[robotpy] Mirror most other subprojects (#8208)

GitOrigin-RevId: ac60fd3cf4a24023184376687da28373d14b781a

This mirrors the robotpy files for the following projects:
- apriltag
- datalog
- hal
- ntcore
- romiVendordep
- wpilibc
- wpimath
- xrpVendordep

This excludes cscore and the halsim wrappers for at this time.

NOTE: This does not hook these projects up to the build system, just simply mirrors the files. The building will take place in a follow up PR to make it easier to review the changes necessary to build.

wpilibc/src/main/python/semiwrap/simulation/ADXL345Sim.yml

@@ -0,0 +1,12 @@
+extra_includes:
+- frc/ADXL345_I2C.h
+
+classes:
+  frc::sim::ADXL345Sim:
+    methods:
+      ADXL345Sim:
+        overloads:
+          const ADXL345_I2C&:
+      SetX:
+      SetY:
+      SetZ:

wpilibc/src/main/python/semiwrap/simulation/AddressableLEDSim.yml

@@ -0,0 +1,26 @@
+extra_includes:
+- frc/AddressableLED.h
+
+classes:
+  frc::sim::AddressableLEDSim:
+    force_type_casters:
+    - std::function
+    methods:
+      AddressableLEDSim:
+        overloads:
+          const AddressableLED&:
+          int:
+      RegisterInitializedCallback:
+      GetInitialized:
+      SetInitialized:
+      RegisterLengthCallback:
+      GetLength:
+      SetLength:
+      RegisterDataCallback:
+      GetData:
+      SetData:
+      RegisterStartCallback:
+      GetStart:
+      SetStart:
+      GetGlobalData:
+      SetGlobalData:

wpilibc/src/main/python/semiwrap/simulation/AnalogEncoderSim.yml

@@ -0,0 +1,11 @@
+extra_includes:
+- frc/AnalogEncoder.h
+
+classes:
+  frc::sim::AnalogEncoderSim:
+    force_type_casters:
+    - std::function
+    methods:
+      AnalogEncoderSim:
+      Set:
+      Get:

wpilibc/src/main/python/semiwrap/simulation/AnalogInputSim.yml

@@ -0,0 +1,25 @@
+extra_includes:
+- frc/AnalogInput.h
+
+classes:
+  frc::sim::AnalogInputSim:
+    force_type_casters:
+    - std::function
+    methods:
+      AnalogInputSim:
+        overloads:
+          const AnalogInput&:
+          int:
+      RegisterInitializedCallback:
+      GetInitialized:
+      SetInitialized:
+      RegisterAverageBitsCallback:
+      GetAverageBits:
+      SetAverageBits:
+      RegisterOversampleBitsCallback:
+      GetOversampleBits:
+      SetOversampleBits:
+      RegisterVoltageCallback:
+      GetVoltage:
+      SetVoltage:
+      ResetData:

wpilibc/src/main/python/semiwrap/simulation/BatterySim.yml

@@ -0,0 +1,13 @@
+classes:
+  frc::sim::BatterySim:
+    force_type_casters:
+    - units::ampere_t
+    methods:
+      Calculate:
+        overloads:
+          units::volt_t, units::ohm_t, std::span<const units::ampere_t>:
+          units::volt_t, units::ohm_t, std::initializer_list<units::ampere_t>:
+            ignore: true
+          std::span<const units::ampere_t>:
+          std::initializer_list<units::ampere_t>:
+            ignore: true

wpilibc/src/main/python/semiwrap/simulation/CTREPCMSim.yml

@@ -0,0 +1,36 @@
+extra_includes:
+- frc/Compressor.h
+
+classes:
+  frc::sim::CTREPCMSim:
+    typealias:
+    - frc::PneumaticsBase
+    force_type_casters:
+    - std::function
+    methods:
+      CTREPCMSim:
+        overloads:
+          '':
+          int:
+          const PneumaticsBase&:
+      RegisterInitializedCallback:
+      GetInitialized:
+      SetInitialized:
+      RegisterSolenoidOutputCallback:
+      GetSolenoidOutput:
+      SetSolenoidOutput:
+      RegisterCompressorOnCallback:
+      GetCompressorOn:
+      SetCompressorOn:
+      RegisterClosedLoopEnabledCallback:
+      GetClosedLoopEnabled:
+      SetClosedLoopEnabled:
+      RegisterPressureSwitchCallback:
+      GetPressureSwitch:
+      SetPressureSwitch:
+      RegisterCompressorCurrentCallback:
+      GetCompressorCurrent:
+      SetCompressorCurrent:
+      GetAllSolenoidOutputs:
+      SetAllSolenoidOutputs:
+      ResetData:

wpilibc/src/main/python/semiwrap/simulation/CallbackStore.yml

@@ -0,0 +1,26 @@
+functions:
+  CallbackStoreThunk:
+    ignore: true
+  ConstBufferCallbackStoreThunk:
+    ignore: true
+classes:
+  frc::sim::CallbackStore:
+    force_type_casters:
+    - std::function
+    methods:
+      CallbackStore:
+        overloads:
+          # All are ignored because pybind11 can't use raw function pointers
+          int32_t, NotifyCallback, CancelCallbackNoIndexFunc:
+            ignore: true
+          int32_t, int32_t, NotifyCallback, CancelCallbackFunc:
+            ignore: true
+          int32_t, int32_t, int32_t, NotifyCallback, CancelCallbackChannelFunc:
+            ignore: true
+          int32_t, ConstBufferCallback, CancelCallbackNoIndexFunc:
+            ignore: true
+          int32_t, int32_t, ConstBufferCallback, CancelCallbackFunc:
+            ignore: true
+          int32_t, int32_t, int32_t, ConstBufferCallback, CancelCallbackChannelFunc:
+            ignore: true
+      SetUid:

wpilibc/src/main/python/semiwrap/simulation/DCMotorSim.yml

@@ -0,0 +1,35 @@
+classes:
+  frc::sim::DCMotorSim:
+    typealias:
+    - frc::DCMotor
+    methods:
+      DCMotorSim:
+        overloads:
+          const LinearSystem<2, 1, 2>&, const DCMotor&, const std::array<double, 2>&:
+            param_override:
+              plant:
+                x_type: frc::LinearSystem<2,1,2>
+      SetState:
+      GetAngularPosition:
+      GetAngularVelocity:
+      GetCurrentDraw:
+      SetInputVoltage:
+      GetAngularAcceleration:
+      GetTorque:
+      GetInputVoltage:
+      GetGearbox:
+      GetGearing:
+      GetJ:
+      SetAngle:
+      SetAngularVelocity:
+
+inline_code: |
+  cls_DCMotorSim
+    // java API compatibility
+    .def("getAngularPositionRotations", [](const DCMotorSim &self) {
+      return units::turn_t{self.GetAngularPosition()};
+    }, py::doc("Returns the DC motor position in rotations"))
+    .def("getAngularVelocityRPM", [](const DCMotorSim &self) {
+      return units::revolutions_per_minute_t{self.GetAngularVelocity()};
+    }, py::doc("Returns the DC motor velocity in revolutions per minute"))
+  ;

wpilibc/src/main/python/semiwrap/simulation/DIOSim.yml

@@ -0,0 +1,30 @@
+extra_includes:
+- frc/DigitalInput.h
+- frc/DigitalOutput.h
+
+classes:
+  frc::sim::DIOSim:
+    force_type_casters:
+    - std::function
+    methods:
+      DIOSim:
+        overloads:
+          const DigitalInput&:
+          const DigitalOutput&:
+          int:
+      RegisterInitializedCallback:
+      GetInitialized:
+      SetInitialized:
+      RegisterValueCallback:
+      GetValue:
+      SetValue:
+      RegisterPulseLengthCallback:
+      GetPulseLength:
+      SetPulseLength:
+      RegisterIsInputCallback:
+      GetIsInput:
+      SetIsInput:
+      RegisterFilterIndexCallback:
+      GetFilterIndex:
+      SetFilterIndex:
+      ResetData:

wpilibc/src/main/python/semiwrap/simulation/DifferentialDrivetrainSim.yml

@@ -0,0 +1,96 @@
+classes:
+  frc::sim::DifferentialDrivetrainSim:
+    typealias:
+    - frc::DCMotor
+    - template <int S, int I, int O> using LinearSystem = frc::LinearSystem<S, I, O>
+    methods:
+      DifferentialDrivetrainSim:
+        overloads:
+          LinearSystem<2, 2, 2>, units::meter_t, DCMotor, double, units::meter_t, const std::array<double, 7>&:
+            param_override:
+              measurementStdDevs:
+                default: std::array<double, 7>{}
+          ? frc::DCMotor, double, units::kilogram_square_meter_t, units::kilogram_t, units::meter_t, units::meter_t, const std::array<double, 7>&
+          : param_override:
+              measurementStdDevs:
+                default: std::array<double, 7>{}
+      ClampInput:
+      SetInputs:
+      SetGearing:
+      Update:
+      GetGearing:
+      GetHeading:
+      GetPose:
+      GetRightPosition:
+      GetRightVelocity:
+      GetLeftPosition:
+      GetLeftVelocity:
+      GetRightCurrentDraw:
+      GetLeftCurrentDraw:
+      GetCurrentDraw:
+      SetState:
+      SetPose:
+      Dynamics:
+      CreateKitbotSim:
+        overloads:
+          frc::DCMotor, double, units::meter_t, const std::array<double, 7>&:
+            param_override:
+              measurementStdDevs:
+                default: std::array<double, 7>{}
+          frc::DCMotor, double, units::meter_t, units::kilogram_square_meter_t, const std::array<double, 7>&:
+            param_override:
+              measurementStdDevs:
+                default: std::array<double, 7>{}
+  frc::sim::DifferentialDrivetrainSim::State:
+    attributes:
+      kX:
+      kY:
+      kHeading:
+      kLeftVelocity:
+      kRightVelocity:
+      kLeftPosition:
+      kRightPosition:
+  frc::sim::DifferentialDrivetrainSim::KitbotGearing:
+    attributes:
+      k12p75:
+      k10p71:
+      k8p45:
+      k7p31:
+      k5p95:
+  frc::sim::DifferentialDrivetrainSim::KitbotMotor:
+    attributes:
+      SingleCIMPerSide:
+      DualCIMPerSide:
+      SingleMiniCIMPerSide:
+      DualMiniCIMPerSide:
+      SingleFalcon500PerSide:
+      DualFalcon500PerSide:
+      SingleNEOPerSide:
+      DualNEOPerSide:
+  frc::sim::DifferentialDrivetrainSim::KitbotWheelSize:
+    attributes:
+      kSixInch:
+      kEightInch:
+      kTenInch:
+
+inline_code: |-
+  cls_DifferentialDrivetrainSim
+    .def("getLeftPositionFeet", [](DifferentialDrivetrainSim * self) -> units::foot_t {
+      return self->GetLeftPosition();
+    })
+    .def("getLeftPositionInches", [](DifferentialDrivetrainSim * self) -> units::inch_t {
+      return self->GetLeftPosition();
+    })
+    .def("getLeftVelocityFps", [](DifferentialDrivetrainSim * self) -> units::feet_per_second_t {
+      return self->GetLeftVelocity();
+    })
+    .def("getRightPositionFeet", [](DifferentialDrivetrainSim * self) -> units::foot_t {
+      return self->GetRightPosition();
+    })
+    .def("getRightPositionInches", [](DifferentialDrivetrainSim * self) -> units::inch_t {
+      return self->GetRightPosition();
+    })
+    .def("getRightVelocityFps", [](DifferentialDrivetrainSim * self) -> units::feet_per_second_t {
+      return self->GetRightVelocity();
+    })
+  ;

wpilibc/src/main/python/semiwrap/simulation/DigitalPWMSim.yml

@@ -0,0 +1,23 @@
+extra_includes:
+- frc/DigitalOutput.h
+
+classes:
+  frc::sim::DigitalPWMSim:
+    force_type_casters:
+    - std::function
+    methods:
+      DigitalPWMSim:
+        overloads:
+          const DigitalOutput&:
+      CreateForChannel:
+      CreateForIndex:
+      RegisterInitializedCallback:
+      GetInitialized:
+      SetInitialized:
+      RegisterDutyCycleCallback:
+      GetDutyCycle:
+      SetDutyCycle:
+      RegisterPinCallback:
+      GetPin:
+      SetPin:
+      ResetData:

wpilibc/src/main/python/semiwrap/simulation/DoubleSolenoidSim.yml

@@ -0,0 +1,13 @@
+classes:
+  frc::sim::DoubleSolenoidSim:
+    typealias:
+    - frc::PneumaticsModuleType
+    methods:
+      DoubleSolenoidSim:
+        overloads:
+          std::shared_ptr<PneumaticsBaseSim>, int, int:
+          int, PneumaticsModuleType, int, int:
+          PneumaticsModuleType, int, int:
+      Get:
+      Set:
+      GetModuleSim:

wpilibc/src/main/python/semiwrap/simulation/DriverStationSim.yml

@@ -0,0 +1,51 @@
+classes:
+  frc::sim::DriverStationSim:
+    force_type_casters:
+    - std::function
+    methods:
+      RegisterEnabledCallback:
+      GetEnabled:
+      SetEnabled:
+      RegisterAutonomousCallback:
+      GetAutonomous:
+      SetAutonomous:
+      RegisterTestCallback:
+      GetTest:
+      SetTest:
+      RegisterEStopCallback:
+      GetEStop:
+      SetEStop:
+      RegisterFmsAttachedCallback:
+      GetFmsAttached:
+      SetFmsAttached:
+      RegisterDsAttachedCallback:
+      GetDsAttached:
+      SetDsAttached:
+      RegisterAllianceStationIdCallback:
+      GetAllianceStationId:
+      SetAllianceStationId:
+      RegisterMatchTimeCallback:
+      GetMatchTime:
+      SetMatchTime:
+      NotifyNewData:
+      SetSendError:
+      SetSendConsoleLine:
+      GetJoystickOutputs:
+      GetJoystickRumble:
+      SetJoystickButton:
+      SetJoystickAxis:
+      SetJoystickPOV:
+      SetJoystickButtons:
+      SetJoystickAxisCount:
+      SetJoystickPOVCount:
+      SetJoystickButtonCount:
+      SetJoystickType:
+      SetJoystickName:
+      SetJoystickAxisType:
+      SetGameSpecificMessage:
+      SetEventName:
+      SetMatchType:
+      SetMatchNumber:
+      SetReplayNumber:
+      ResetData:
+      SetJoystickIsGamepad:

wpilibc/src/main/python/semiwrap/simulation/DutyCycleEncoderSim.yml

@@ -0,0 +1,14 @@
+extra_includes:
+- frc/DutyCycleEncoder.h
+
+classes:
+  frc::sim::DutyCycleEncoderSim:
+    methods:
+      DutyCycleEncoderSim:
+        overloads:
+          const DutyCycleEncoder&:
+          int:
+      Get:
+      Set:
+      IsConnected:
+      SetConnected:

wpilibc/src/main/python/semiwrap/simulation/DutyCycleSim.yml

@@ -0,0 +1,22 @@
+extra_includes:
+- frc/DutyCycle.h
+
+classes:
+  frc::sim::DutyCycleSim:
+    force_type_casters:
+    - std::function
+    methods:
+      DutyCycleSim:
+        overloads:
+          const DutyCycle&:
+      CreateForChannel:
+      RegisterInitializedCallback:
+      GetInitialized:
+      SetInitialized:
+      RegisterFrequencyCallback:
+      GetFrequency:
+      SetFrequency:
+      RegisterOutputCallback:
+      GetOutput:
+      SetOutput:
+      ResetData:

wpilibc/src/main/python/semiwrap/simulation/ElevatorSim.yml

@@ -0,0 +1,42 @@
+classes:
+  frc::sim::ElevatorSim:
+    typealias:
+    - frc::DCMotor
+    - template <int S, int I, int O> using LinearSystem = frc::LinearSystem<S, I, O>
+    - template <int I> using Vectord = frc::Vectord<I>
+    methods:
+      ElevatorSim:
+        overloads:
+          ? const LinearSystem<2, 1, 2>&, const DCMotor&, units::meter_t, units::meter_t, bool, units::meter_t, const std::array<double, 2>&
+          : param_override:
+              measurementStdDevs:
+                default: std::array<double, 2>{0.0, 0.0}
+          ? const DCMotor&, double, units::kilogram_t, units::meter_t, units::meter_t, units::meter_t, bool, units::meter_t, const std::array<double, 2>&
+          : param_override:
+              measurementStdDevs:
+                default: std::array<double, 2>{0.0}
+          ? decltype(1_V/Velocity_t<Distance> (1)), decltype(1_V/Acceleration_t<Distance> (1)), const DCMotor&, units::meter_t, units::meter_t, bool, units::meter_t, const std::array<double, 2>&
+          : ignore: true
+      SetState:
+      WouldHitLowerLimit:
+      WouldHitUpperLimit:
+      HasHitLowerLimit:
+      HasHitUpperLimit:
+      GetPosition:
+      GetVelocity:
+      GetCurrentDraw:
+      SetInputVoltage:
+      UpdateX:
+
+inline_code: |-
+  cls_ElevatorSim
+    .def("getPositionFeet", [](ElevatorSim * self) -> units::foot_t {
+      return self->GetPosition();
+    })
+    .def("getPositionInches", [](ElevatorSim * self) -> units::inch_t {
+      return self->GetPosition();
+    })
+    .def("getVelocityFps", [](ElevatorSim * self) -> units::feet_per_second_t {
+      return self->GetVelocity();
+    })
+  ;

wpilibc/src/main/python/semiwrap/simulation/EncoderSim.yml

@@ -0,0 +1,45 @@
+extra_includes:
+- frc/Encoder.h
+
+classes:
+  frc::sim::EncoderSim:
+    force_type_casters:
+    - std::function
+    methods:
+      EncoderSim:
+        overloads:
+          const Encoder&:
+      CreateForChannel:
+      CreateForIndex:
+      RegisterInitializedCallback:
+      GetInitialized:
+      SetInitialized:
+      RegisterCountCallback:
+      GetCount:
+      SetCount:
+      RegisterPeriodCallback:
+      GetPeriod:
+      SetPeriod:
+      RegisterResetCallback:
+      GetReset:
+      SetReset:
+      RegisterMaxPeriodCallback:
+      GetMaxPeriod:
+      SetMaxPeriod:
+      RegisterDirectionCallback:
+      GetDirection:
+      SetDirection:
+      RegisterReverseDirectionCallback:
+      GetReverseDirection:
+      SetReverseDirection:
+      RegisterSamplesToAverageCallback:
+      GetSamplesToAverage:
+      SetSamplesToAverage:
+      RegisterDistancePerPulseCallback:
+      GetDistancePerPulse:
+      SetDistancePerPulse:
+      ResetData:
+      SetDistance:
+      GetDistance:
+      SetRate:
+      GetRate:

wpilibc/src/main/python/semiwrap/simulation/FlywheelSim.yml

@@ -0,0 +1,27 @@
+classes:
+  frc::sim::FlywheelSim:
+    typealias:
+    - frc::DCMotor
+    - template <int S, int I, int O> using LinearSystem = frc::LinearSystem<S, I, O>
+    methods:
+      FlywheelSim:
+        overloads:
+          const LinearSystem<1, 1, 1>&, const DCMotor&, double, const std::array<double, 1>&:
+            param_override:
+              measurementStdDevs:
+                default: std::array<double, 1>{0.0}
+          const DCMotor&, double, units::kilogram_square_meter_t, const std::array<double, 1>&:
+            param_override:
+              measurementStdDevs:
+                default: std::array<double, 1>{0.0}
+      SetState:
+      GetAngularVelocity:
+      GetCurrentDraw:
+      SetInputVoltage:
+      SetVelocity:
+      GetAngularAcceleration:
+      GetTorque:
+      GetInputVoltage:
+      Gearbox:
+      Gearing:
+      J:

wpilibc/src/main/python/semiwrap/simulation/GenericHIDSim.yml

@@ -0,0 +1,23 @@
+classes:
+  frc::sim::GenericHIDSim:
+    methods:
+      GenericHIDSim:
+        overloads:
+          const GenericHID&:
+          int:
+      NotifyNewData:
+      SetRawButton:
+      SetRawAxis:
+      SetPOV:
+        overloads:
+          int, DriverStation::POVDirection:
+          DriverStation::POVDirection:
+      SetAxisCount:
+      SetPOVCount:
+      SetButtonCount:
+      SetType:
+      SetName:
+      SetAxisType:
+      GetOutput:
+      GetOutputs:
+      GetRumble:

wpilibc/src/main/python/semiwrap/simulation/JoystickSim.yml

@@ -0,0 +1,18 @@
+extra_includes:
+- frc/Joystick.h
+
+classes:
+  frc::sim::JoystickSim:
+    force_no_trampoline: true
+    methods:
+      JoystickSim:
+        overloads:
+          const Joystick&:
+          int:
+      SetX:
+      SetY:
+      SetZ:
+      SetTwist:
+      SetThrottle:
+      SetTrigger:
+      SetTop:

wpilibc/src/main/python/semiwrap/simulation/LinearSystemSim.yml

@@ -0,0 +1,75 @@
+classes:
+  frc::sim::LinearSystemSim:
+    typealias:
+    - template <int S, int I, int O> using LinearSystem = frc::LinearSystem<S, I, O>
+    - template <int I> using Vectord = frc::Vectord<I>
+    template_params:
+    - int States
+    - int Inputs
+    - int Outputs
+    attributes:
+      m_plant:
+      m_x:
+      m_y:
+      m_u:
+      m_measurementStdDevs:
+    methods:
+      LinearSystemSim:
+        param_override:
+          measurementStdDevs:
+            default: std::array<double, Outputs>{}
+      Update:
+      GetOutput:
+        overloads:
+          '[const]':
+          int [const]:
+      SetInput:
+        overloads:
+          const Vectord<Inputs>&:
+          int, double:
+      GetInput:
+        overloads:
+          '[const]':
+          int [const]:
+      SetState:
+      UpdateX:
+      ClampInput:
+
+
+templates:
+  LinearSystemSim_1_1_1:
+    qualname: frc::sim::LinearSystemSim
+    params:
+    - 1
+    - 1
+    - 1
+  LinearSystemSim_1_1_2:
+    qualname: frc::sim::LinearSystemSim
+    params:
+    - 1
+    - 1
+    - 2
+  LinearSystemSim_2_1_1:
+    qualname: frc::sim::LinearSystemSim
+    params:
+    - 2
+    - 1
+    - 1
+  LinearSystemSim_2_1_2:
+    qualname: frc::sim::LinearSystemSim
+    params:
+    - 2
+    - 1
+    - 2
+  LinearSystemSim_2_2_1:
+    qualname: frc::sim::LinearSystemSim
+    params:
+    - 2
+    - 2
+    - 1
+  LinearSystemSim_2_2_2:
+    qualname: frc::sim::LinearSystemSim
+    params:
+    - 2
+    - 2
+    - 2

wpilibc/src/main/python/semiwrap/simulation/PS4ControllerSim.yml

@@ -0,0 +1,33 @@
+extra_includes:
+- frc/PS4Controller.h
+
+classes:
+  frc::sim::PS4ControllerSim:
+    force_no_trampoline: true
+    methods:
+      PS4ControllerSim:
+        overloads:
+          const PS4Controller&:
+          int:
+      SetLeftX:
+      SetRightX:
+      SetLeftY:
+      SetRightY:
+      SetL2Axis:
+      SetR2Axis:
+      SetSquareButton:
+      SetCrossButton:
+      SetCircleButton:
+      SetTriangleButton:
+      SetL1Button:
+      SetR1Button:
+      SetL2Button:
+      SetR2Button:
+      SetShareButton:
+      SetOptionsButton:
+      SetL3Button:
+      SetR3Button:
+      SetPSButton:
+      SetTouchpad:
+        ignore: true
+      SetTouchpadButton:

wpilibc/src/main/python/semiwrap/simulation/PS5ControllerSim.yml

@@ -0,0 +1,33 @@
+extra_includes:
+- frc/PS5Controller.h
+
+classes:
+  frc::sim::PS5ControllerSim:
+    force_no_trampoline: true
+    methods:
+      PS5ControllerSim:
+        overloads:
+          const PS5Controller&:
+          int:
+      SetLeftX:
+      SetRightX:
+      SetLeftY:
+      SetRightY:
+      SetL2Axis:
+      SetR2Axis:
+      SetSquareButton:
+      SetCrossButton:
+      SetCircleButton:
+      SetTriangleButton:
+      SetL1Button:
+      SetR1Button:
+      SetL2Button:
+      SetR2Button:
+      SetCreateButton:
+      SetOptionsButton:
+      SetL3Button:
+      SetR3Button:
+      SetPSButton:
+      SetTouchpad:
+        ignore: true
+      SetTouchpadButton:

wpilibc/src/main/python/semiwrap/simulation/PWMMotorControllerSim.yml

@@ -0,0 +1,8 @@
+classes:
+  frc::sim::PWMMotorControllerSim:
+    methods:
+      PWMMotorControllerSim:
+        overloads:
+          const PWMMotorController&:
+          int:
+      GetSpeed:

wpilibc/src/main/python/semiwrap/simulation/PWMSim.yml

@@ -0,0 +1,23 @@
+extra_includes:
+- frc/PWM.h
+- frc/motorcontrol/PWMMotorController.h
+
+classes:
+  frc::sim::PWMSim:
+    force_type_casters:
+    - std::function
+    methods:
+      PWMSim:
+        overloads:
+          const PWM&:
+          int:
+      RegisterInitializedCallback:
+      GetInitialized:
+      SetInitialized:
+      RegisterPulseMicrosecondCallback:
+      GetPulseMicrosecond:
+      SetPulseMicrosecond:
+      ResetData:
+      RegisterOutputPeriodCallback:
+      GetOutputPeriod:
+      SetOutputPeriod:

wpilibc/src/main/python/semiwrap/simulation/PneumaticsBaseSim.yml

@@ -0,0 +1,32 @@
+classes:
+  frc::sim::PneumaticsBaseSim:
+    typealias:
+    - frc::PneumaticsBase
+    attributes:
+      m_index:
+    force_type_casters:
+    - std::function
+    methods:
+      GetForType:
+      GetInitialized:
+      SetInitialized:
+      RegisterInitializedCallback:
+      GetCompressorOn:
+      SetCompressorOn:
+      RegisterCompressorOnCallback:
+      GetSolenoidOutput:
+      SetSolenoidOutput:
+      RegisterSolenoidOutputCallback:
+      GetPressureSwitch:
+      SetPressureSwitch:
+      RegisterPressureSwitchCallback:
+      GetCompressorCurrent:
+      SetCompressorCurrent:
+      RegisterCompressorCurrentCallback:
+      GetAllSolenoidOutputs:
+      SetAllSolenoidOutputs:
+      ResetData:
+      PneumaticsBaseSim:
+        overloads:
+          const PneumaticsBase&:
+          const int:

wpilibc/src/main/python/semiwrap/simulation/PowerDistributionSim.yml

@@ -0,0 +1,27 @@
+extra_includes:
+- frc/PowerDistribution.h
+
+classes:
+  frc::sim::PowerDistributionSim:
+    force_type_casters:
+    - std::function
+    methods:
+      PowerDistributionSim:
+        overloads:
+          int:
+          const PowerDistribution&:
+      RegisterInitializedCallback:
+      GetInitialized:
+      SetInitialized:
+      RegisterTemperatureCallback:
+      GetTemperature:
+      SetTemperature:
+      RegisterVoltageCallback:
+      GetVoltage:
+      SetVoltage:
+      RegisterCurrentCallback:
+      GetCurrent:
+      SetCurrent:
+      GetAllCurrents:
+      SetAllCurrents:
+      ResetData:

wpilibc/src/main/python/semiwrap/simulation/REVPHSim.yml

@@ -0,0 +1,36 @@
+extra_includes:
+- frc/Compressor.h
+
+classes:
+  frc::sim::REVPHSim:
+    typealias:
+    - frc::PneumaticsBase
+    force_type_casters:
+    - std::function
+    methods:
+      REVPHSim:
+        overloads:
+          '':
+          int:
+          const PneumaticsBase&:
+      RegisterInitializedCallback:
+      GetInitialized:
+      SetInitialized:
+      RegisterSolenoidOutputCallback:
+      GetSolenoidOutput:
+      SetSolenoidOutput:
+      RegisterCompressorOnCallback:
+      GetCompressorOn:
+      SetCompressorOn:
+      RegisterCompressorConfigTypeCallback:
+      GetCompressorConfigType:
+      SetCompressorConfigType:
+      RegisterPressureSwitchCallback:
+      GetPressureSwitch:
+      SetPressureSwitch:
+      RegisterCompressorCurrentCallback:
+      GetCompressorCurrent:
+      SetCompressorCurrent:
+      GetAllSolenoidOutputs:
+      SetAllSolenoidOutputs:
+      ResetData:

wpilibc/src/main/python/semiwrap/simulation/RoboRioSim.yml

@@ -0,0 +1,34 @@
+classes:
+  frc::sim::RoboRioSim:
+    force_type_casters:
+    - std::function
+    methods:
+      RegisterVInVoltageCallback:
+      GetVInVoltage:
+      SetVInVoltage:
+      RegisterUserVoltage3V3Callback:
+      GetUserVoltage3V3:
+      SetUserVoltage3V3:
+      RegisterUserCurrent3V3Callback:
+      GetUserCurrent3V3:
+      SetUserCurrent3V3:
+      RegisterUserActive3V3Callback:
+      GetUserActive3V3:
+      SetUserActive3V3:
+      RegisterUserFaults3V3Callback:
+      GetUserFaults3V3:
+      SetUserFaults3V3:
+      RegisterBrownoutVoltageCallback:
+      GetBrownoutVoltage:
+      SetBrownoutVoltage:
+      RegisterCPUTempCallback:
+      GetCPUTemp:
+      SetCPUTemp:
+      RegisterTeamNumberCallback:
+      GetTeamNumber:
+      SetTeamNumber:
+      GetSerialNumber:
+      SetSerialNumber:
+      GetComments:
+      SetComments:
+      ResetData:

wpilibc/src/main/python/semiwrap/simulation/SendableChooserSim.yml

@@ -0,0 +1,8 @@
+classes:
+  frc::sim::SendableChooserSim:
+    methods:
+      SendableChooserSim:
+        overloads:
+          std::string_view:
+          nt::NetworkTableInstance, std::string_view:
+      SetSelected:

wpilibc/src/main/python/semiwrap/simulation/ServoSim.yml

@@ -0,0 +1,9 @@
+classes:
+  frc::sim::ServoSim:
+    methods:
+      ServoSim:
+        overloads:
+          const Servo&:
+          int:
+      GetPosition:
+      GetAngle:

wpilibc/src/main/python/semiwrap/simulation/SharpIRSim.yml

@@ -0,0 +1,8 @@
+classes:
+  frc::SharpIRSim:
+    methods:
+      SharpIRSim:
+        overloads:
+          const SharpIR&:
+          int:
+      SetRange:

wpilibc/src/main/python/semiwrap/simulation/SimDeviceSim.yml

@@ -0,0 +1,85 @@
+extra_includes:
+- pybind11/stl.h
+
+classes:
+  frc::sim::SimDeviceSim:
+    doc: |
+      Interact with a generic simulated device
+
+      Any devices that support simulation but don't have a dedicated sim
+      object associated with it can be interacted with via this object.
+      You just need to know the name of the associated object.
+
+      Here are two ways to find the names of available devices:
+
+      * The static function :meth:`.enumerateDevices` can give you a list of
+        all available devices -- note that the device must be created first
+        before this will return any results!
+      * When running the WPILib simulation GUI, the names of the 'Other Devices'
+        panel are names of devices that you can interact with via this class.
+
+      Once you've created a simulated device, you can use the :meth:`.enumerateValues`
+      method to determine what values you can interact with.
+
+
+      .. note:: WPILib has simulation support for all of its devices. Some
+                vendors may only have limited support for simulation -- read
+                the vendor's documentation or contact them for more information.
+    force_type_casters:
+    - std::function
+    - std::string_view
+    methods:
+      SimDeviceSim:
+        overloads:
+          const char*:
+          const char*, int:
+          const char*, int, int:
+          HAL_SimDeviceHandle:
+      GetName:
+      GetValue:
+        doc: |
+          Provides a readonly mechanism to retrieve all types of device values
+      GetInt:
+        doc: |
+          Retrieves an object that allows you to interact with simulated values
+          represented as an integer.
+      GetLong:
+        doc: |
+          Retrieves an object that allows you to interact with simulated values
+          represented as a long.
+      GetDouble:
+        doc: |
+          Retrieves an object that allows you to interact with simulated values
+          represented as a double.
+      GetEnum:
+      GetBoolean:
+        doc: |
+          Retrieves an object that allows you to interact with simulated values
+          represented as a boolean.
+      GetEnumOptions:
+      EnumerateValues:
+        ignore: true
+      EnumerateDevices:
+        ignore: true
+      ResetData:
+
+inline_code: |
+  cls_SimDeviceSim
+    .def("enumerateValues", [](frc::sim::SimDeviceSim * that) {
+      std::vector<std::pair<std::string, bool>> values;
+      that->EnumerateValues([&values](const char * name, HAL_SimValueHandle handle,
+                               HAL_Bool readonly, const struct HAL_Value * value){
+        values.push_back(std::pair<std::string, bool>(name, readonly));
+      });
+      return values;
+    }, release_gil(),
+    "Returns a list of (name, readonly) tuples of available values for this device")
+    .def_static("enumerateDevices", [](const char * prefix) {
+      std::vector<std::string> devices;
+      frc::sim::SimDeviceSim::EnumerateDevices(prefix, [&devices](const char * name, HAL_SimDeviceHandle handle) {
+        devices.push_back(std::string(name));
+      });
+      return devices;
+    }, release_gil(),
+    py::arg("prefix")="",
+    "Returns a list of available device names\n");

wpilibc/src/main/python/semiwrap/simulation/SimHooks.yml

@@ -0,0 +1,11 @@
+functions:
+  SetRuntimeType:
+  WaitForProgramStart:
+  SetProgramStarted:
+  GetProgramStarted:
+  RestartTiming:
+  PauseTiming:
+  ResumeTiming:
+  IsTimingPaused:
+  StepTiming:
+  StepTimingAsync:

wpilibc/src/main/python/semiwrap/simulation/SingleJointedArmSim.yml

@@ -0,0 +1,38 @@
+classes:
+  frc::sim::SingleJointedArmSim:
+    typealias:
+    - frc::DCMotor
+    - template <int S, int I, int O> using LinearSystem = frc::LinearSystem<S, I, O>
+    - template <int I> using Vectord = frc::Vectord<I>
+    methods:
+      SingleJointedArmSim:
+        overloads:
+          ? const LinearSystem<2, 1, 2>&, const DCMotor&, double, units::meter_t, units::radian_t, units::radian_t, bool, units::radian_t, const std::array<double, 2>&
+          : param_override:
+              measurementStdDevs:
+                default: std::array<double, 2>{0.0, 0.0}
+          ? const DCMotor&, double, units::kilogram_square_meter_t, units::meter_t, units::radian_t, units::radian_t, bool, units::radian_t, const std::array<double, 2>&
+          : param_override:
+              measurementStdDevs:
+                default: std::array<double, 2>{0.0, 0.0}
+      SetState:
+      WouldHitLowerLimit:
+      WouldHitUpperLimit:
+      HasHitLowerLimit:
+      HasHitUpperLimit:
+      GetAngle:
+      GetVelocity:
+      GetCurrentDraw:
+      SetInputVoltage:
+      EstimateMOI:
+      UpdateX:
+
+inline_code: |-
+  cls_SingleJointedArmSim
+    .def("getAngleDegrees", [](SingleJointedArmSim * self) -> units::degree_t {
+      return self->GetAngle();
+    })
+    .def("getVelocityDps", [](SingleJointedArmSim * self) -> units::degrees_per_second_t {
+      return self->GetVelocity();
+    })
+  ;

wpilibc/src/main/python/semiwrap/simulation/SolenoidSim.yml

@@ -0,0 +1,16 @@
+classes:
+  frc::sim::SolenoidSim:
+    force_type_casters:
+    - std::function
+    typealias:
+    - frc::PneumaticsModuleType
+    methods:
+      SolenoidSim:
+        overloads:
+          std::shared_ptr<PneumaticsBaseSim>, int:
+          int, PneumaticsModuleType, int:
+          PneumaticsModuleType, int:
+      GetOutput:
+      SetOutput:
+      RegisterOutputCallback:
+      GetModuleSim:

wpilibc/src/main/python/semiwrap/simulation/StadiaControllerSim.yml

@@ -0,0 +1,30 @@
+extra_includes:
+- frc/StadiaController.h
+
+classes:
+  frc::sim::StadiaControllerSim:
+    force_no_trampoline: true
+    methods:
+      StadiaControllerSim:
+        overloads:
+          const StadiaController&:
+          int:
+      SetLeftX:
+      SetRightX:
+      SetLeftY:
+      SetRightY:
+      SetAButton:
+      SetBButton:
+      SetXButton:
+      SetYButton:
+      SetLeftBumperButton:
+      SetRightBumperButton:
+      SetLeftStickButton:
+      SetRightStickButton:
+      SetEllipsesButton:
+      SetHamburgerButton:
+      SetStadiaButton:
+      SetRightTriggerButton:
+      SetLeftTriggerButton:
+      SetGoogleButton:
+      SetFrameButton:

wpilibc/src/main/python/semiwrap/simulation/XboxControllerSim.yml

@@ -0,0 +1,33 @@
+extra_includes:
+- frc/XboxController.h
+
+classes:
+  frc::sim::XboxControllerSim:
+    force_no_trampoline: true
+    typealias:
+    - frc::XboxController
+    methods:
+      XboxControllerSim:
+        overloads:
+          const XboxController&:
+          int:
+      SetLeftX:
+      SetRightX:
+      SetLeftY:
+      SetRightY:
+      SetLeftTriggerAxis:
+      SetRightTriggerAxis:
+      SetLeftBumper:
+        ignore: true
+      SetRightBumper:
+        ignore: true
+      SetLeftStickButton:
+      SetRightStickButton:
+      SetAButton:
+      SetBButton:
+      SetXButton:
+      SetYButton:
+      SetBackButton:
+      SetStartButton:
+      SetLeftBumperButton:
+      SetRightBumperButton: