Merge branch 'main' into 2027

wpilibc/src/generate/main/native/include/frc/hid.h.jinja

@@ -47,7 +47,7 @@ class {{ ConsoleName }}Controller : public GenericHID,
   {{ ConsoleName }}Controller& operator=({{ ConsoleName }}Controller&&) = default;
 {% for stick in sticks %}
   /**
-   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller.
+   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller. {{ stick.PositiveDirection }} is positive.
    *
    * @return the axis value.
    */

wpilibc/src/generated/main/native/include/frc/PS4Controller.h

@@ -45,28 +45,28 @@ class PS4Controller : public GenericHID,
   PS4Controller& operator=(PS4Controller&&) = default;
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetLeftX() const;
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return the axis value.
    */
   double GetLeftY() const;
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetRightX() const;
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return the axis value.
    */

wpilibc/src/generated/main/native/include/frc/PS5Controller.h

@@ -45,28 +45,28 @@ class PS5Controller : public GenericHID,
   PS5Controller& operator=(PS5Controller&&) = default;
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetLeftX() const;
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return the axis value.
    */
   double GetLeftY() const;
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetRightX() const;
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return the axis value.
    */

wpilibc/src/generated/main/native/include/frc/StadiaController.h

@@ -45,28 +45,28 @@ class StadiaController : public GenericHID,
   StadiaController& operator=(StadiaController&&) = default;
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetLeftX() const;
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetRightX() const;
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return the axis value.
    */
   double GetLeftY() const;
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return the axis value.
    */

wpilibc/src/generated/main/native/include/frc/XboxController.h

@@ -45,28 +45,28 @@ class XboxController : public GenericHID,
   XboxController& operator=(XboxController&&) = default;
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetLeftX() const;
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetRightX() const;
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return the axis value.
    */
   double GetLeftY() const;
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return the axis value.
    */

wpilibc/src/main/native/cpp/AddressableLED.cpp

@@ -34,6 +34,13 @@ AddressableLED::AddressableLED(int port) : m_port{port} {
   HAL_ReportUsage("IO", port, "AddressableLED");
 }
 
+void AddressableLED::SetColorOrder(AddressableLED::ColorOrder order) {
+  int32_t status = 0;
+  HAL_SetAddressableLEDColorOrder(
+      m_handle, static_cast<HAL_AddressableLEDColorOrder>(order), &status);
+  FRC_CheckErrorStatus(status, "Port {} Color order {}", m_port, order);
+}
+
 void AddressableLED::SetLength(int length) {
   int32_t status = 0;
   HAL_SetAddressableLEDLength(m_handle, length, &status);

wpilibc/src/main/native/cpp/Alert.cpp

@@ -82,17 +82,18 @@ class Alert::SendableAlerts : public nt::NTSendable,
    * @return the SendableAlerts for the group
    */
   static SendableAlerts& ForGroup(std::string_view group) {
-    // Force initialization of SendableRegistry before our magic static to
-    // prevent incorrect destruction order.
-    wpi::SendableRegistry::EnsureInitialized();
-    static wpi::StringMap<Alert::SendableAlerts> groups;
-
-    auto [iter, exists] = groups.try_emplace(group);
-    SendableAlerts& sendable = iter->second;
-    if (!exists) {
-      frc::SmartDashboard::PutData(group, &iter->second);
+    SendableAlerts* salert = nullptr;
+    try {
+      auto* sendable = frc::SmartDashboard::GetData(group);
+      salert = dynamic_cast<SendableAlerts*>(sendable);
+    } catch (frc::RuntimeError&) {
     }
-    return sendable;
+    if (!salert) {
+      // this leaks if ResetSmartDashboardInstance is called, but that's fine
+      salert = new Alert::SendableAlerts;
+      frc::SmartDashboard::PutData(group, salert);
+    }
+    return *salert;
   }
 
  private:

wpilibc/src/main/native/cpp/Joystick.cpp

@@ -119,5 +119,13 @@ double Joystick::GetMagnitude() const {
 }
 
 units::radian_t Joystick::GetDirection() const {
+  // https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html#joystick-and-controller-coordinate-system
+  // A positive rotation around the X axis moves the joystick right, and a
+  // positive rotation around the Y axis moves the joystick backward. When
+  // treating them as translations, 0 radians is measured from the right
+  // direction, and angle increases clockwise.
+  //
+  // It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
+  // so that 0 radians is forward.
   return units::radian_t{std::atan2(GetX(), -GetY())};
 }

wpilibc/src/main/native/include/frc/AddressableLED.h

@@ -24,12 +24,27 @@ namespace frc {
  * By default, the timing supports WS2812B and WS2815 LEDs, but is configurable
  * using SetBitTiming()
  *
+ * Some LEDs use a different color order than the default GRB. The color order
+ * is configurable using SetColorOrder().
+ *
  * <p>Only 1 LED driver is currently supported by the roboRIO. However,
  * multiple LED strips can be connected in series and controlled from the
  * single driver.
  */
 class AddressableLED {
  public:
+  /**
+   * Order that color data is sent over the wire.
+   */
+  enum ColorOrder {
+    kRGB = HAL_ALED_RGB,  ///< RGB order
+    kRBG = HAL_ALED_RBG,  ///< RBG order
+    kBGR = HAL_ALED_BGR,  ///< BGR order
+    kBRG = HAL_ALED_BRG,  ///< BRG order
+    kGBR = HAL_ALED_GBR,  ///< GBR order
+    kGRB = HAL_ALED_GRB   ///< GRB order. This is the default order.
+  };
+
   class LEDData : public HAL_AddressableLEDData {
    public:
     LEDData() : LEDData(0, 0, 0) {}
@@ -95,6 +110,15 @@ class AddressableLED {
   AddressableLED(AddressableLED&&) = default;
   AddressableLED& operator=(AddressableLED&&) = default;
 
+  /**
+   * Sets the color order for this AddressableLED. The default order is GRB.
+   *
+   * This will take effect on the next call to SetData().
+   *
+   * @param order the color order
+   */
+  void SetColorOrder(ColorOrder order);
+
   /**
    * Sets the length of the LED strip.
    *
@@ -169,4 +193,9 @@ class AddressableLED {
   hal::Handle<HAL_AddressableLEDHandle, HAL_FreeAddressableLED> m_handle;
   int m_port;
 };
+
+constexpr auto format_as(AddressableLED::ColorOrder order) {
+  return static_cast<int32_t>(order);
+}
+
 }  // namespace frc

wpilibc/src/main/native/include/frc/Joystick.h

@@ -148,6 +148,7 @@ class Joystick : public GenericHID {
    * Get the X value of the current joystick.
    *
    * This depends on the mapping of the joystick connected to the current port.
+   * On most joysticks, positive is to the right.
    */
   double GetX() const;
 
@@ -155,6 +156,7 @@ class Joystick : public GenericHID {
    * Get the Y value of the current joystick.
    *
    * This depends on the mapping of the joystick connected to the current port.
+   * On most joysticks, positive is to the back.
    */
   double GetY() const;
 
@@ -244,7 +246,7 @@ class Joystick : public GenericHID {
   BooleanEvent Top(EventLoop* loop) const;
 
   /**
-   * Get the magnitude of the direction vector formed by the joystick's
+   * Get the magnitude of the vector formed by the joystick's
    * current position relative to its origin.
    *
    * @return The magnitude of the direction vector
@@ -252,7 +254,9 @@ class Joystick : public GenericHID {
   double GetMagnitude() const;
 
   /**
-   * Get the direction of the vector formed by the joystick and its origin.
+   * Get the direction of the vector formed by the joystick and its origin. 0 is
+   * forward and clockwise is positive. (Straight right is π/2 radians or 90
+   * degrees.)
    *
    * @return The direction of the vector.
    */

wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h

@@ -52,11 +52,11 @@ class LinearSystemSim {
    * @param dt The time between updates.
    */
   void Update(units::second_t dt) {
-    // Update x. By default, this is the linear system dynamics x_k+1 = Ax_k +
-    // Bu_k
+    // Update x. By default, this is the linear system dynamics xₖ₊₁ = Axₖ +
+    // Buₖ.
     m_x = UpdateX(m_x, m_u, dt);
 
-    // y = Cx + Du
+    // yₖ = Cxₖ + Duₖ
     m_y = m_plant.CalculateY(m_x, m_u);
 
     // Add noise. If the user did not pass a noise vector to the
@@ -115,7 +115,14 @@ class LinearSystemSim {
    *
    * @param state The new state.
    */
-  void SetState(const Vectord<States>& state) { m_x = state; }
+  void SetState(const Vectord<States>& state) {
+    m_x = state;
+
+    // Update the output to reflect the new state.
+    //
+    //   yₖ = Cxₖ + Duₖ
+    m_y = m_plant.CalculateY(m_x, m_u);
+  }
 
  protected:
   /**

wpilibc/src/test/native/cpp/AlertTest.cpp

@@ -33,8 +33,7 @@ class AlertsTest : public ::testing::Test {
   std::string GetGroupName() {
     const ::testing::TestInfo* testInfo =
         ::testing::UnitTest::GetInstance()->current_test_info();
-    return fmt::format("{}_{}", testInfo->test_suite_name(),
-                       testInfo->test_case_name());
+    return fmt::format("{}_{}", testInfo->test_suite_name(), testInfo->name());
   }
 
   template <typename... Args>
@@ -80,7 +79,16 @@ class AlertsTest : public ::testing::Test {
 #define EXPECT_STATE(type, ...) \
   EXPECT_EQ(GetActiveAlerts(type), (std::vector<std::string>{__VA_ARGS__}))
 
-TEST_F(AlertsTest, SetUnset) {
+TEST_F(AlertsTest, SetUnsetSingle) {
+  auto one = MakeAlert("one", kInfo);
+  EXPECT_FALSE(IsAlertActive("one", kInfo));
+  one.Set(true);
+  EXPECT_TRUE(IsAlertActive("one", kInfo));
+  one.Set(false);
+  EXPECT_FALSE(IsAlertActive("one", kInfo));
+}
+
+TEST_F(AlertsTest, SetUnsetMultiple) {
   auto one = MakeAlert("one", kError);
   auto two = MakeAlert("two", kInfo);
   EXPECT_FALSE(IsAlertActive("one", kError));

wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp

@@ -44,6 +44,15 @@ TEST(ElevatorSimTest, StateSpaceSim) {
   EXPECT_NEAR(controller.GetSetpoint(), sim.GetPosition().value(), 0.2);
 }
 
+TEST(ElevatorSimTest, InitialState) {
+  constexpr auto startingHeight = 0.5_m;
+  frc::sim::ElevatorSim sim(frc::DCMotor::KrakenX60(2), 20, 8_kg, 0.1_m, 0_m,
+                            1_m, true, startingHeight, {0.01, 0.0});
+
+  EXPECT_DOUBLE_EQ(startingHeight.value(), sim.GetPosition().value());
+  EXPECT_DOUBLE_EQ(0, sim.GetVelocity().value());
+}
+
 TEST(ElevatorSimTest, MinMax) {
   frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
                             0_m, 1_m, true, 0_m, {0.01});

wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp

@@ -21,3 +21,12 @@ TEST(SingleJointedArmTest, Disabled) {
   // The arm should swing down.
   EXPECT_NEAR(sim.GetAngle().value(), -std::numbers::pi / 2, 0.01);
 }
+
+TEST(SingleJointedArmTest, InitialState) {
+  constexpr auto startingAngle = 45_deg;
+  frc::sim::SingleJointedArmSim sim(frc::DCMotor::KrakenX60(2), 125, 3_kg_sq_m,
+                                    30_in, 0_deg, 90_deg, true, startingAngle);
+
+  EXPECT_EQ(startingAngle, sim.GetAngle());
+  EXPECT_DOUBLE_EQ(0, sim.GetVelocity().value());
+}