - "SwerveDrive4PoseEstimator", - "SwerveDrive4PoseEstimator3d", - "SwerveDrive4PoseEstimator3dBase", - "SwerveDrive4PoseEstimatorBase", - "SwerveDrive6PoseEstimator", - "SwerveDrive6PoseEstimator3d", - "SwerveDrive6PoseEstimator3dBase", - "SwerveDrive6PoseEstimatorBase", -] diff --git a/wpimath/src/main/python/wpimath/filter/__init__.py b/wpimath/src/main/python/wpimath/filter/__init__.py deleted file mode 100644 index c9386e49d0..0000000000 --- a/wpimath/src/main/python/wpimath/filter/__init__.py +++ /dev/null @@ -1,6 +0,0 @@ -from . import _init__filter - -# autogenerated by 'semiwrap create-imports wpimath.filter wpimath.filter._filter' -from ._filter import Debouncer, LinearFilter, MedianFilter, SlewRateLimiter - -__all__ = ["Debouncer", "LinearFilter", "MedianFilter", "SlewRateLimiter"] diff --git a/wpimath/src/main/python/wpimath/filter/filter.cpp b/wpimath/src/main/python/wpimath/filter/filter.cpp deleted file mode 100644 index 1f541d1e98..0000000000 --- a/wpimath/src/main/python/wpimath/filter/filter.cpp +++ /dev/null @@ -1,7 +0,0 @@ - -#include "semiwrap_init.wpimath.filter._filter.hpp" - -SEMIWRAP_PYBIND11_MODULE(m) -{ - initWrapper(m); -} diff --git a/wpimath/src/main/python/wpimath/geometry/__init__.py b/wpimath/src/main/python/wpimath/geometry/__init__.py deleted file mode 100644 index a6f3e5970d..0000000000 --- a/wpimath/src/main/python/wpimath/geometry/__init__.py +++ /dev/null @@ -1,38 +0,0 @@ -from . import _init__geometry - -# autogenerated by 'semiwrap create-imports wpimath.geometry wpimath.geometry._geometry' -from ._geometry import ( - CoordinateAxis, - CoordinateSystem, - Ellipse2d, - Pose2d, - Pose3d, - Quaternion, - Rectangle2d, - Rotation2d, - Rotation3d, - Transform2d, - Transform3d, - Translation2d, - Translation3d, - Twist2d, - Twist3d, -) - -__all__ = [ - "CoordinateAxis", - "CoordinateSystem", - "Ellipse2d", - "Pose2d", - "Pose3d", - "Quaternion", - "Rectangle2d", - "Rotation2d", - "Rotation3d", - "Transform2d", - "Transform3d", - "Translation2d", - "Translation3d", - "Twist2d", - "Twist3d", -] diff --git a/wpimath/src/main/python/wpimath/geometry/geometry.cpp b/wpimath/src/main/python/wpimath/geometry/geometry.cpp deleted file mode 100644 index 3ae0f54301..0000000000 --- a/wpimath/src/main/python/wpimath/geometry/geometry.cpp +++ /dev/null @@ -1,7 +0,0 @@ - -#include "semiwrap_init.wpimath.geometry._geometry.hpp" - -SEMIWRAP_PYBIND11_MODULE(m) -{ - initWrapper(m); -} diff --git a/wpimath/src/main/python/wpimath/interpolation/__init__.py b/wpimath/src/main/python/wpimath/interpolation/__init__.py deleted file mode 100644 index 8cdd3d6c42..0000000000 --- a/wpimath/src/main/python/wpimath/interpolation/__init__.py +++ /dev/null @@ -1,22 +0,0 @@ -from . import _init__interpolation # noqa: F401 - -# autogenerated by 'semiwrap create-imports wpimath.interpolation wpimath.interpolation._interpolation' -from ._interpolation import ( - TimeInterpolatableFloatBuffer, - TimeInterpolatablePose2dBuffer, - TimeInterpolatablePose3dBuffer, - TimeInterpolatableRotation2dBuffer, - TimeInterpolatableRotation3dBuffer, - TimeInterpolatableTranslation2dBuffer, - TimeInterpolatableTranslation3dBuffer, -) - -__all__ = [ - "TimeInterpolatableFloatBuffer", - "TimeInterpolatablePose2dBuffer", - "TimeInterpolatablePose3dBuffer", - "TimeInterpolatableRotation2dBuffer", - "TimeInterpolatableRotation3dBuffer", - "TimeInterpolatableTranslation2dBuffer", - "TimeInterpolatableTranslation3dBuffer", -] diff --git a/wpimath/src/main/python/wpimath/interpolation/interpolation.cpp b/wpimath/src/main/python/wpimath/interpolation/interpolation.cpp deleted file mode 100644 index d7e3226cc0..0000000000 --- a/wpimath/src/main/python/wpimath/interpolation/interpolation.cpp +++ /dev/null @@ -1,7 +0,0 @@ - -#include "semiwrap_init.wpimath.interpolation._interpolation.hpp" - -SEMIWRAP_PYBIND11_MODULE(m) -{ - initWrapper(m); -} diff --git a/wpimath/src/main/python/wpimath/kinematics/__init__.py b/wpimath/src/main/python/wpimath/kinematics/__init__.py deleted file mode 100644 index 155495e95b..0000000000 --- a/wpimath/src/main/python/wpimath/kinematics/__init__.py +++ /dev/null @@ -1,102 +0,0 @@ -from . import _init__kinematics - -# autogenerated by 'semiwrap create-imports wpimath.kinematics wpimath.kinematics._kinematics' -from ._kinematics import ( - ChassisAccelerations, - ChassisSpeeds, - DifferentialDriveKinematics, - DifferentialDriveKinematicsBase, - DifferentialDriveOdometry, - DifferentialDriveOdometry3d, - DifferentialDriveOdometry3dBase, - DifferentialDriveOdometryBase, - DifferentialDriveWheelAccelerations, - DifferentialDriveWheelPositions, - DifferentialDriveWheelSpeeds, - MecanumDriveKinematics, - MecanumDriveKinematicsBase, - MecanumDriveOdometry, - MecanumDriveOdometry3d, - MecanumDriveOdometry3dBase, - MecanumDriveOdometryBase, - MecanumDriveWheelAccelerations, - MecanumDriveWheelPositions, - MecanumDriveWheelSpeeds, - SwerveDrive2Kinematics, - SwerveDrive2KinematicsBase, - SwerveDrive2Odometry, - SwerveDrive2Odometry3d, - SwerveDrive2Odometry3dBase, - SwerveDrive2OdometryBase, - SwerveDrive3Kinematics, - SwerveDrive3KinematicsBase, - SwerveDrive3Odometry, - SwerveDrive3Odometry3d, - SwerveDrive3Odometry3dBase, - SwerveDrive3OdometryBase, - SwerveDrive4Kinematics, - SwerveDrive4KinematicsBase, - SwerveDrive4Odometry, - SwerveDrive4Odometry3d, - SwerveDrive4Odometry3dBase, - SwerveDrive4OdometryBase, - SwerveDrive6Kinematics, - SwerveDrive6KinematicsBase, - SwerveDrive6Odometry, - SwerveDrive6Odometry3d, - SwerveDrive6Odometry3dBase, - SwerveDrive6OdometryBase, - SwerveModuleAcceleration, - SwerveModulePosition, - SwerveModuleState, -) - -__all__ = [ - "ChassisAccelerations", - "ChassisSpeeds", - "DifferentialDriveKinematics", - "DifferentialDriveKinematicsBase", - "DifferentialDriveOdometry", - "DifferentialDriveOdometry3d", - "DifferentialDriveOdometry3dBase", - "DifferentialDriveOdometryBase", - "DifferentialDriveWheelAccelerations", - "DifferentialDriveWheelPositions", - "DifferentialDriveWheelSpeeds", - "MecanumDriveKinematics", - "MecanumDriveKinematicsBase", - "MecanumDriveOdometry", - "MecanumDriveOdometry3d", - "MecanumDriveOdometry3dBase", - "MecanumDriveOdometryBase", - "MecanumDriveWheelAccelerations", - "MecanumDriveWheelPositions", - "MecanumDriveWheelSpeeds", - "SwerveDrive2Kinematics", - "SwerveDrive2KinematicsBase", - "SwerveDrive2Odometry", - "SwerveDrive2Odometry3d", - "SwerveDrive2Odometry3dBase", - "SwerveDrive2OdometryBase", - "SwerveDrive3Kinematics", - "SwerveDrive3KinematicsBase", - "SwerveDrive3Odometry", - "SwerveDrive3Odometry3d", - "SwerveDrive3Odometry3dBase", - "SwerveDrive3OdometryBase", - "SwerveDrive4Kinematics", - "SwerveDrive4KinematicsBase", - "SwerveDrive4Odometry", - "SwerveDrive4Odometry3d", - "SwerveDrive4Odometry3dBase", - "SwerveDrive4OdometryBase", - "SwerveDrive6Kinematics", - "SwerveDrive6KinematicsBase", - "SwerveDrive6Odometry", - "SwerveDrive6Odometry3d", - "SwerveDrive6Odometry3dBase", - "SwerveDrive6OdometryBase", - "SwerveModuleAcceleration", - "SwerveModulePosition", - "SwerveModuleState", -] diff --git a/wpimath/src/main/python/wpimath/kinematics/kinematics.cpp b/wpimath/src/main/python/wpimath/kinematics/kinematics.cpp deleted file mode 100644 index 6b35ec1de3..0000000000 --- a/wpimath/src/main/python/wpimath/kinematics/kinematics.cpp +++ /dev/null @@ -1,7 +0,0 @@ - -#include "semiwrap_init.wpimath.kinematics._kinematics.hpp" - -SEMIWRAP_PYBIND11_MODULE(m) -{ - initWrapper(m); -} diff --git a/wpimath/src/main/python/wpimath/optimization/__init__.py b/wpimath/src/main/python/wpimath/optimization/__init__.py deleted file mode 100644 index 8f7a6c6502..0000000000 --- a/wpimath/src/main/python/wpimath/optimization/__init__.py +++ /dev/null @@ -1,4 +0,0 @@ -# autogenerated by 'semiwrap create-imports wpimath.optimization wpimath._controls._controls.optimization' -from .._controls._controls.optimization import SimulatedAnnealing - -__all__ = ["SimulatedAnnealing"] diff --git a/wpimath/src/main/python/wpimath/path/__init__.py b/wpimath/src/main/python/wpimath/path/__init__.py deleted file mode 100644 index 8e82c2640b..0000000000 --- a/wpimath/src/main/python/wpimath/path/__init__.py +++ /dev/null @@ -1,4 +0,0 @@ -# autogenerated by 'semiwrap create-imports wpimath.path wpimath._controls._controls.path' -from .._controls._controls.path import TravelingSalesman - -__all__ = ["TravelingSalesman"] diff --git a/wpimath/src/main/python/wpimath/spline/__init__.py b/wpimath/src/main/python/wpimath/spline/__init__.py deleted file mode 100644 index 37f1a65ec7..0000000000 --- a/wpimath/src/main/python/wpimath/spline/__init__.py +++ /dev/null @@ -1,20 +0,0 @@ -from . import _init__spline - -# autogenerated by 'semiwrap create-imports wpimath.spline wpimath.spline._spline' -from ._spline import ( - CubicHermiteSpline, - QuinticHermiteSpline, - Spline3, - Spline5, - SplineHelper, - SplineParameterizer, -) - -__all__ = [ - "CubicHermiteSpline", - "QuinticHermiteSpline", - "Spline3", - "Spline5", - "SplineHelper", - "SplineParameterizer", -] diff --git a/wpimath/src/main/python/wpimath/spline/spline.cpp b/wpimath/src/main/python/wpimath/spline/spline.cpp deleted file mode 100644 index b3cd6d33ae..0000000000 --- a/wpimath/src/main/python/wpimath/spline/spline.cpp +++ /dev/null @@ -1,7 +0,0 @@ - -#include "semiwrap_init.wpimath.spline._spline.hpp" - -SEMIWRAP_PYBIND11_MODULE(m) -{ - initWrapper(m); -} diff --git a/wpimath/src/main/python/wpimath/system/__init__.py b/wpimath/src/main/python/wpimath/system/__init__.py deleted file mode 100644 index 500033b153..0000000000 --- a/wpimath/src/main/python/wpimath/system/__init__.py +++ /dev/null @@ -1,40 +0,0 @@ -# autogenerated by 'semiwrap create-imports wpimath.system wpimath._controls._controls.system' -from .._controls._controls.system import ( - LinearSystemLoop_1_1_1, - LinearSystemLoop_2_1_1, - LinearSystemLoop_2_1_2, - LinearSystemLoop_2_2_2, - LinearSystemLoop_3_2_3, - LinearSystem_1_1_1, - LinearSystem_1_1_2, - LinearSystem_1_1_3, - LinearSystem_2_1_1, - LinearSystem_2_1_2, - LinearSystem_2_1_3, - LinearSystem_2_2_1, - LinearSystem_2_2_2, - LinearSystem_2_2_3, - LinearSystem_3_2_1, - LinearSystem_3_2_2, - LinearSystem_3_2_3, -) - -__all__ = [ - "LinearSystemLoop_1_1_1", - "LinearSystemLoop_2_1_1", - "LinearSystemLoop_2_1_2", - "LinearSystemLoop_2_2_2", - "LinearSystemLoop_3_2_3", - "LinearSystem_1_1_1", - "LinearSystem_1_1_2", - "LinearSystem_1_1_3", - "LinearSystem_2_1_1", - "LinearSystem_2_1_2", - "LinearSystem_2_1_3", - "LinearSystem_2_2_1", - "LinearSystem_2_2_2", - "LinearSystem_2_2_3", - "LinearSystem_3_2_1", - "LinearSystem_3_2_2", - "LinearSystem_3_2_3", -] diff --git a/wpimath/src/main/python/wpimath/system/plant/__init__.py b/wpimath/src/main/python/wpimath/system/plant/__init__.py deleted file mode 100644 index a509aa3ca5..0000000000 --- a/wpimath/src/main/python/wpimath/system/plant/__init__.py +++ /dev/null @@ -1,3 +0,0 @@ -from ..._controls._controls.plant import DCMotor, LinearSystemId - -__all__ = ["DCMotor", "LinearSystemId"] diff --git a/wpimath/src/main/python/wpimath/trajectory/__init__.py b/wpimath/src/main/python/wpimath/trajectory/__init__.py deleted file mode 100644 index 6a0916bbb2..0000000000 --- a/wpimath/src/main/python/wpimath/trajectory/__init__.py +++ /dev/null @@ -1,20 +0,0 @@ -# autogenerated by 'semiwrap create-imports wpimath.trajectory wpimath._controls._controls.trajectory' -from .._controls._controls.trajectory import ( - ExponentialProfileMeterVolts, - Trajectory, - TrajectoryConfig, - TrajectoryGenerator, - TrajectoryParameterizer, - TrapezoidProfile, - TrapezoidProfileRadians, -) - -__all__ = [ - "ExponentialProfileMeterVolts", - "Trajectory", - "TrajectoryConfig", - "TrajectoryGenerator", - "TrajectoryParameterizer", - "TrapezoidProfile", - "TrapezoidProfileRadians", -] diff --git a/wpimath/src/main/python/wpimath/trajectory/constraint/__init__.py b/wpimath/src/main/python/wpimath/trajectory/constraint/__init__.py deleted file mode 100644 index 392ba9d8c1..0000000000 --- a/wpimath/src/main/python/wpimath/trajectory/constraint/__init__.py +++ /dev/null @@ -1,30 +0,0 @@ -# autogenerated by 'semiwrap create-imports wpimath.trajectory.constraint wpimath._controls._controls.constraint' -from ..._controls._controls.constraint import ( - CentripetalAccelerationConstraint, - DifferentialDriveKinematicsConstraint, - DifferentialDriveVoltageConstraint, - EllipticalRegionConstraint, - MaxVelocityConstraint, - MecanumDriveKinematicsConstraint, - RectangularRegionConstraint, - SwerveDrive2KinematicsConstraint, - SwerveDrive3KinematicsConstraint, - SwerveDrive4KinematicsConstraint, - SwerveDrive6KinematicsConstraint, - TrajectoryConstraint, -) - -__all__ = [ - "CentripetalAccelerationConstraint", - "DifferentialDriveKinematicsConstraint", - "DifferentialDriveVoltageConstraint", - "EllipticalRegionConstraint", - "MaxVelocityConstraint", - "MecanumDriveKinematicsConstraint", - "RectangularRegionConstraint", - "SwerveDrive2KinematicsConstraint", - "SwerveDrive3KinematicsConstraint", - "SwerveDrive4KinematicsConstraint", - "SwerveDrive6KinematicsConstraint", - "TrajectoryConstraint", -] diff --git a/wpimath/src/test/python/geometry/test_rotation2d.py b/wpimath/src/test/python/geometry/test_rotation2d.py index 8457d3877b..eea63bf5f2 100644 --- a/wpimath/src/test/python/geometry/test_rotation2d.py +++ b/wpimath/src/test/python/geometry/test_rotation2d.py @@ -3,7 +3,7 @@ import math import pytest -from wpimath.geometry import Rotation2d +from wpimath import Rotation2d @pytest.mark.parametrize( diff --git a/wpimath/src/test/python/kinematics/test_chassis_accelerations.py b/wpimath/src/test/python/kinematics/test_chassis_accelerations.py deleted file mode 100644 index b615575cd9..0000000000 --- a/wpimath/src/test/python/kinematics/test_chassis_accelerations.py +++ /dev/null @@ -1,119 +0,0 @@ -import math -import pytest -from wpimath.kinematics import ChassisAccelerations -from wpimath.geometry import Rotation2d -from wpimath.units import feetToMeters - -K_EPSILON = 1e-9 - - -def test_default_constructor(): - accelerations = ChassisAccelerations() - - assert accelerations.ax == pytest.approx(0.0, abs=K_EPSILON) - assert accelerations.ay == pytest.approx(0.0, abs=K_EPSILON) - assert accelerations.alpha == pytest.approx(0.0, abs=K_EPSILON) - - -def test_parameterized_constructor(): - # 1.0 m/s^2, 2.0 m/s^2, 3.0 rad/s^2 - accelerations = ChassisAccelerations(1.0, 2.0, 3.0) - - assert accelerations.ax == pytest.approx(1.0, abs=K_EPSILON) - assert accelerations.ay == pytest.approx(2.0, abs=K_EPSILON) - assert accelerations.alpha == pytest.approx(3.0, abs=K_EPSILON) - - -def test_to_robot_relative(): - start_accel = ChassisAccelerations(1.0, 0.0, 0.5) - - chassis_accelerations = start_accel.toRobotRelative(Rotation2d.fromDegrees(-90)) - - assert chassis_accelerations.ax == pytest.approx(0.0, abs=K_EPSILON) - assert chassis_accelerations.ay == pytest.approx(1.0, abs=K_EPSILON) - assert chassis_accelerations.alpha == pytest.approx(0.5, abs=K_EPSILON) - - -def test_to_field_relative(): - start_accel = ChassisAccelerations(1.0, 0.0, 0.5) - - chassis_accelerations = start_accel.toFieldRelative(Rotation2d.fromDegrees(45)) - - expected_val = 1.0 / math.sqrt(2.0) - - assert chassis_accelerations.ax == pytest.approx(expected_val, abs=K_EPSILON) - assert chassis_accelerations.ay == pytest.approx(expected_val, abs=K_EPSILON) - assert chassis_accelerations.alpha == pytest.approx(0.5, abs=K_EPSILON) - - -def test_plus(): - left = ChassisAccelerations(1.0, 0.5, 0.75) - right = ChassisAccelerations(2.0, 1.5, 0.25) - - chassis_accelerations = left + right - - assert chassis_accelerations.ax == pytest.approx(3.0, abs=K_EPSILON) - assert chassis_accelerations.ay == pytest.approx(2.0, abs=K_EPSILON) - assert chassis_accelerations.alpha == pytest.approx(1.0, abs=K_EPSILON) - - -def test_minus(): - left = ChassisAccelerations(1.0, 0.5, 0.75) - right = ChassisAccelerations(2.0, 0.5, 0.25) - - chassis_accelerations = left - right - - assert chassis_accelerations.ax == pytest.approx(-1.0, abs=K_EPSILON) - assert chassis_accelerations.ay == pytest.approx(0.0, abs=K_EPSILON) - assert chassis_accelerations.alpha == pytest.approx(0.5, abs=K_EPSILON) - - -def test_unary_minus(): - accel = ChassisAccelerations(1.0, 0.5, 0.75) - - chassis_accelerations = -accel - - assert chassis_accelerations.ax == pytest.approx(-1.0, abs=K_EPSILON) - assert chassis_accelerations.ay == pytest.approx(-0.5, abs=K_EPSILON) - assert chassis_accelerations.alpha == pytest.approx(-0.75, abs=K_EPSILON) - - -def test_multiplication(): - accel = ChassisAccelerations(1.0, 0.5, 0.75) - - chassis_accelerations = accel * 2.0 - - assert chassis_accelerations.ax == pytest.approx(2.0, abs=K_EPSILON) - assert chassis_accelerations.ay == pytest.approx(1.0, abs=K_EPSILON) - assert chassis_accelerations.alpha == pytest.approx(1.5, abs=K_EPSILON) - - -def test_division(): - accel = ChassisAccelerations(2.0, 1.0, 1.5) - - chassis_accelerations = accel / 2.0 - - assert chassis_accelerations.ax == pytest.approx(1.0, abs=K_EPSILON) - assert chassis_accelerations.ay == pytest.approx(0.5, abs=K_EPSILON) - assert chassis_accelerations.alpha == pytest.approx(0.75, abs=K_EPSILON) - - -def test_feet_constructor(): - chassis_accelerations = ChassisAccelerations.fromFps(10, 11, math.radians(45)) - - assert chassis_accelerations.ax == pytest.approx(feetToMeters(10), abs=K_EPSILON) - assert chassis_accelerations.ay == pytest.approx(feetToMeters(11), abs=K_EPSILON) - assert chassis_accelerations.alpha == pytest.approx(math.radians(45), abs=K_EPSILON) - - assert chassis_accelerations.ax_fpss == pytest.approx(10, abs=K_EPSILON) - assert chassis_accelerations.ay_fpss == pytest.approx(11, abs=K_EPSILON) - assert chassis_accelerations.alpha_dpss == pytest.approx(45, abs=K_EPSILON) - - -def test_repr(): - chassis_accelerations = ChassisAccelerations(1, 2, 3) - - assert ( - str(chassis_accelerations) - == "ChassisAccelerations(ax=1.000000, ay=2.000000, alpha=3.000000)" - ) diff --git a/wpimath/src/test/python/kinematics/test_chassis_speeds.py b/wpimath/src/test/python/kinematics/test_chassis_speeds.py index 3b5fb19081..672129b656 100644 --- a/wpimath/src/test/python/kinematics/test_chassis_speeds.py +++ b/wpimath/src/test/python/kinematics/test_chassis_speeds.py @@ -1,7 +1,6 @@ import math -from wpimath.geometry import Rotation2d -from wpimath.kinematics import ChassisSpeeds +from wpimath import ChassisSpeeds def test_plus() -> None: diff --git a/wpimath/src/test/python/kinematics/test_differential_drive_wheel_accelerations.py b/wpimath/src/test/python/kinematics/test_differential_drive_wheel_accelerations.py index fabae750b2..a4f101b123 100644 --- a/wpimath/src/test/python/kinematics/test_differential_drive_wheel_accelerations.py +++ b/wpimath/src/test/python/kinematics/test_differential_drive_wheel_accelerations.py @@ -1,5 +1,5 @@ import pytest -from wpimath.kinematics import DifferentialDriveWheelAccelerations +from wpimath import DifferentialDriveWheelAccelerations from wpimath.units import feetToMeters K_EPSILON = 1e-9 diff --git a/wpimath/src/test/python/kinematics/test_mecanum_drive_wheel_accelerations.py b/wpimath/src/test/python/kinematics/test_mecanum_drive_wheel_accelerations.py index c26e8b7207..efaaccd675 100644 --- a/wpimath/src/test/python/kinematics/test_mecanum_drive_wheel_accelerations.py +++ b/wpimath/src/test/python/kinematics/test_mecanum_drive_wheel_accelerations.py @@ -1,5 +1,5 @@ import pytest -from wpimath.kinematics import MecanumDriveWheelAccelerations +from wpimath import MecanumDriveWheelAccelerations from wpimath.units import feetToMeters # Epsilon matching the C++ test diff --git a/wpimath/src/test/python/kinematics/test_swerve.py b/wpimath/src/test/python/kinematics/test_swerve.py index b431ff8b45..3f7af9bd88 100644 --- a/wpimath/src/test/python/kinematics/test_swerve.py +++ b/wpimath/src/test/python/kinematics/test_swerve.py @@ -1,7 +1,9 @@ import pytest -from wpimath.geometry import Pose2d, Rotation2d, Translation2d -from wpimath.kinematics import ( +from wpimath import ( + Pose2d, + Rotation2d, + Translation2d, ChassisSpeeds, SwerveDrive4Kinematics, SwerveDrive4Odometry, diff --git a/wpimath/src/test/python/kinematics/test_swerve_module_accelerations.py b/wpimath/src/test/python/kinematics/test_swerve_module_accelerations.py index d0535af515..d15a1cd85a 100644 --- a/wpimath/src/test/python/kinematics/test_swerve_module_accelerations.py +++ b/wpimath/src/test/python/kinematics/test_swerve_module_accelerations.py @@ -1,7 +1,6 @@ import pytest import math -from wpimath.kinematics import SwerveModuleAcceleration -from wpimath.geometry import Rotation2d +from wpimath import Rotation2d, SwerveModuleAcceleration from wpimath.units import feetToMeters K_EPSILON = 1e-9 diff --git a/wpimath/src/test/python/test_controller.py b/wpimath/src/test/python/test_controller.py deleted file mode 100644 index 806897ca42..0000000000 --- a/wpimath/src/test/python/test_controller.py +++ /dev/null @@ -1,5 +0,0 @@ -import wpimath.controller - - -def test_todo(): - pass diff --git a/wpimath/src/test/python/test_estimator.py b/wpimath/src/test/python/test_estimator.py deleted file mode 100644 index cc040bb8fc..0000000000 --- a/wpimath/src/test/python/test_estimator.py +++ /dev/null @@ -1,5 +0,0 @@ -import wpimath.estimator - - -def test_todo(): - pass diff --git a/wpimath/src/test/python/test_interpolation.py b/wpimath/src/test/python/test_interpolation.py index 8e8bd5547a..276608d6a2 100644 --- a/wpimath/src/test/python/test_interpolation.py +++ b/wpimath/src/test/python/test_interpolation.py @@ -1,7 +1,8 @@ import math -from wpimath.geometry import Pose2d, Rotation2d -from wpimath.interpolation import ( +from wpimath import ( + Pose2d, + Rotation2d, TimeInterpolatableFloatBuffer, TimeInterpolatablePose2dBuffer, TimeInterpolatableRotation2dBuffer, diff --git a/wpimath/src/test/python/test_optimization_simulated_annealing.py b/wpimath/src/test/python/test_optimization_simulated_annealing.py index 0adf396646..dc109a466e 100644 --- a/wpimath/src/test/python/test_optimization_simulated_annealing.py +++ b/wpimath/src/test/python/test_optimization_simulated_annealing.py @@ -5,7 +5,7 @@ import math import random -from wpimath.optimization import SimulatedAnnealing +from wpimath import SimulatedAnnealing def clamp(v, minval, maxval): diff --git a/wpimath/src/test/python/test_spline.py b/wpimath/src/test/python/test_spline.py deleted file mode 100644 index d262b0d67e..0000000000 --- a/wpimath/src/test/python/test_spline.py +++ /dev/null @@ -1,5 +0,0 @@ -import wpimath.spline - - -def test_todo(): - pass diff --git a/wpimath/src/test/python/test_system.py b/wpimath/src/test/python/test_system.py deleted file mode 100644 index 2fe2976a7c..0000000000 --- a/wpimath/src/test/python/test_system.py +++ /dev/null @@ -1,6 +0,0 @@ -import wpimath.system -import wpimath.system.plant - - -def test_todo(): - pass diff --git a/wpimath/src/test/python/test_trajectory.py b/wpimath/src/test/python/test_trajectory.py index 1b16ab80ba..c9c2f4e244 100644 --- a/wpimath/src/test/python/test_trajectory.py +++ b/wpimath/src/test/python/test_trajectory.py @@ -1,25 +1,22 @@ import math -from wpimath.geometry import ( +from wpimath import ( + CubicHermiteSpline, Ellipse2d, + EllipticalRegionConstraint, + MaxVelocityConstraint, Pose2d, Rectangle2d, + RectangularRegionConstraint, Rotation2d, - Transform2d, - Translation2d, -) -from wpimath.spline import CubicHermiteSpline, SplineHelper -from wpimath.trajectory import ( + SplineHelper, + TrajectoryConstraint, Trajectory, TrajectoryConfig, TrajectoryGenerator, TrajectoryParameterizer, -) -from wpimath.trajectory.constraint import ( - EllipticalRegionConstraint, - MaxVelocityConstraint, - RectangularRegionConstraint, - TrajectoryConstraint, + Transform2d, + Translation2d, ) diff --git a/wpimath/src/test/python/test_trajectory_exponential_profile.py b/wpimath/src/test/python/test_trajectory_exponential_profile.py index 0bb90cf15b..3b63b79daa 100644 --- a/wpimath/src/test/python/test_trajectory_exponential_profile.py +++ b/wpimath/src/test/python/test_trajectory_exponential_profile.py @@ -4,8 +4,7 @@ import pytest -from wpimath.controller import SimpleMotorFeedforwardMeters -from wpimath.trajectory import ExponentialProfileMeterVolts +from wpimath import ExponentialProfileMeterVolts, SimpleMotorFeedforwardMeters kDt = 0.01 feedforward = SimpleMotorFeedforwardMeters(0, 2.5629, 0.43277, kDt) diff --git a/wpimath/src/test/python/test_trapezoid_profile.py b/wpimath/src/test/python/test_trapezoid_profile.py index e28c55c95b..8ad2b069e4 100644 --- a/wpimath/src/test/python/test_trapezoid_profile.py +++ b/wpimath/src/test/python/test_trapezoid_profile.py @@ -1,10 +1,10 @@ import pytest -from wpimath import trajectory +import wpimath trapezoid_profile_types = [ - trajectory.TrapezoidProfile, - trajectory.TrapezoidProfileRadians, + wpimath.TrapezoidProfile, + wpimath.TrapezoidProfileRadians, ] diff --git a/wpimath/src/test/python/trajectory/test_trapezoidal_profile.py b/wpimath/src/test/python/trajectory/test_trapezoidal_profile.py index c779611356..6779e6963c 100644 --- a/wpimath/src/test/python/trajectory/test_trapezoidal_profile.py +++ b/wpimath/src/test/python/trajectory/test_trapezoidal_profile.py @@ -5,7 +5,7 @@ import math -from wpimath.trajectory import TrapezoidProfile +from wpimath import TrapezoidProfile kDt = 0.01 # 10 ms diff --git a/wpinet/src/main/python/native-pyproject.toml b/wpinet/src/main/python/native-pyproject.toml index 85ebde1c80..1175227015 100644 --- a/wpinet/src/main/python/native-pyproject.toml +++ b/wpinet/src/main/python/native-pyproject.toml @@ -23,7 +23,7 @@ packages = ["src/native"] [[tool.hatch.build.hooks.robotpy.maven_lib_download]] artifact_id = "wpinet-cpp" group_id = "org.wpilib.wpinet" -repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027" +repo_url = "" version = "0.0.0" extract_to = "src/native/wpinet" diff --git a/wpiutil/src/main/python/native-pyproject.toml b/wpiutil/src/main/python/native-pyproject.toml index eaad6f3c1b..e30e5379c5 100644 --- a/wpiutil/src/main/python/native-pyproject.toml +++ b/wpiutil/src/main/python/native-pyproject.toml @@ -22,7 +22,7 @@ packages = ["src/native"] [[tool.hatch.build.hooks.robotpy.maven_lib_download]] artifact_id = "wpiutil-cpp" group_id = "org.wpilib.wpiutil" -repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027" +repo_url = "" version = "0.0.0" extract_to = "src/native/wpiutil" diff --git a/xrpVendordep/robotpy_pybind_build_info.bzl b/xrpVendordep/robotpy_pybind_build_info.bzl index 4326daa9d6..bd4877d259 100644 --- a/xrpVendordep/robotpy_pybind_build_info.bzl +++ b/xrpVendordep/robotpy_pybind_build_info.bzl @@ -79,7 +79,7 @@ def xrp_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes gen_libinit( name = "xrp.gen_lib_init", output_file = "src/main/python/xrp/_init__xrp.py", - modules = ["native.xrp._init_robotpy_native_xrp", "wpilib._init__wpilib", "wpimath.geometry._init__geometry"], + modules = ["native.xrp._init_robotpy_native_xrp", "wpilib._init__wpilib", "wpimath._init__wpimath"], ) gen_pkgconf( @@ -130,7 +130,7 @@ def xrp_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", "//xrpVendordep:xrpVendordep", ], dynamic_deps = [ diff --git a/xrpVendordep/src/main/python/native-pyproject.toml b/xrpVendordep/src/main/python/native-pyproject.toml index 88a3dd280a..5c559dbac0 100644 --- a/xrpVendordep/src/main/python/native-pyproject.toml +++ b/xrpVendordep/src/main/python/native-pyproject.toml @@ -23,7 +23,7 @@ packages = ["src/native"] [[tool.hatch.build.hooks.robotpy.maven_lib_download]] artifact_id = "xrpVendordep-cpp" group_id = "org.wpilib.xrpVendordep" -repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027" +repo_url = "" version = "0.0.0" extract_to = "src/native/xrp" diff --git a/xrpVendordep/src/main/python/pyproject.toml b/xrpVendordep/src/main/python/pyproject.toml index 2579962153..2e7e7fb15d 100644 --- a/xrpVendordep/src/main/python/pyproject.toml +++ b/xrpVendordep/src/main/python/pyproject.toml @@ -33,7 +33,7 @@ version_file = "xrp/version.py" [[tool.hatch.build.hooks.robotpy.maven_lib_download]] artifact_id = "halsim_xrp" group_id = "org.wpilib.halsim" -repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027" +repo_url = "" version = "0.0.0" use_headers = false @@ -54,7 +54,7 @@ update_init = ["xrp"] [tool.semiwrap.extension_modules."xrp._xrp"] name = "xrp" wraps = ["robotpy-native-xrp"] -depends = ["wpilib", "wpimath_geometry"] +depends = ["wpilib", "wpimath"] [tool.semiwrap.extension_modules."xrp._xrp".headers] # frc/xrp diff --git a/xrpVendordep/src/main/python/xrp/xrp.pc b/xrpVendordep/src/main/python/xrp/xrp.pc index a1896bdc49..cf61cff01f 100644 --- a/xrpVendordep/src/main/python/xrp/xrp.pc +++ b/xrpVendordep/src/main/python/xrp/xrp.pc @@ -6,4 +6,4 @@ Name: xrp Description: semiwrap pybind11 module Version: Cflags: -I${prefix} -Requires: robotpy-native-xrp wpilib wpimath_geometry +Requires: robotpy-native-xrp wpilib wpimath