[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 <default@default.com>

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"

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]

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;
+      })
+      ;

wpilibc/src/main/python/semiwrap/CounterBase.yml

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

wpilibc/src/main/python/semiwrap/GenericHID.yml

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

wpilibc/src/main/python/semiwrap/MotorController.yml

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

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<wpi::AddressableLED::LEDData> data(len);
+            self.GetData(data.data());
+            return data;
+          }
       SetData:
+        param_override:
+          length:
+            ignore: true
+        cpp_code: |
+          [](wpi::sim::AddressableLEDSim &self, std::span<wpi::AddressableLED::LEDData> &data) {
+            if (static_cast<int>(data.size()) != self.GetLength()) {
+               std::string msg = fmt::format("data must have length {} (got {})", self.GetLength(), data.size());
+               throw py::value_error(msg);
+            }
+            self.SetData(data.data());
+          }
       RegisterStartCallback:
       GetStart:
       SetStart:
       GetGlobalData:
+        ignore: true
       SetGlobalData:
+        ignore: true

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",

wpilibc/src/main/python/wpilib/counter/__init__.py

@@ -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"]

wpilibc/src/main/python/wpilib/counter/counter.cpp

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

wpilibc/src/main/python/wpilib/drive/__init__.py

@@ -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

wpilibc/src/main/python/wpilib/drive/drive.cpp

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

wpilibc/src/main/python/wpilib/event/__init__.py

@@ -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"]

wpilibc/src/main/python/wpilib/event/event.cpp

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

wpilibc/src/main/python/wpilib/interfaces/__init__.py

@@ -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"]

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,