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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-02-20 00:26:23 -08:00
parent da47f06d70 0c3c2c1fda
commit 98f933eca5
123 changed files with 4634 additions and 2291 deletions
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7
wpilibc/src/main/native/cpp/AddressableLED.cpp
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@@ -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);

21
wpilibc/src/main/native/cpp/Alert.cpp
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@@ -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:

8
wpilibc/src/main/native/cpp/Joystick.cpp
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@@ -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())};
}