From ded6790bcd20e362cda7b22a9d1237f96b604b58 Mon Sep 17 00:00:00 2001 From: Ryan Blue Date: Sat, 29 Nov 2025 23:44:02 -0500 Subject: [PATCH 01/27] [cmake] Only add wpilibj to generated config if Java is enabled (#8434) Fixes #8422 --- CMakeLists.txt | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index e7592ac89c..fcf78ed430 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -351,7 +351,9 @@ endif() if(WITH_WPILIB) set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)") set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)") - set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)") + if(WITH_JAVA) + set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)") + endif() set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)") add_subdirectory(apriltag) add_subdirectory(wpilibj) From 6f86f533e5e7bd9a4bc576716f43efc5b0b7cf60 Mon Sep 17 00:00:00 2001 From: Peter Johnson Date: Fri, 5 Dec 2025 11:55:28 -0700 Subject: [PATCH 02/27] [wpiutil] MemoryBuffer: Fix zero extending size_t warning on Win32 (#8450) --- .../src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp index 158a256855..aa8d7b68ca 100644 --- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp +++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp @@ -189,7 +189,7 @@ class MemoryBufferMMapFile : public MB { MappedFileRegion m_mfr; static uint64_t getLegalMapOffset(uint64_t offset) { - return offset & ~(MappedFileRegion::GetAlignment() - 1); + return offset & ~(static_cast(MappedFileRegion::GetAlignment()) - 1); } static uint64_t getLegalMapSize(uint64_t len, uint64_t offset) { From 57c40a3dfcde4edd1af4f7d907dd5c9885083207 Mon Sep 17 00:00:00 2001 From: Peter Johnson Date: Fri, 5 Dec 2025 16:20:49 -0700 Subject: [PATCH 03/27] [hal] Add more usage reporting constants (#8451) Fixes #7234 Fixes #6919 Supports #2925 Supersedes #8212 Supersedes #7708 --- hal/src/generate/Instances.txt | 1 + hal/src/generate/ResourceType.txt | 9 +++++++++ .../java/edu/wpi/first/hal/FRCNetComm.java | 20 +++++++++++++++++++ .../native/include/hal/FRCUsageReporting.h | 10 ++++++++++ .../main/native/include/hal/UsageReporting.h | 10 ++++++++++ 5 files changed, 50 insertions(+) diff --git a/hal/src/generate/Instances.txt b/hal/src/generate/Instances.txt index c8b566d6d9..bbb9dadb43 100644 --- a/hal/src/generate/Instances.txt +++ b/hal/src/generate/Instances.txt @@ -17,6 +17,7 @@ kFramework_AdvantageKit = 7 kFramework_MagicBot = 8 kFramework_KitBotTraditional = 9 kFramework_KitBotInline = 10 +kFramework_Everybot = 11 kRobotDrive_ArcadeStandard = 1 kRobotDrive_ArcadeButtonSpin = 2 kRobotDrive_ArcadeRatioCurve = 3 diff --git a/hal/src/generate/ResourceType.txt b/hal/src/generate/ResourceType.txt index a275ff7aff..2f908073dd 100644 --- a/hal/src/generate/ResourceType.txt +++ b/hal/src/generate/ResourceType.txt @@ -125,3 +125,12 @@ kResourceType_ThriftyNova = 123 kResourceType_RevServoHub = 124 kResourceType_PWFSEN36005 = 125 kResourceType_LaserShark = 126 +kResourceType_YAMS = 127 +kResourceType_LEDPattern = 128 +kResourceType_LinearQuadraticRegulator = 129 +kResourceType_KalmanFilter = 130 +kResourceType_PoseEstimator = 131 +kResourceType_PoseEstimator3d = 132 +kResourceType_LinearSystemLoop = 133 +kResourceType_LumenLabs_ConnectorX = 134 +kResourceType_LumenLabs_ConnectorXLED = 135 diff --git a/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java b/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java index acb569d2de..23a1a4b84a 100644 --- a/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java +++ b/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java @@ -273,6 +273,24 @@ public final class FRCNetComm { public static final int kResourceType_PWFSEN36005 = 125; /** kResourceType_LaserShark = 126. */ public static final int kResourceType_LaserShark = 126; + /** kResourceType_YAMS = 127. */ + public static final int kResourceType_YAMS = 127; + /** kResourceType_LEDPattern = 128. */ + public static final int kResourceType_LEDPattern = 128; + /** kResourceType_LinearQuadraticRegulator = 129. */ + public static final int kResourceType_LinearQuadraticRegulator = 129; + /** kResourceType_KalmanFilter = 130. */ + public static final int kResourceType_KalmanFilter = 130; + /** kResourceType_PoseEstimator = 131. */ + public static final int kResourceType_PoseEstimator = 131; + /** kResourceType_PoseEstimator3d = 132. */ + public static final int kResourceType_PoseEstimator3d = 132; + /** kResourceType_LinearSystemLoop = 133. */ + public static final int kResourceType_LinearSystemLoop = 133; + /** kResourceType_LumenLabs_ConnectorX = 134. */ + public static final int kResourceType_LumenLabs_ConnectorX = 134; + /** kResourceType_LumenLabs_ConnectorXLED = 135. */ + public static final int kResourceType_LumenLabs_ConnectorXLED = 135; } /** @@ -321,6 +339,8 @@ public final class FRCNetComm { public static final int kFramework_KitBotTraditional = 9; /** kFramework_KitBotInline = 10. */ public static final int kFramework_KitBotInline = 10; + /** kFramework_Everybot = 11. */ + public static final int kFramework_Everybot = 11; /** kRobotDrive_ArcadeStandard = 1. */ public static final int kRobotDrive_ArcadeStandard = 1; /** kRobotDrive_ArcadeButtonSpin = 2. */ diff --git a/hal/src/generated/main/native/include/hal/FRCUsageReporting.h b/hal/src/generated/main/native/include/hal/FRCUsageReporting.h index 76bc53cf98..10ae1fcb3d 100644 --- a/hal/src/generated/main/native/include/hal/FRCUsageReporting.h +++ b/hal/src/generated/main/native/include/hal/FRCUsageReporting.h @@ -178,6 +178,15 @@ namespace HALUsageReporting { kResourceType_RevServoHub = 124, kResourceType_PWFSEN36005 = 125, kResourceType_LaserShark = 126, + kResourceType_YAMS = 127, + kResourceType_LEDPattern = 128, + kResourceType_LinearQuadraticRegulator = 129, + kResourceType_KalmanFilter = 130, + kResourceType_PoseEstimator = 131, + kResourceType_PoseEstimator3d = 132, + kResourceType_LinearSystemLoop = 133, + kResourceType_LumenLabs_ConnectorX = 134, + kResourceType_LumenLabs_ConnectorXLED = 135, }; enum tInstances : int32_t { kLanguage_LabVIEW = 1, @@ -199,6 +208,7 @@ namespace HALUsageReporting { kFramework_MagicBot = 8, kFramework_KitBotTraditional = 9, kFramework_KitBotInline = 10, + kFramework_Everybot = 11, kRobotDrive_ArcadeStandard = 1, kRobotDrive_ArcadeButtonSpin = 2, kRobotDrive_ArcadeRatioCurve = 3, diff --git a/hal/src/generated/main/native/include/hal/UsageReporting.h b/hal/src/generated/main/native/include/hal/UsageReporting.h index ca88ab4630..ffa42f8fd5 100644 --- a/hal/src/generated/main/native/include/hal/UsageReporting.h +++ b/hal/src/generated/main/native/include/hal/UsageReporting.h @@ -147,6 +147,15 @@ typedef enum kResourceType_RevServoHub = 124, kResourceType_PWFSEN36005 = 125, kResourceType_LaserShark = 126, + kResourceType_YAMS = 127, + kResourceType_LEDPattern = 128, + kResourceType_LinearQuadraticRegulator = 129, + kResourceType_KalmanFilter = 130, + kResourceType_PoseEstimator = 131, + kResourceType_PoseEstimator3d = 132, + kResourceType_LinearSystemLoop = 133, + kResourceType_LumenLabs_ConnectorX = 134, + kResourceType_LumenLabs_ConnectorXLED = 135, // kResourceType_MaximumID = 255, } tResourceType; @@ -172,6 +181,7 @@ typedef enum kFramework_MagicBot = 8, kFramework_KitBotTraditional = 9, kFramework_KitBotInline = 10, + kFramework_Everybot = 11, kRobotDrive_ArcadeStandard = 1, kRobotDrive_ArcadeButtonSpin = 2, kRobotDrive_ArcadeRatioCurve = 3, From a61866912be7f20266ce807e997ba2aa50e956b4 Mon Sep 17 00:00:00 2001 From: Levi <32989720+nobody5050@users.noreply.github.com> Date: Fri, 5 Dec 2025 21:13:39 -0600 Subject: [PATCH 04/27] [hal] Rename Lumen to Lumyn in usage reporting (#8455) --- hal/src/generate/ResourceType.txt | 4 ++-- .../generated/main/java/edu/wpi/first/hal/FRCNetComm.java | 8 ++++---- .../generated/main/native/include/hal/FRCUsageReporting.h | 4 ++-- .../generated/main/native/include/hal/UsageReporting.h | 4 ++-- 4 files changed, 10 insertions(+), 10 deletions(-) diff --git a/hal/src/generate/ResourceType.txt b/hal/src/generate/ResourceType.txt index 2f908073dd..f572a44eb8 100644 --- a/hal/src/generate/ResourceType.txt +++ b/hal/src/generate/ResourceType.txt @@ -132,5 +132,5 @@ kResourceType_KalmanFilter = 130 kResourceType_PoseEstimator = 131 kResourceType_PoseEstimator3d = 132 kResourceType_LinearSystemLoop = 133 -kResourceType_LumenLabs_ConnectorX = 134 -kResourceType_LumenLabs_ConnectorXLED = 135 +kResourceType_LumynLabs_ConnectorX = 134 +kResourceType_LumynLabs_ConnectorXAnimate = 135 diff --git a/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java b/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java index 23a1a4b84a..fdb51a83d2 100644 --- a/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java +++ b/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java @@ -287,10 +287,10 @@ public final class FRCNetComm { public static final int kResourceType_PoseEstimator3d = 132; /** kResourceType_LinearSystemLoop = 133. */ public static final int kResourceType_LinearSystemLoop = 133; - /** kResourceType_LumenLabs_ConnectorX = 134. */ - public static final int kResourceType_LumenLabs_ConnectorX = 134; - /** kResourceType_LumenLabs_ConnectorXLED = 135. */ - public static final int kResourceType_LumenLabs_ConnectorXLED = 135; + /** kResourceType_LumynLabs_ConnectorX = 134. */ + public static final int kResourceType_LumynLabs_ConnectorX = 134; + /** kResourceType_LumynLabs_ConnectorXAnimate = 135. */ + public static final int kResourceType_LumynLabs_ConnectorXAnimate = 135; } /** diff --git a/hal/src/generated/main/native/include/hal/FRCUsageReporting.h b/hal/src/generated/main/native/include/hal/FRCUsageReporting.h index 10ae1fcb3d..309dbc49d3 100644 --- a/hal/src/generated/main/native/include/hal/FRCUsageReporting.h +++ b/hal/src/generated/main/native/include/hal/FRCUsageReporting.h @@ -185,8 +185,8 @@ namespace HALUsageReporting { kResourceType_PoseEstimator = 131, kResourceType_PoseEstimator3d = 132, kResourceType_LinearSystemLoop = 133, - kResourceType_LumenLabs_ConnectorX = 134, - kResourceType_LumenLabs_ConnectorXLED = 135, + kResourceType_LumynLabs_ConnectorX = 134, + kResourceType_LumynLabs_ConnectorXAnimate = 135, }; enum tInstances : int32_t { kLanguage_LabVIEW = 1, diff --git a/hal/src/generated/main/native/include/hal/UsageReporting.h b/hal/src/generated/main/native/include/hal/UsageReporting.h index ffa42f8fd5..b0d5295577 100644 --- a/hal/src/generated/main/native/include/hal/UsageReporting.h +++ b/hal/src/generated/main/native/include/hal/UsageReporting.h @@ -154,8 +154,8 @@ typedef enum kResourceType_PoseEstimator = 131, kResourceType_PoseEstimator3d = 132, kResourceType_LinearSystemLoop = 133, - kResourceType_LumenLabs_ConnectorX = 134, - kResourceType_LumenLabs_ConnectorXLED = 135, + kResourceType_LumynLabs_ConnectorX = 134, + kResourceType_LumynLabs_ConnectorXAnimate = 135, // kResourceType_MaximumID = 255, } tResourceType; From 0d1dd84e864122dab9809a187dcb02773b2c4d11 Mon Sep 17 00:00:00 2001 From: Peter Johnson Date: Sat, 6 Dec 2025 09:16:45 -0800 Subject: [PATCH 05/27] [wpilib] LEDPattern: Add usage reporting (#8452) --- wpilibc/src/main/native/cpp/LEDPattern.cpp | 5 ++++- .../java/edu/wpi/first/wpilibj/LEDPattern.java | 15 +++++++++++++++ 2 files changed, 19 insertions(+), 1 deletion(-) diff --git a/wpilibc/src/main/native/cpp/LEDPattern.cpp b/wpilibc/src/main/native/cpp/LEDPattern.cpp index 363bd545fe..7f1dd6c6b1 100644 --- a/wpilibc/src/main/native/cpp/LEDPattern.cpp +++ b/wpilibc/src/main/native/cpp/LEDPattern.cpp @@ -11,6 +11,7 @@ #include #include +#include #include #include @@ -21,7 +22,9 @@ using namespace frc; LEDPattern::LEDPattern(std::function)> impl) - : m_impl(std::move(impl)) {} + : m_impl(std::move(impl)) { + HAL_Report(HALUsageReporting::kResourceType_LEDPattern, 1); +} void LEDPattern::ApplyTo(LEDPattern::LEDReader reader, std::function writer) const { diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java index 902a54c031..67f135319e 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java @@ -9,6 +9,8 @@ import static edu.wpi.first.units.Units.Microsecond; import static edu.wpi.first.units.Units.Microseconds; import static edu.wpi.first.units.Units.Value; +import edu.wpi.first.hal.FRCNetComm.tResourceType; +import edu.wpi.first.hal.HAL; import edu.wpi.first.math.MathUtil; import edu.wpi.first.units.collections.LongToObjectHashMap; import edu.wpi.first.units.measure.Dimensionless; @@ -149,6 +151,7 @@ public interface LEDPattern { * @return the mapped pattern */ default LEDPattern mapIndex(IndexMapper indexMapper) { + HAL.report(tResourceType.kResourceType_LEDPattern, 1); return (reader, writer) -> { int bufLen = reader.getLength(); applyTo( @@ -294,6 +297,7 @@ public interface LEDPattern { final long totalTimeMicros = (long) (onTime.in(Microseconds) + offTime.in(Microseconds)); final long onTimeMicros = (long) onTime.in(Microseconds); + HAL.report(tResourceType.kResourceType_LEDPattern, 1); return (reader, writer) -> { if (RobotController.getTime() % totalTimeMicros < onTimeMicros) { applyTo(reader, writer); @@ -323,6 +327,7 @@ public interface LEDPattern { * @return the blinking pattern */ default LEDPattern synchronizedBlink(BooleanSupplier signal) { + HAL.report(tResourceType.kResourceType_LEDPattern, 1); return (reader, writer) -> { if (signal.getAsBoolean()) { applyTo(reader, writer); @@ -342,6 +347,7 @@ public interface LEDPattern { default LEDPattern breathe(Time period) { final long periodMicros = (long) period.in(Microseconds); + HAL.report(tResourceType.kResourceType_LEDPattern, 1); return (reader, writer) -> { applyTo( reader, @@ -373,6 +379,7 @@ public interface LEDPattern { * @return the combined overlay pattern */ default LEDPattern overlayOn(LEDPattern base) { + HAL.report(tResourceType.kResourceType_LEDPattern, 1); return (reader, writer) -> { // write the base pattern down first... base.applyTo(reader, writer); @@ -400,6 +407,7 @@ public interface LEDPattern { * @return the blended pattern */ default LEDPattern blend(LEDPattern other) { + HAL.report(tResourceType.kResourceType_LEDPattern, 1); return (reader, writer) -> { applyTo(reader, writer); @@ -431,6 +439,7 @@ public interface LEDPattern { * @return the masked pattern */ default LEDPattern mask(LEDPattern mask) { + HAL.report(tResourceType.kResourceType_LEDPattern, 1); return (reader, writer) -> { // Apply the current pattern down as normal... applyTo(reader, writer); @@ -470,6 +479,7 @@ public interface LEDPattern { default LEDPattern atBrightness(Dimensionless relativeBrightness) { double multiplier = relativeBrightness.in(Value); + HAL.report(tResourceType.kResourceType_LEDPattern, 1); return (reader, writer) -> { applyTo( reader, @@ -496,6 +506,7 @@ public interface LEDPattern { * @return the pattern */ static LEDPattern solid(Color color) { + HAL.report(tResourceType.kResourceType_LEDPattern, 1); return (reader, writer) -> { int bufLen = reader.getLength(); for (int led = 0; led < bufLen; led++) { @@ -525,6 +536,7 @@ public interface LEDPattern { * @return the mask pattern */ static LEDPattern progressMaskLayer(DoubleSupplier progressSupplier) { + HAL.report(tResourceType.kResourceType_LEDPattern, 1); return (reader, writer) -> { double progress = MathUtil.clamp(progressSupplier.getAsDouble(), 0, 1); @@ -561,6 +573,7 @@ public interface LEDPattern { * @return a motionless step pattern */ static LEDPattern steps(Map steps) { + HAL.report(tResourceType.kResourceType_LEDPattern, 1); if (steps.isEmpty()) { // no colors specified DriverStation.reportWarning("Creating LED steps with no colors!", false); @@ -622,6 +635,7 @@ public interface LEDPattern { * @return a motionless gradient pattern */ static LEDPattern gradient(GradientType type, Color... colors) { + HAL.report(tResourceType.kResourceType_LEDPattern, 1); if (colors.length == 0) { // Nothing to display DriverStation.reportWarning("Creating a gradient with no colors!", false); @@ -679,6 +693,7 @@ public interface LEDPattern { * @return the rainbow pattern */ static LEDPattern rainbow(int saturation, int value) { + HAL.report(tResourceType.kResourceType_LEDPattern, 1); return (reader, writer) -> { int bufLen = reader.getLength(); for (int i = 0; i < bufLen; i++) { From baa6379267085a53e8aa9aabf3bb2d176900f2ab Mon Sep 17 00:00:00 2001 From: Peter Johnson Date: Sat, 6 Dec 2025 09:17:02 -0800 Subject: [PATCH 06/27] [wpimath] Add usage reporting for state-space classes (#8453) - LinearQuadraticRegulator - Kalman filters - Pose estimators - LinearSystemLoop Fixes #2925. --- wpilibc/src/main/native/cppcs/RobotBase.cpp | 16 ++++++++++++++++ .../java/edu/wpi/first/wpilibj/RobotBase.java | 10 ++++++++++ .../java/edu/wpi/first/math/MathUsageId.java | 15 +++++++++++++++ .../controller/LinearQuadraticRegulator.java | 6 ++++++ .../math/estimator/ExtendedKalmanFilter.java | 4 ++++ .../wpi/first/math/estimator/KalmanFilter.java | 4 ++++ .../wpi/first/math/estimator/PoseEstimator.java | 2 ++ .../first/math/estimator/PoseEstimator3d.java | 2 ++ .../math/estimator/SteadyStateKalmanFilter.java | 3 +++ .../math/estimator/UnscentedKalmanFilter.java | 3 +++ .../wpi/first/math/system/LinearSystemLoop.java | 3 +++ .../frc/controller/LinearQuadraticRegulator.h | 4 ++++ .../include/frc/estimator/ExtendedKalmanFilter.h | 4 ++++ .../native/include/frc/estimator/KalmanFilter.h | 2 ++ .../native/include/frc/estimator/PoseEstimator.h | 2 ++ .../include/frc/estimator/PoseEstimator3d.h | 2 ++ .../frc/estimator/SteadyStateKalmanFilter.h | 2 ++ .../frc/estimator/UnscentedKalmanFilter.h | 4 ++++ .../native/include/frc/system/LinearSystemLoop.h | 2 ++ .../src/main/native/include/wpimath/MathShared.h | 5 +++++ 20 files changed, 95 insertions(+) diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp index 58f1ec81b5..69dc19e9b4 100644 --- a/wpilibc/src/main/native/cppcs/RobotBase.cpp +++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp @@ -146,6 +146,22 @@ class WPILibMathShared : public wpi::math::MathShared { HAL_Report(HALUsageReporting::kResourceType_PathWeaverTrajectory, count); break; + case wpi::math::MathUsageId::kController_LinearQuadraticRegulator: + HAL_Report(HALUsageReporting::kResourceType_LinearQuadraticRegulator, + count); + break; + case wpi::math::MathUsageId::kEstimator_KalmanFilter: + HAL_Report(HALUsageReporting::kResourceType_KalmanFilter, count); + break; + case wpi::math::MathUsageId::kEstimator_PoseEstimator: + HAL_Report(HALUsageReporting::kResourceType_PoseEstimator, count); + break; + case wpi::math::MathUsageId::kEstimator_PoseEstimator3d: + HAL_Report(HALUsageReporting::kResourceType_PoseEstimator3d, count); + break; + case wpi::math::MathUsageId::kSystem_LinearSystemLoop: + HAL_Report(HALUsageReporting::kResourceType_LinearSystemLoop, count); + break; } } diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java index 0cf6403196..02b9c84137 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java @@ -126,6 +126,16 @@ public abstract class RobotBase implements AutoCloseable { HAL.report(tResourceType.kResourceType_BangBangController, count); case kTrajectory_PathWeaver -> HAL.report(tResourceType.kResourceType_PathWeaverTrajectory, count); + case kController_LinearQuadraticRegulator -> + HAL.report(tResourceType.kResourceType_LinearQuadraticRegulator, count); + case kEstimator_KalmanFilter -> + HAL.report(tResourceType.kResourceType_KalmanFilter, count); + case kEstimator_PoseEstimator -> + HAL.report(tResourceType.kResourceType_PoseEstimator, count); + case kEstimator_PoseEstimator3d -> + HAL.report(tResourceType.kResourceType_PoseEstimator3d, count); + case kSystem_LinearSystemLoop -> + HAL.report(tResourceType.kResourceType_LinearSystemLoop, count); default -> { // NOP } diff --git a/wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java b/wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java index 94c0056743..40c11b10b4 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java +++ b/wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java @@ -41,4 +41,19 @@ public enum MathUsageId { /** PathWeaver Trajectory. */ kTrajectory_PathWeaver, + + /** Linear Quadratic Regulator. */ + kController_LinearQuadraticRegulator, + + /** Kalman Filter. */ + kEstimator_KalmanFilter, + + /** Pose Estimator. */ + kEstimator_PoseEstimator, + + /** 3D Pose Estimator. */ + kEstimator_PoseEstimator3d, + + /** Linear System Loop. */ + kSystem_LinearSystemLoop, } diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java index 7b06a50340..7d771e1b88 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java +++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java @@ -5,6 +5,8 @@ package edu.wpi.first.math.controller; import edu.wpi.first.math.DARE; +import edu.wpi.first.math.MathSharedStore; +import edu.wpi.first.math.MathUsageId; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.Num; import edu.wpi.first.math.StateSpaceUtil; @@ -124,6 +126,8 @@ public class LinearQuadraticRegulator(new SimpleMatrix(B.getNumCols(), 1)); reset(); + MathSharedStore.getMathShared() + .reportUsage(MathUsageId.kController_LinearQuadraticRegulator, 1); } /** @@ -163,6 +167,8 @@ public class LinearQuadraticRegulator(new SimpleMatrix(B.getNumCols(), 1)); reset(); + MathSharedStore.getMathShared() + .reportUsage(MathUsageId.kController_LinearQuadraticRegulator, 1); } /** diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java index fa8f9245e9..0182aea58c 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java @@ -5,6 +5,8 @@ package edu.wpi.first.math.estimator; import edu.wpi.first.math.DARE; +import edu.wpi.first.math.MathSharedStore; +import edu.wpi.first.math.MathUsageId; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.Nat; import edu.wpi.first.math.Num; @@ -163,6 +165,8 @@ public class ExtendedKalmanFilter(DARE.dare(discA.transpose(), C.transpose(), discQ, discR)); reset(); + + MathSharedStore.getMathShared().reportUsage(MathUsageId.kEstimator_KalmanFilter, 1); } /** diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java index 4e9bf4b3e8..f257eff66c 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java @@ -5,6 +5,7 @@ package edu.wpi.first.math.estimator; import edu.wpi.first.math.MathSharedStore; +import edu.wpi.first.math.MathUsageId; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.Nat; @@ -79,6 +80,7 @@ public class PoseEstimator { m_q.set(i, 0, stateStdDevs.get(i, 0) * stateStdDevs.get(i, 0)); } setVisionMeasurementStdDevs(visionMeasurementStdDevs); + MathSharedStore.getMathShared().reportUsage(MathUsageId.kEstimator_PoseEstimator, 1); } /** diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java index 463cb9481c..a48dd5030d 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java @@ -5,6 +5,7 @@ package edu.wpi.first.math.estimator; import edu.wpi.first.math.MathSharedStore; +import edu.wpi.first.math.MathUsageId; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.Nat; @@ -87,6 +88,7 @@ public class PoseEstimator3d { m_q.set(i, 0, stateStdDevs.get(i, 0) * stateStdDevs.get(i, 0)); } setVisionMeasurementStdDevs(visionMeasurementStdDevs); + MathSharedStore.getMathShared().reportUsage(MathUsageId.kEstimator_PoseEstimator3d, 1); } /** diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java index 4b5ca7bc65..454582f526 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java @@ -5,6 +5,8 @@ package edu.wpi.first.math.estimator; import edu.wpi.first.math.DARE; +import edu.wpi.first.math.MathSharedStore; +import edu.wpi.first.math.MathUsageId; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.Nat; import edu.wpi.first.math.Num; @@ -107,6 +109,7 @@ public class SteadyStateKalmanFilter(S.getStorage().solve(C.times(P).getStorage()).transpose()); reset(); + MathSharedStore.getMathShared().reportUsage(MathUsageId.kEstimator_KalmanFilter, 4); } /** Resets the observer. */ diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java index 1bc474b4c1..12671f9e74 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java @@ -4,6 +4,8 @@ package edu.wpi.first.math.estimator; +import edu.wpi.first.math.MathSharedStore; +import edu.wpi.first.math.MathUsageId; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.Nat; import edu.wpi.first.math.Num; @@ -163,6 +165,7 @@ public class UnscentedKalmanFilter(states); reset(); + MathSharedStore.getMathShared().reportUsage(MathUsageId.kEstimator_KalmanFilter, 3); } static diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java index 78cace9a21..126ae38475 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java +++ b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java @@ -4,6 +4,8 @@ package edu.wpi.first.math.system; +import edu.wpi.first.math.MathSharedStore; +import edu.wpi.first.math.MathUsageId; import edu.wpi.first.math.Matrix; import edu.wpi.first.math.Num; import edu.wpi.first.math.StateSpaceUtil; @@ -132,6 +134,7 @@ public class LinearSystemLoop(new SimpleMatrix(controller.getK().getNumCols(), 1)); reset(m_nextR); + MathSharedStore.getMathShared().reportUsage(MathUsageId.kSystem_LinearSystemLoop, 1); } /** diff --git a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h index 10a2862683..c1aa71caa4 100644 --- a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h +++ b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h @@ -135,6 +135,8 @@ class LinearQuadraticRegulator { } Reset(); + wpi::math::MathSharedStore::ReportUsage( + wpi::math::MathUsageId::kController_LinearQuadraticRegulator, 1); } /** @@ -194,6 +196,8 @@ class LinearQuadraticRegulator { } Reset(); + wpi::math::MathSharedStore::ReportUsage( + wpi::math::MathUsageId::kController_LinearQuadraticRegulator, 1); } LinearQuadraticRegulator(LinearQuadraticRegulator&&) = default; diff --git a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h index 22eddbc281..e9b44dceca 100644 --- a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h +++ b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h @@ -137,6 +137,8 @@ class ExtendedKalmanFilter { m_initP = StateMatrix::Zero(); } m_P = m_initP; + wpi::math::MathSharedStore::ReportUsage( + wpi::math::MathUsageId::kEstimator_KalmanFilter, 2); } /** @@ -221,6 +223,8 @@ class ExtendedKalmanFilter { m_initP = StateMatrix::Zero(); } m_P = m_initP; + wpi::math::MathSharedStore::ReportUsage( + wpi::math::MathUsageId::kEstimator_KalmanFilter, 2); } /** diff --git a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h index aa169368bb..71684b52c7 100644 --- a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h +++ b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h @@ -118,6 +118,8 @@ class KalmanFilter { } Reset(); + wpi::math::MathSharedStore::ReportUsage( + wpi::math::MathUsageId::kEstimator_KalmanFilter, 1); } /** diff --git a/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h index 1aaf4a39d8..de091d4acb 100644 --- a/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h +++ b/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h @@ -70,6 +70,8 @@ class WPILIB_DLLEXPORT PoseEstimator { } SetVisionMeasurementStdDevs(visionMeasurementStdDevs); + wpi::math::MathSharedStore::ReportUsage( + wpi::math::MathUsageId::kEstimator_PoseEstimator, 1); } /** diff --git a/wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h b/wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h index ecf9ccbf88..e33e71b356 100644 --- a/wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h +++ b/wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h @@ -76,6 +76,8 @@ class WPILIB_DLLEXPORT PoseEstimator3d { } SetVisionMeasurementStdDevs(visionMeasurementStdDevs); + wpi::math::MathSharedStore::ReportUsage( + wpi::math::MathUsageId::kEstimator_PoseEstimator3d, 1); } /** diff --git a/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h index 734c70c7e0..fd36f9fd75 100644 --- a/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h +++ b/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h @@ -149,6 +149,8 @@ class SteadyStateKalmanFilter { } Reset(); + wpi::math::MathSharedStore::ReportUsage( + wpi::math::MathUsageId::kEstimator_KalmanFilter, 4); } SteadyStateKalmanFilter(SteadyStateKalmanFilter&&) = default; diff --git a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h index 21838870a8..b4e37d7859 100644 --- a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h +++ b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h @@ -107,6 +107,8 @@ class UnscentedKalmanFilter { m_dt = dt; Reset(); + wpi::math::MathSharedStore::ReportUsage( + wpi::math::MathUsageId::kEstimator_KalmanFilter, 3); } /** @@ -166,6 +168,8 @@ class UnscentedKalmanFilter { m_dt = dt; Reset(); + wpi::math::MathSharedStore::ReportUsage( + wpi::math::MathUsageId::kEstimator_KalmanFilter, 3); } /** diff --git a/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h b/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h index c61531ae08..f4b6e39326 100644 --- a/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h +++ b/wpimath/src/main/native/include/frc/system/LinearSystemLoop.h @@ -129,6 +129,8 @@ class LinearSystemLoop { m_clampFunc(clampFunction) { m_nextR.setZero(); Reset(m_nextR); + wpi::math::MathSharedStore::ReportUsage( + wpi::math::MathUsageId::kSystem_LinearSystemLoop, 1); } LinearSystemLoop(LinearSystemLoop&&) = default; diff --git a/wpimath/src/main/native/include/wpimath/MathShared.h b/wpimath/src/main/native/include/wpimath/MathShared.h index 4394b707a7..792b0d20b6 100644 --- a/wpimath/src/main/native/include/wpimath/MathShared.h +++ b/wpimath/src/main/native/include/wpimath/MathShared.h @@ -26,6 +26,11 @@ enum class MathUsageId { kController_ProfiledPIDController, kController_BangBangController, kTrajectory_PathWeaver, + kController_LinearQuadraticRegulator, + kEstimator_KalmanFilter, + kEstimator_PoseEstimator, + kEstimator_PoseEstimator3d, + kSystem_LinearSystemLoop, }; class WPILIB_DLLEXPORT MathShared { From 3dc334c1ee116a8bc72131709aac3ac8b29daeb7 Mon Sep 17 00:00:00 2001 From: Benjamin Hall Date: Sat, 13 Dec 2025 18:53:53 -0500 Subject: [PATCH 07/27] [wpimath] Fix `ResetTranslation` and `ResetRotation` in `PoseEstimator` and `PoseEstimator3d` causing the robot to teleport (#8285) Fixes https://github.com/wpilibsuite/allwpilib/issues/8284. If we have vision updates at the time of the `Reset*` call, we can correct the translation/rotation of the new odometry pose by adding a new vision update where: - `ResetTranslation`: the translation is hard-coded to the new translation, and the rotation components are set to those of the latest vision update (prior to clearing the map). - `ResetRotation`: the rotation is hard-coded to the new rotation, and the translation components are set to those of the latest vision update (prior to clearing the map). --- .../first/math/estimator/PoseEstimator.java | 34 ++++++++++-- .../first/math/estimator/PoseEstimator3d.java | 34 ++++++++++-- .../include/frc/estimator/PoseEstimator.h | 54 +++++++++++++++++-- .../include/frc/estimator/PoseEstimator3d.h | 54 +++++++++++++++++-- .../SwerveDrivePoseEstimator3dTest.java | 37 +++++++++++-- .../SwerveDrivePoseEstimatorTest.java | 30 +++++++++-- .../SwerveDrivePoseEstimator3dTest.cpp | 30 +++++++++-- .../SwerveDrivePoseEstimatorTest.cpp | 26 +++++++-- 8 files changed, 275 insertions(+), 24 deletions(-) diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java index f257eff66c..4c31748329 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java @@ -49,7 +49,9 @@ public class PoseEstimator { TimeInterpolatableBuffer.createBuffer(kBufferDuration); // Maps timestamps to vision updates // Always contains one entry before the oldest entry in m_odometryPoseBuffer, unless there have - // been no vision measurements after the last reset + // been no vision measurements after the last reset. May contain one entry while + // m_odometryPoseBuffer is empty to correct for translation/rotation after a call to + // ResetRotation/ResetTranslation. private final NavigableMap m_visionUpdates = new TreeMap<>(); private Pose2d m_poseEstimate; @@ -147,9 +149,22 @@ public class PoseEstimator { */ public void resetTranslation(Translation2d translation) { m_odometry.resetTranslation(translation); + + final var latestVisionUpdate = m_visionUpdates.lastEntry(); m_odometryPoseBuffer.clear(); m_visionUpdates.clear(); - m_poseEstimate = m_odometry.getPoseMeters(); + + if (latestVisionUpdate != null) { + // apply vision compensation to the pose rotation + final var visionUpdate = + new VisionUpdate( + new Pose2d(translation, latestVisionUpdate.getValue().visionPose.getRotation()), + new Pose2d(translation, latestVisionUpdate.getValue().odometryPose.getRotation())); + m_visionUpdates.put(latestVisionUpdate.getKey(), visionUpdate); + m_poseEstimate = visionUpdate.compensate(m_odometry.getPoseMeters()); + } else { + m_poseEstimate = m_odometry.getPoseMeters(); + } } /** @@ -159,9 +174,22 @@ public class PoseEstimator { */ public void resetRotation(Rotation2d rotation) { m_odometry.resetRotation(rotation); + + final var latestVisionUpdate = m_visionUpdates.lastEntry(); m_odometryPoseBuffer.clear(); m_visionUpdates.clear(); - m_poseEstimate = m_odometry.getPoseMeters(); + + if (latestVisionUpdate != null) { + // apply vision compensation to the pose translation + final var visionUpdate = + new VisionUpdate( + new Pose2d(latestVisionUpdate.getValue().visionPose.getTranslation(), rotation), + new Pose2d(latestVisionUpdate.getValue().odometryPose.getTranslation(), rotation)); + m_visionUpdates.put(latestVisionUpdate.getKey(), visionUpdate); + m_poseEstimate = visionUpdate.compensate(m_odometry.getPoseMeters()); + } else { + m_poseEstimate = m_odometry.getPoseMeters(); + } } /** diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java index a48dd5030d..ad0d1404b8 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java @@ -57,7 +57,9 @@ public class PoseEstimator3d { TimeInterpolatableBuffer.createBuffer(kBufferDuration); // Maps timestamps to vision updates // Always contains one entry before the oldest entry in m_odometryPoseBuffer, unless there have - // been no vision measurements after the last reset + // been no vision measurements after the last reset. May contain one entry while + // m_odometryPoseBuffer is empty to correct for translation/rotation after a call to + // ResetRotation/ResetTranslation. private final NavigableMap m_visionUpdates = new TreeMap<>(); private Pose3d m_poseEstimate; @@ -159,9 +161,22 @@ public class PoseEstimator3d { */ public void resetTranslation(Translation3d translation) { m_odometry.resetTranslation(translation); + + final var latestVisionUpdate = m_visionUpdates.lastEntry(); m_odometryPoseBuffer.clear(); m_visionUpdates.clear(); - m_poseEstimate = m_odometry.getPoseMeters(); + + if (latestVisionUpdate != null) { + // apply vision compensation to the pose rotation + final var visionUpdate = + new VisionUpdate( + new Pose3d(translation, latestVisionUpdate.getValue().visionPose.getRotation()), + new Pose3d(translation, latestVisionUpdate.getValue().odometryPose.getRotation())); + m_visionUpdates.put(latestVisionUpdate.getKey(), visionUpdate); + m_poseEstimate = visionUpdate.compensate(m_odometry.getPoseMeters()); + } else { + m_poseEstimate = m_odometry.getPoseMeters(); + } } /** @@ -171,9 +186,22 @@ public class PoseEstimator3d { */ public void resetRotation(Rotation3d rotation) { m_odometry.resetRotation(rotation); + + final var latestVisionUpdate = m_visionUpdates.lastEntry(); m_odometryPoseBuffer.clear(); m_visionUpdates.clear(); - m_poseEstimate = m_odometry.getPoseMeters(); + + if (latestVisionUpdate != null) { + // apply vision compensation to the pose translation + final var visionUpdate = + new VisionUpdate( + new Pose3d(latestVisionUpdate.getValue().visionPose.getTranslation(), rotation), + new Pose3d(latestVisionUpdate.getValue().odometryPose.getTranslation(), rotation)); + m_visionUpdates.put(latestVisionUpdate.getKey(), visionUpdate); + m_poseEstimate = visionUpdate.compensate(m_odometry.getPoseMeters()); + } else { + m_poseEstimate = m_odometry.getPoseMeters(); + } } /** diff --git a/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h index de091d4acb..9187889ff6 100644 --- a/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h +++ b/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h @@ -139,24 +139,70 @@ class WPILIB_DLLEXPORT PoseEstimator { * * @param translation The pose to translation to. */ +#if defined(__GNUC__) && !defined(__clang__) +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wmaybe-uninitialized" +#endif // defined(__GNUC__) && !defined(__clang__) void ResetTranslation(const Translation2d& translation) { m_odometry.ResetTranslation(translation); + + const std::optional> + latestVisionUpdate = + m_visionUpdates.empty() ? std::nullopt + : std::optional{*m_visionUpdates.crbegin()}; m_odometryPoseBuffer.Clear(); m_visionUpdates.clear(); - m_poseEstimate = m_odometry.GetPose(); + + if (latestVisionUpdate) { + // apply vision compensation to the pose rotation + const VisionUpdate visionUpdate{ + Pose2d{translation, latestVisionUpdate->second.visionPose.Rotation()}, + Pose2d{translation, + latestVisionUpdate->second.odometryPose.Rotation()}}; + m_visionUpdates[latestVisionUpdate->first] = visionUpdate; + m_poseEstimate = visionUpdate.Compensate(m_odometry.GetPose()); + } else { + m_poseEstimate = m_odometry.GetPose(); + } } +#if defined(__GNUC__) && !defined(__clang__) +#pragma GCC diagnostic pop +#endif // defined(__GNUC__) && !defined(__clang__) /** * Resets the robot's rotation. * * @param rotation The rotation to reset to. */ +#if defined(__GNUC__) && !defined(__clang__) +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wmaybe-uninitialized" +#endif // defined(__GNUC__) && !defined(__clang__) void ResetRotation(const Rotation2d& rotation) { m_odometry.ResetRotation(rotation); + + const std::optional> + latestVisionUpdate = + m_visionUpdates.empty() ? std::nullopt + : std::optional{*m_visionUpdates.crbegin()}; m_odometryPoseBuffer.Clear(); m_visionUpdates.clear(); - m_poseEstimate = m_odometry.GetPose(); + + if (latestVisionUpdate) { + // apply vision compensation to the pose translation + const VisionUpdate visionUpdate{ + Pose2d{latestVisionUpdate->second.visionPose.Translation(), rotation}, + Pose2d{latestVisionUpdate->second.odometryPose.Translation(), + rotation}}; + m_visionUpdates[latestVisionUpdate->first] = visionUpdate; + m_poseEstimate = visionUpdate.Compensate(m_odometry.GetPose()); + } else { + m_poseEstimate = m_odometry.GetPose(); + } } +#if defined(__GNUC__) && !defined(__clang__) +#pragma GCC diagnostic pop +#endif // defined(__GNUC__) && !defined(__clang__) /** * Gets the estimated robot pose. @@ -436,7 +482,9 @@ class WPILIB_DLLEXPORT PoseEstimator { TimeInterpolatableBuffer m_odometryPoseBuffer{kBufferDuration}; // Maps timestamps to vision updates // Always contains one entry before the oldest entry in m_odometryPoseBuffer, - // unless there have been no vision measurements after the last reset + // unless there have been no vision measurements after the last reset. May + // contain one entry while m_odometryPoseBuffer is empty to correct for + // translation/rotation after a call to ResetRotation/ResetTranslation. std::map m_visionUpdates; Pose2d m_poseEstimate; diff --git a/wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h b/wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h index e33e71b356..490a6cbcb2 100644 --- a/wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h +++ b/wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h @@ -148,24 +148,70 @@ class WPILIB_DLLEXPORT PoseEstimator3d { * * @param translation The pose to translation to. */ +#if defined(__GNUC__) && !defined(__clang__) +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wmaybe-uninitialized" +#endif // defined(__GNUC__) && !defined(__clang__) void ResetTranslation(const Translation3d& translation) { m_odometry.ResetTranslation(translation); + + const std::optional> + latestVisionUpdate = + m_visionUpdates.empty() ? std::nullopt + : std::optional{*m_visionUpdates.crbegin()}; m_odometryPoseBuffer.Clear(); m_visionUpdates.clear(); - m_poseEstimate = m_odometry.GetPose(); + + if (latestVisionUpdate) { + // apply vision compensation to the pose rotation + const VisionUpdate visionUpdate{ + Pose3d{translation, latestVisionUpdate->second.visionPose.Rotation()}, + Pose3d{translation, + latestVisionUpdate->second.odometryPose.Rotation()}}; + m_visionUpdates[latestVisionUpdate->first] = visionUpdate; + m_poseEstimate = visionUpdate.Compensate(m_odometry.GetPose()); + } else { + m_poseEstimate = m_odometry.GetPose(); + } } +#if defined(__GNUC__) && !defined(__clang__) +#pragma GCC diagnostic pop +#endif // defined(__GNUC__) && !defined(__clang__) /** * Resets the robot's rotation. * * @param rotation The rotation to reset to. */ +#if defined(__GNUC__) && !defined(__clang__) +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wmaybe-uninitialized" +#endif // defined(__GNUC__) && !defined(__clang__) void ResetRotation(const Rotation3d& rotation) { m_odometry.ResetRotation(rotation); + + const std::optional> + latestVisionUpdate = + m_visionUpdates.empty() ? std::nullopt + : std::optional{*m_visionUpdates.crbegin()}; m_odometryPoseBuffer.Clear(); m_visionUpdates.clear(); - m_poseEstimate = m_odometry.GetPose(); + + if (latestVisionUpdate) { + // apply vision compensation to the pose translation + const VisionUpdate visionUpdate{ + Pose3d{latestVisionUpdate->second.visionPose.Translation(), rotation}, + Pose3d{latestVisionUpdate->second.odometryPose.Translation(), + rotation}}; + m_visionUpdates[latestVisionUpdate->first] = visionUpdate; + m_poseEstimate = visionUpdate.Compensate(m_odometry.GetPose()); + } else { + m_poseEstimate = m_odometry.GetPose(); + } } +#if defined(__GNUC__) && !defined(__clang__) +#pragma GCC diagnostic pop +#endif // defined(__GNUC__) && !defined(__clang__) /** * Gets the estimated robot pose. @@ -451,7 +497,9 @@ class WPILIB_DLLEXPORT PoseEstimator3d { TimeInterpolatableBuffer m_odometryPoseBuffer{kBufferDuration}; // Maps timestamps to vision updates // Always contains one entry before the oldest entry in m_odometryPoseBuffer, - // unless there have been no vision measurements after the last reset + // unless there have been no vision measurements after the last reset. May + // contain one entry while m_odometryPoseBuffer is empty to correct for + // translation/rotation after a call to ResetRotation/ResetTranslation. std::map m_visionUpdates; Pose3d m_poseEstimate; diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator3dTest.java index e3cd11a281..06cc16e52b 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator3dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator3dTest.java @@ -8,6 +8,7 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; @@ -509,11 +510,23 @@ class SwerveDrivePoseEstimator3dTest { () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getY(), kEpsilon), () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getZ(), kEpsilon)); + // Add a vision measurement with a different translation + estimator.addVisionMeasurement( + new Pose3d(3, 0, 0, Rotation3d.kZero), MathSharedStore.getTimestamp()); + + assertAll( + () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon), + () -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon), + () -> assertEquals(0, estimator.getEstimatedPosition().getZ(), kEpsilon), + () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getX(), kEpsilon), + () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getY(), kEpsilon), + () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getZ(), kEpsilon)); + // Test reset rotation estimator.resetRotation(new Rotation3d(Rotation2d.kCCW_Pi_2)); assertAll( - () -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon), + () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon), () -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon), () -> assertEquals(0, estimator.getEstimatedPosition().getZ(), kEpsilon), () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getX(), kEpsilon), @@ -533,7 +546,7 @@ class SwerveDrivePoseEstimator3dTest { } assertAll( - () -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon), + () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon), () -> assertEquals(1, estimator.getEstimatedPosition().getY(), kEpsilon), () -> assertEquals(0, estimator.getEstimatedPosition().getZ(), kEpsilon), () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getX(), kEpsilon), @@ -542,6 +555,22 @@ class SwerveDrivePoseEstimator3dTest { assertEquals( Math.PI / 2, estimator.getEstimatedPosition().getRotation().getZ(), kEpsilon)); + // Add a vision measurement with a different rotation + estimator.addVisionMeasurement( + new Pose3d(2.5, 1, 0, new Rotation3d(Rotation2d.kPi)), MathSharedStore.getTimestamp()); + + assertAll( + () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon), + () -> assertEquals(1, estimator.getEstimatedPosition().getY(), kEpsilon), + () -> assertEquals(0, estimator.getEstimatedPosition().getZ(), kEpsilon), + () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getX(), kEpsilon), + () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getY(), kEpsilon), + () -> + assertEquals( + Math.PI * 3.0 / 4, + estimator.getEstimatedPosition().getRotation().getZ(), + kEpsilon)); + // Test reset translation estimator.resetTranslation(new Translation3d(-1, -1, -1)); @@ -553,7 +582,9 @@ class SwerveDrivePoseEstimator3dTest { () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getY(), kEpsilon), () -> assertEquals( - Math.PI / 2, estimator.getEstimatedPosition().getRotation().getZ(), kEpsilon)); + Math.PI * 3.0 / 4, + estimator.getEstimatedPosition().getRotation().getZ(), + kEpsilon)); // Test reset pose estimator.resetPose(Pose3d.kZero); diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java index 2b259a6a89..c2b6c65743 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java @@ -8,6 +8,7 @@ import static org.junit.jupiter.api.Assertions.assertAll; import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertTrue; +import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; @@ -481,11 +482,21 @@ class SwerveDrivePoseEstimatorTest { () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon)); + // Add a vision measurement with a different translation + estimator.addVisionMeasurement( + new Pose2d(3, 0, Rotation2d.kZero), MathSharedStore.getTimestamp()); + + assertAll( + () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon), + () -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon), + () -> + assertEquals(0, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon)); + // Test reset rotation estimator.resetRotation(Rotation2d.kCCW_Pi_2); assertAll( - () -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon), + () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon), () -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon), () -> assertEquals( @@ -504,7 +515,7 @@ class SwerveDrivePoseEstimatorTest { } assertAll( - () -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon), + () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon), () -> assertEquals(1, estimator.getEstimatedPosition().getY(), kEpsilon), () -> assertEquals( @@ -512,6 +523,19 @@ class SwerveDrivePoseEstimatorTest { estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon)); + // Add a vision measurement with a different rotation + estimator.addVisionMeasurement( + new Pose2d(2.5, 1, Rotation2d.kPi), MathSharedStore.getTimestamp()); + + assertAll( + () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon), + () -> assertEquals(1, estimator.getEstimatedPosition().getY(), kEpsilon), + () -> + assertEquals( + Math.PI * 3.0 / 4, + estimator.getEstimatedPosition().getRotation().getRadians(), + kEpsilon)); + // Test reset translation estimator.resetTranslation(new Translation2d(-1, -1)); @@ -520,7 +544,7 @@ class SwerveDrivePoseEstimatorTest { () -> assertEquals(-1, estimator.getEstimatedPosition().getY(), kEpsilon), () -> assertEquals( - Math.PI / 2, + Math.PI * 3.0 / 4, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon)); diff --git a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp index 612862f4f1..fa405ae0b6 100644 --- a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp +++ b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp @@ -453,10 +453,21 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) { EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value()); EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Z().value()); + // Add a vision measurement with a different translation + estimator.AddVisionMeasurement(frc::Pose3d(3_m, 0_m, 0_m, frc::Rotation3d{}), + wpi::math::MathSharedStore::GetTimestamp()); + + EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value()); + EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value()); + EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Z().value()); + EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value()); + EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value()); + EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Z().value()); + // Test reset rotation estimator.ResetRotation(frc::Rotation3d{0_deg, 0_deg, 90_deg}); - EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value()); + EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value()); EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value()); EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Z().value()); EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value()); @@ -471,7 +482,7 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) { modulePosition, modulePosition}); } - EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value()); + EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value()); EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Y().value()); EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Z().value()); EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value()); @@ -479,6 +490,19 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) { EXPECT_DOUBLE_EQ(std::numbers::pi / 2, estimator.GetEstimatedPosition().Rotation().Z().value()); + // Add a vision measurement with a different rotation + estimator.AddVisionMeasurement( + frc::Pose3d(2.5_m, 1_m, 0_m, frc::Rotation3d{frc::Rotation2d{180_deg}}), + wpi::math::MathSharedStore::GetTimestamp()); + + EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value()); + EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Y().value()); + EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Z().value()); + EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value()); + EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value()); + EXPECT_DOUBLE_EQ(std::numbers::pi * 3.0 / 4, + estimator.GetEstimatedPosition().Rotation().Z().value()); + // Test reset translation estimator.ResetTranslation(frc::Translation3d{-1_m, -1_m, -1_m}); @@ -487,7 +511,7 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) { EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Z().value()); EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value()); EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value()); - EXPECT_DOUBLE_EQ(std::numbers::pi / 2, + EXPECT_DOUBLE_EQ(std::numbers::pi * 3.0 / 4, estimator.GetEstimatedPosition().Rotation().Z().value()); // Test reset pose diff --git a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp index 1655074209..5bc75b39bd 100644 --- a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp +++ b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp @@ -430,10 +430,19 @@ TEST(SwerveDrivePoseEstimatorTest, TestReset) { EXPECT_DOUBLE_EQ( 0, estimator.GetEstimatedPosition().Rotation().Radians().value()); + // Add a vision measurement with a different translation + estimator.AddVisionMeasurement(frc::Pose2d{3_m, 0_m, frc::Rotation2d{}}, + wpi::math::MathSharedStore::GetTimestamp()); + + EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value()); + EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value()); + EXPECT_DOUBLE_EQ( + 0, estimator.GetEstimatedPosition().Rotation().Radians().value()); + // Test reset rotation estimator.ResetRotation(frc::Rotation2d{90_deg}); - EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value()); + EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value()); EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value()); EXPECT_DOUBLE_EQ( std::numbers::pi / 2, @@ -446,19 +455,30 @@ TEST(SwerveDrivePoseEstimatorTest, TestReset) { modulePosition, modulePosition}); } - EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value()); + EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value()); EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Y().value()); EXPECT_DOUBLE_EQ( std::numbers::pi / 2, estimator.GetEstimatedPosition().Rotation().Radians().value()); + // Add a vision measurement with a different rotation + estimator.AddVisionMeasurement( + frc::Pose2d{2.5_m, 1_m, frc::Rotation2d{180_deg}}, + wpi::math::MathSharedStore::GetTimestamp()); + + EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value()); + EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Y().value()); + EXPECT_DOUBLE_EQ( + std::numbers::pi * 3.0 / 4, + estimator.GetEstimatedPosition().Rotation().Radians().value()); + // Test reset translation estimator.ResetTranslation(frc::Translation2d{-1_m, -1_m}); EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().X().value()); EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Y().value()); EXPECT_DOUBLE_EQ( - std::numbers::pi / 2, + std::numbers::pi * 3.0 / 4, estimator.GetEstimatedPosition().Rotation().Radians().value()); // Test reset pose From 1b2f051b4b6d8035ad7a4cf0b85e9aacf26a5441 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Sun, 14 Dec 2025 08:06:02 -0800 Subject: [PATCH 08/27] [docs] Replace instance of PWMSpeedController (#8478) --- wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h b/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h index 2baa49effa..b357276c63 100644 --- a/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h +++ b/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h @@ -77,7 +77,7 @@ class DifferentialDrive : public RobotDriveBase, * Construct a DifferentialDrive. * * To pass multiple motors per side, use CAN motor controller followers or - * PWMSpeedController::AddFollower(). If a motor needs to be inverted, do so + * PWMMotorController::AddFollower(). If a motor needs to be inverted, do so * before passing it in. * * @param leftMotor Left motor. @@ -91,7 +91,7 @@ class DifferentialDrive : public RobotDriveBase, * Construct a DifferentialDrive. * * To pass multiple motors per side, use CAN motor controller followers or - * PWMSpeedController::AddFollower(). If a motor needs to be inverted, do so + * PWMMotorController::AddFollower(). If a motor needs to be inverted, do so * before passing it in. * * @param leftMotor Left motor setter. From ab3af00d0782ffbed7470f817b9875fd6db0d314 Mon Sep 17 00:00:00 2001 From: Bryce Roethel Date: Sun, 21 Dec 2025 11:08:32 -0500 Subject: [PATCH 09/27] [wpimath] TrapezoidProfile.State implement StructSerializable (#8499) Seems like this was missed in #8163 --- .../java/edu/wpi/first/math/trajectory/TrapezoidProfile.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java index f3de310944..13c182141d 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java @@ -7,6 +7,7 @@ package edu.wpi.first.math.trajectory; import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.MathUsageId; import edu.wpi.first.math.trajectory.struct.TrapezoidProfileStateStruct; +import edu.wpi.first.util.struct.StructSerializable; import java.util.Objects; /** @@ -76,7 +77,7 @@ public class TrapezoidProfile { } /** Profile state. */ - public static class State { + public static class State implements StructSerializable { /** The struct used to serialize this class. */ public static final TrapezoidProfileStateStruct struct = new TrapezoidProfileStateStruct(); From f395954d3c2c016d237a346b116d890114ac6bd3 Mon Sep 17 00:00:00 2001 From: Charlotte Wilson Date: Wed, 31 Dec 2025 12:08:33 -0500 Subject: [PATCH 10/27] [ci] Update Android NDK version to R27D in CMake workflow (#8525) https://github.com/android/ndk/wiki#release-schedule --- .github/workflows/cmake-android.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/cmake-android.yml b/.github/workflows/cmake-android.yml index da7a67f362..32425d5c3c 100644 --- a/.github/workflows/cmake-android.yml +++ b/.github/workflows/cmake-android.yml @@ -30,7 +30,7 @@ jobs: - uses: nttld/setup-ndk@v1 id: setup-ndk with: - ndk-version: r27c + ndk-version: r27d add-to-path: false - uses: actions/setup-java@v4 From 71a788e20bfdeb162fe9c81d9e57e00b98fc359c Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Fri, 2 Jan 2026 09:46:22 -0700 Subject: [PATCH 11/27] [docs] Update references to 2026 (#8534) --- DevelopmentBuilds.md | 18 +++++++++--------- LICENSE.md | 2 +- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/DevelopmentBuilds.md b/DevelopmentBuilds.md index 47cae2781e..eb314aeb0e 100644 --- a/DevelopmentBuilds.md +++ b/DevelopmentBuilds.md @@ -13,7 +13,7 @@ This article contains instructions on building projects using a development buil Development builds are the per-commit build hosted every time a commit is pushed to the [allwpilib](https://github.com/wpilibsuite/allwpilib/) repository. These builds are then hosted on [artifactory](https://frcmaven.wpi.edu/artifactory/webapp/#/home). -To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2025 GradleRIO version, ie `2025.1.1-beta-1` +To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2026 GradleRIO version, ie `2026.1.1` ```groovy wpi.maven.useLocal = false @@ -28,13 +28,13 @@ Java ```groovy plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1" + id "edu.wpi.first.GradleRIO" version "2026.1.1" } wpi.maven.useLocal = false wpi.maven.useDevelopment = true -wpi.versions.wpilibVersion = '2025.+' -wpi.versions.wpimathVersion = '2025.+' +wpi.versions.wpilibVersion = '2026.+' +wpi.versions.wpimathVersion = '2026.+' ``` C++ @@ -42,13 +42,13 @@ C++ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1" + id "edu.wpi.first.GradleRIO" version "2026.1.1" } wpi.maven.useLocal = false wpi.maven.useDevelopment = true -wpi.versions.wpilibVersion = '2025.+' -wpi.versions.wpimathVersion = '2025.+' +wpi.versions.wpilibVersion = '2026.+' +wpi.versions.wpimathVersion = '2026.+' ``` ### Development Build Documentation @@ -64,7 +64,7 @@ Java ```groovy plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1" + id "edu.wpi.first.GradleRIO" version "2026.1.1" } wpi.maven.useLocal = false @@ -78,7 +78,7 @@ C++ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1" + id "edu.wpi.first.GradleRIO" version "2026.1.1" } wpi.maven.useLocal = false diff --git a/LICENSE.md b/LICENSE.md index d744196fe9..eb3061b0d8 100644 --- a/LICENSE.md +++ b/LICENSE.md @@ -1,4 +1,4 @@ -Copyright (c) 2009-2025 FIRST and other WPILib contributors +Copyright (c) 2009-2026 FIRST and other WPILib contributors All rights reserved. Redistribution and use in source and binary forms, with or without From ccb326675337071a329968b55723d4ab716ce1ec Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sat, 3 Jan 2026 16:31:26 -0500 Subject: [PATCH 12/27] [upstream_utils] Remove patch that results in building with NDEBUG causing ODR issues (#8540) --- ...move-StringRef-ArrayRef-and-Optional.patch | 2 +- ...-calls-in-parens-for-Windows-warning.patch | 2 +- ...-Change-unique_function-storage-size.patch | 2 +- .../llvm_patches/0004-Threading-updates.patch | 2 +- .../0005-ifdef-guard-safety.patch | 2 +- .../0006-Explicitly-use-std.patch | 2 +- .../0007-Remove-format_provider.patch | 2 +- .../0008-Add-compiler-warning-pragmas.patch | 2 +- .../0009-Remove-unused-functions.patch | 2 +- .../0010-Detemplatize-SmallVectorBase.patch | 2 +- .../0011-Add-vectors-to-raw_ostream.patch | 2 +- .../0012-Extra-collections-features.patch | 2 +- ...0013-Delete-numbers-from-MathExtras.patch} | 2 +- .../0013-EpochTracker-ABI-macro.patch | 22 ------------------- ...-sgn.patch => 0014-Add-lerp-and-sgn.patch} | 2 +- ...cludes.patch => 0015-Fixup-includes.patch} | 2 +- ...std-is_trivially_copy_constructible.patch} | 2 +- ...pport.patch => 0017-Windows-support.patch} | 2 +- ...8-Remove-call-to-RtlGetLastNtStatus.patch} | 2 +- ...-fmtlib.patch => 0019-Prefer-fmtlib.patch} | 2 +- ...s.h.patch => 0020-Prefer-wpi-s-fs.h.patch} | 2 +- ...tch => 0021-Remove-unused-functions.patch} | 2 +- ...s.patch => 0022-OS-specific-changes.patch} | 2 +- ...-Use-SmallVector-for-UTF-conversion.patch} | 2 +- ...-use-static-pointers-in-raw_ostream.patch} | 2 +- ... => 0025-constexpr-endian-byte-swap.patch} | 2 +- ...from-STLExtras.h-into-PointerUnion..patch} | 2 +- ...027-Unused-variable-in-release-mode.patch} | 2 +- ...r.patch => 0028-Use-C-20-bit-header.patch} | 2 +- ...-Remove-DenseMap-GTest-printer-test.patch} | 2 +- ...raw_ostream-Add-SetNumBytesInBuffer.patch} | 2 +- ...aw_ostream-Replace-errnoAsErrorCode.patch} | 2 +- ...0032-type_traits.h-Add-is_constexpr.patch} | 2 +- ...ve-auto-conversion-from-raw_ostream.patch} | 2 +- ...ch => 0034-Add-SmallVector-erase_if.patch} | 2 +- ...-Fix-AlignedCharArrayUnion-for-C-23.patch} | 2 +- ...-Fix-minIntN-and-maxIntN-assertions.patch} | 2 +- .../llvm/include/wpi/EpochTracker.h | 2 +- 38 files changed, 37 insertions(+), 59 deletions(-) rename upstream_utils/llvm_patches/{0014-Delete-numbers-from-MathExtras.patch => 0013-Delete-numbers-from-MathExtras.patch} (98%) delete mode 100644 upstream_utils/llvm_patches/0013-EpochTracker-ABI-macro.patch rename upstream_utils/llvm_patches/{0015-Add-lerp-and-sgn.patch => 0014-Add-lerp-and-sgn.patch} (96%) rename upstream_utils/llvm_patches/{0016-Fixup-includes.patch => 0015-Fixup-includes.patch} (99%) rename upstream_utils/llvm_patches/{0017-Use-std-is_trivially_copy_constructible.patch => 0016-Use-std-is_trivially_copy_constructible.patch} (95%) rename upstream_utils/llvm_patches/{0018-Windows-support.patch => 0017-Windows-support.patch} (99%) rename upstream_utils/llvm_patches/{0019-Remove-call-to-RtlGetLastNtStatus.patch => 0018-Remove-call-to-RtlGetLastNtStatus.patch} (97%) rename upstream_utils/llvm_patches/{0020-Prefer-fmtlib.patch => 0019-Prefer-fmtlib.patch} (98%) rename upstream_utils/llvm_patches/{0021-Prefer-wpi-s-fs.h.patch => 0020-Prefer-wpi-s-fs.h.patch} (96%) rename upstream_utils/llvm_patches/{0022-Remove-unused-functions.patch => 0021-Remove-unused-functions.patch} (99%) rename upstream_utils/llvm_patches/{0023-OS-specific-changes.patch => 0022-OS-specific-changes.patch} (97%) rename upstream_utils/llvm_patches/{0024-Use-SmallVector-for-UTF-conversion.patch => 0023-Use-SmallVector-for-UTF-conversion.patch} (99%) rename upstream_utils/llvm_patches/{0025-Prefer-to-use-static-pointers-in-raw_ostream.patch => 0024-Prefer-to-use-static-pointers-in-raw_ostream.patch} (95%) rename upstream_utils/llvm_patches/{0026-constexpr-endian-byte-swap.patch => 0025-constexpr-endian-byte-swap.patch} (94%) rename upstream_utils/llvm_patches/{0027-Copy-type-traits-from-STLExtras.h-into-PointerUnion..patch => 0026-Copy-type-traits-from-STLExtras.h-into-PointerUnion..patch} (97%) rename upstream_utils/llvm_patches/{0028-Unused-variable-in-release-mode.patch => 0027-Unused-variable-in-release-mode.patch} (94%) rename upstream_utils/llvm_patches/{0029-Use-C-20-bit-header.patch => 0028-Use-C-20-bit-header.patch} (99%) rename upstream_utils/llvm_patches/{0030-Remove-DenseMap-GTest-printer-test.patch => 0029-Remove-DenseMap-GTest-printer-test.patch} (94%) rename upstream_utils/llvm_patches/{0031-raw_ostream-Add-SetNumBytesInBuffer.patch => 0030-raw_ostream-Add-SetNumBytesInBuffer.patch} (93%) rename upstream_utils/llvm_patches/{0032-raw_ostream-Replace-errnoAsErrorCode.patch => 0031-raw_ostream-Replace-errnoAsErrorCode.patch} (94%) rename upstream_utils/llvm_patches/{0033-type_traits.h-Add-is_constexpr.patch => 0032-type_traits.h-Add-is_constexpr.patch} (94%) rename upstream_utils/llvm_patches/{0034-Remove-auto-conversion-from-raw_ostream.patch => 0033-Remove-auto-conversion-from-raw_ostream.patch} (95%) rename upstream_utils/llvm_patches/{0035-Add-SmallVector-erase_if.patch => 0034-Add-SmallVector-erase_if.patch} (95%) rename upstream_utils/llvm_patches/{0036-Fix-AlignedCharArrayUnion-for-C-23.patch => 0035-Fix-AlignedCharArrayUnion-for-C-23.patch} (96%) rename upstream_utils/llvm_patches/{0037-Fix-minIntN-and-maxIntN-assertions.patch => 0036-Fix-minIntN-and-maxIntN-assertions.patch} (95%) diff --git a/upstream_utils/llvm_patches/0001-Remove-StringRef-ArrayRef-and-Optional.patch b/upstream_utils/llvm_patches/0001-Remove-StringRef-ArrayRef-and-Optional.patch index 5ed1d49ac6..ae1f814f47 100644 --- a/upstream_utils/llvm_patches/0001-Remove-StringRef-ArrayRef-and-Optional.patch +++ b/upstream_utils/llvm_patches/0001-Remove-StringRef-ArrayRef-and-Optional.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sat, 7 May 2022 22:09:18 -0400 -Subject: [PATCH 01/37] Remove StringRef, ArrayRef, and Optional +Subject: [PATCH 01/36] Remove StringRef, ArrayRef, and Optional --- llvm/include/llvm/ADT/PointerUnion.h | 1 - diff --git a/upstream_utils/llvm_patches/0002-Wrap-std-min-max-calls-in-parens-for-Windows-warning.patch b/upstream_utils/llvm_patches/0002-Wrap-std-min-max-calls-in-parens-for-Windows-warning.patch index 2632f58d90..b21e044ef1 100644 --- a/upstream_utils/llvm_patches/0002-Wrap-std-min-max-calls-in-parens-for-Windows-warning.patch +++ b/upstream_utils/llvm_patches/0002-Wrap-std-min-max-calls-in-parens-for-Windows-warning.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sat, 7 May 2022 22:12:41 -0400 -Subject: [PATCH 02/37] Wrap std::min/max calls in parens, for Windows warnings +Subject: [PATCH 02/36] Wrap std::min/max calls in parens, for Windows warnings --- llvm/include/llvm/ADT/DenseMap.h | 4 ++-- diff --git a/upstream_utils/llvm_patches/0003-Change-unique_function-storage-size.patch b/upstream_utils/llvm_patches/0003-Change-unique_function-storage-size.patch index 0b7955d834..22a98b4278 100644 --- a/upstream_utils/llvm_patches/0003-Change-unique_function-storage-size.patch +++ b/upstream_utils/llvm_patches/0003-Change-unique_function-storage-size.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sat, 7 May 2022 22:13:55 -0400 -Subject: [PATCH 03/37] Change unique_function storage size +Subject: [PATCH 03/36] Change unique_function storage size --- llvm/include/llvm/ADT/FunctionExtras.h | 4 ++-- diff --git a/upstream_utils/llvm_patches/0004-Threading-updates.patch b/upstream_utils/llvm_patches/0004-Threading-updates.patch index f4d05c5f7e..a1e88cebf6 100644 --- a/upstream_utils/llvm_patches/0004-Threading-updates.patch +++ b/upstream_utils/llvm_patches/0004-Threading-updates.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sat, 7 May 2022 22:17:19 -0400 -Subject: [PATCH 04/37] Threading updates +Subject: [PATCH 04/36] Threading updates - Remove guards for threads and exception - Prefer scope gaurd over lock gaurd diff --git a/upstream_utils/llvm_patches/0005-ifdef-guard-safety.patch b/upstream_utils/llvm_patches/0005-ifdef-guard-safety.patch index 4e0f30d925..6dcd4c91cc 100644 --- a/upstream_utils/llvm_patches/0005-ifdef-guard-safety.patch +++ b/upstream_utils/llvm_patches/0005-ifdef-guard-safety.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sat, 7 May 2022 22:28:13 -0400 -Subject: [PATCH 05/37] \#ifdef guard safety +Subject: [PATCH 05/36] \#ifdef guard safety Prevents redefinition if someone is pulling in real LLVM, since the macros are in global namespace --- diff --git a/upstream_utils/llvm_patches/0006-Explicitly-use-std.patch b/upstream_utils/llvm_patches/0006-Explicitly-use-std.patch index d9859e71e5..e2c81eca55 100644 --- a/upstream_utils/llvm_patches/0006-Explicitly-use-std.patch +++ b/upstream_utils/llvm_patches/0006-Explicitly-use-std.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sat, 7 May 2022 22:37:34 -0400 -Subject: [PATCH 06/37] Explicitly use std:: +Subject: [PATCH 06/36] Explicitly use std:: --- llvm/include/llvm/ADT/SmallSet.h | 2 +- diff --git a/upstream_utils/llvm_patches/0007-Remove-format_provider.patch b/upstream_utils/llvm_patches/0007-Remove-format_provider.patch index 8227e9e9f0..1cd071f60b 100644 --- a/upstream_utils/llvm_patches/0007-Remove-format_provider.patch +++ b/upstream_utils/llvm_patches/0007-Remove-format_provider.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sat, 7 May 2022 22:53:50 -0400 -Subject: [PATCH 07/37] Remove format_provider +Subject: [PATCH 07/36] Remove format_provider --- llvm/include/llvm/Support/Chrono.h | 114 ------------------------ diff --git a/upstream_utils/llvm_patches/0008-Add-compiler-warning-pragmas.patch b/upstream_utils/llvm_patches/0008-Add-compiler-warning-pragmas.patch index 6d8bcecd49..01a99ad652 100644 --- a/upstream_utils/llvm_patches/0008-Add-compiler-warning-pragmas.patch +++ b/upstream_utils/llvm_patches/0008-Add-compiler-warning-pragmas.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sun, 8 May 2022 13:34:07 -0400 -Subject: [PATCH 08/37] Add compiler warning pragmas +Subject: [PATCH 08/36] Add compiler warning pragmas --- llvm/include/llvm/ADT/FunctionExtras.h | 11 +++++++++++ diff --git a/upstream_utils/llvm_patches/0009-Remove-unused-functions.patch b/upstream_utils/llvm_patches/0009-Remove-unused-functions.patch index f174a5fd7b..20763b3641 100644 --- a/upstream_utils/llvm_patches/0009-Remove-unused-functions.patch +++ b/upstream_utils/llvm_patches/0009-Remove-unused-functions.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sun, 8 May 2022 13:43:50 -0400 -Subject: [PATCH 09/37] Remove unused functions +Subject: [PATCH 09/36] Remove unused functions --- llvm/include/llvm/ADT/SmallString.h | 77 ------ diff --git a/upstream_utils/llvm_patches/0010-Detemplatize-SmallVectorBase.patch b/upstream_utils/llvm_patches/0010-Detemplatize-SmallVectorBase.patch index 295e339caa..d784205b01 100644 --- a/upstream_utils/llvm_patches/0010-Detemplatize-SmallVectorBase.patch +++ b/upstream_utils/llvm_patches/0010-Detemplatize-SmallVectorBase.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Thu, 5 May 2022 23:18:34 -0400 -Subject: [PATCH 10/37] Detemplatize SmallVectorBase +Subject: [PATCH 10/36] Detemplatize SmallVectorBase --- llvm/include/llvm/ADT/SmallVector.h | 35 ++++++++++----------------- diff --git a/upstream_utils/llvm_patches/0011-Add-vectors-to-raw_ostream.patch b/upstream_utils/llvm_patches/0011-Add-vectors-to-raw_ostream.patch index 431c847e43..3bab41b93f 100644 --- a/upstream_utils/llvm_patches/0011-Add-vectors-to-raw_ostream.patch +++ b/upstream_utils/llvm_patches/0011-Add-vectors-to-raw_ostream.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sun, 8 May 2022 13:48:59 -0400 -Subject: [PATCH 11/37] Add vectors to raw_ostream +Subject: [PATCH 11/36] Add vectors to raw_ostream --- llvm/include/llvm/Support/raw_ostream.h | 115 ++++++++++++++++++++++++ diff --git a/upstream_utils/llvm_patches/0012-Extra-collections-features.patch b/upstream_utils/llvm_patches/0012-Extra-collections-features.patch index 2b34fbc768..557dc158de 100644 --- a/upstream_utils/llvm_patches/0012-Extra-collections-features.patch +++ b/upstream_utils/llvm_patches/0012-Extra-collections-features.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Tue, 3 May 2022 22:16:10 -0400 -Subject: [PATCH 12/37] Extra collections features +Subject: [PATCH 12/36] Extra collections features --- llvm/lib/Support/raw_ostream.cpp | 8 ++++++++ diff --git a/upstream_utils/llvm_patches/0014-Delete-numbers-from-MathExtras.patch b/upstream_utils/llvm_patches/0013-Delete-numbers-from-MathExtras.patch similarity index 98% rename from upstream_utils/llvm_patches/0014-Delete-numbers-from-MathExtras.patch rename to upstream_utils/llvm_patches/0013-Delete-numbers-from-MathExtras.patch index ca2d69fc00..8a8d53f272 100644 --- a/upstream_utils/llvm_patches/0014-Delete-numbers-from-MathExtras.patch +++ b/upstream_utils/llvm_patches/0013-Delete-numbers-from-MathExtras.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Thu, 5 May 2022 18:09:45 -0400 -Subject: [PATCH 14/37] Delete numbers from MathExtras +Subject: [PATCH 13/36] Delete numbers from MathExtras --- llvm/include/llvm/Support/MathExtras.h | 36 -------------------------- diff --git a/upstream_utils/llvm_patches/0013-EpochTracker-ABI-macro.patch b/upstream_utils/llvm_patches/0013-EpochTracker-ABI-macro.patch deleted file mode 100644 index 7f74ecd937..0000000000 --- a/upstream_utils/llvm_patches/0013-EpochTracker-ABI-macro.patch +++ /dev/null @@ -1,22 +0,0 @@ -From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 -From: PJ Reiniger -Date: Wed, 4 May 2022 00:01:00 -0400 -Subject: [PATCH 13/37] EpochTracker ABI macro - ---- - llvm/include/llvm/ADT/EpochTracker.h | 2 +- - 1 file changed, 1 insertion(+), 1 deletion(-) - -diff --git a/llvm/include/llvm/ADT/EpochTracker.h b/llvm/include/llvm/ADT/EpochTracker.h -index fc41d6f2c92d2f9876c741067b5645a74663db04..56d0acda2c1a0e390cfed086fa298b650c4a561f 100644 ---- a/llvm/include/llvm/ADT/EpochTracker.h -+++ b/llvm/include/llvm/ADT/EpochTracker.h -@@ -22,7 +22,7 @@ - - namespace llvm { - --#if LLVM_ENABLE_ABI_BREAKING_CHECKS -+#ifndef NDEBUG //ifndef LLVM_ENABLE_ABI_BREAKING_CHECKS - #define LLVM_DEBUGEPOCHBASE_HANDLEBASE_EMPTYBASE - - /// A base class for data structure classes wishing to make iterators diff --git a/upstream_utils/llvm_patches/0015-Add-lerp-and-sgn.patch b/upstream_utils/llvm_patches/0014-Add-lerp-and-sgn.patch similarity index 96% rename from upstream_utils/llvm_patches/0015-Add-lerp-and-sgn.patch rename to upstream_utils/llvm_patches/0014-Add-lerp-and-sgn.patch index 010525fcaa..95c7149057 100644 --- a/upstream_utils/llvm_patches/0015-Add-lerp-and-sgn.patch +++ b/upstream_utils/llvm_patches/0014-Add-lerp-and-sgn.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Tue, 3 May 2022 22:50:24 -0400 -Subject: [PATCH 15/37] Add lerp and sgn +Subject: [PATCH 14/36] Add lerp and sgn --- llvm/include/llvm/Support/MathExtras.h | 21 +++++++++++++++++++++ diff --git a/upstream_utils/llvm_patches/0016-Fixup-includes.patch b/upstream_utils/llvm_patches/0015-Fixup-includes.patch similarity index 99% rename from upstream_utils/llvm_patches/0016-Fixup-includes.patch rename to upstream_utils/llvm_patches/0015-Fixup-includes.patch index df4c50a7a0..3fd231c33f 100644 --- a/upstream_utils/llvm_patches/0016-Fixup-includes.patch +++ b/upstream_utils/llvm_patches/0015-Fixup-includes.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sun, 8 May 2022 16:38:11 -0400 -Subject: [PATCH 16/37] Fixup includes +Subject: [PATCH 15/36] Fixup includes --- llvm/include/llvm/Support/PointerLikeTypeTraits.h | 1 + diff --git a/upstream_utils/llvm_patches/0017-Use-std-is_trivially_copy_constructible.patch b/upstream_utils/llvm_patches/0016-Use-std-is_trivially_copy_constructible.patch similarity index 95% rename from upstream_utils/llvm_patches/0017-Use-std-is_trivially_copy_constructible.patch rename to upstream_utils/llvm_patches/0016-Use-std-is_trivially_copy_constructible.patch index 40adf0eab9..b7552f2b33 100644 --- a/upstream_utils/llvm_patches/0017-Use-std-is_trivially_copy_constructible.patch +++ b/upstream_utils/llvm_patches/0016-Use-std-is_trivially_copy_constructible.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sun, 8 May 2022 16:42:09 -0400 -Subject: [PATCH 17/37] Use std::is_trivially_copy_constructible +Subject: [PATCH 16/36] Use std::is_trivially_copy_constructible --- llvm/include/llvm/Support/type_traits.h | 16 ---------------- diff --git a/upstream_utils/llvm_patches/0018-Windows-support.patch b/upstream_utils/llvm_patches/0017-Windows-support.patch similarity index 99% rename from upstream_utils/llvm_patches/0018-Windows-support.patch rename to upstream_utils/llvm_patches/0017-Windows-support.patch index dc981328e1..4d041a5eb4 100644 --- a/upstream_utils/llvm_patches/0018-Windows-support.patch +++ b/upstream_utils/llvm_patches/0017-Windows-support.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Tue, 3 May 2022 20:22:38 -0400 -Subject: [PATCH 18/37] Windows support +Subject: [PATCH 17/36] Windows support --- .../llvm/Support/Windows/WindowsSupport.h | 45 +++++---- diff --git a/upstream_utils/llvm_patches/0019-Remove-call-to-RtlGetLastNtStatus.patch b/upstream_utils/llvm_patches/0018-Remove-call-to-RtlGetLastNtStatus.patch similarity index 97% rename from upstream_utils/llvm_patches/0019-Remove-call-to-RtlGetLastNtStatus.patch rename to upstream_utils/llvm_patches/0018-Remove-call-to-RtlGetLastNtStatus.patch index 2c32a57ed1..1b3b1eb448 100644 --- a/upstream_utils/llvm_patches/0019-Remove-call-to-RtlGetLastNtStatus.patch +++ b/upstream_utils/llvm_patches/0018-Remove-call-to-RtlGetLastNtStatus.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Tue, 17 Sep 2024 21:19:52 -0700 -Subject: [PATCH 19/37] Remove call to RtlGetLastNtStatus() +Subject: [PATCH 18/36] Remove call to RtlGetLastNtStatus() --- llvm/lib/Support/ErrorHandling.cpp | 23 ----------------------- diff --git a/upstream_utils/llvm_patches/0020-Prefer-fmtlib.patch b/upstream_utils/llvm_patches/0019-Prefer-fmtlib.patch similarity index 98% rename from upstream_utils/llvm_patches/0020-Prefer-fmtlib.patch rename to upstream_utils/llvm_patches/0019-Prefer-fmtlib.patch index 1d741d0685..a6ec743970 100644 --- a/upstream_utils/llvm_patches/0020-Prefer-fmtlib.patch +++ b/upstream_utils/llvm_patches/0019-Prefer-fmtlib.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sun, 8 May 2022 16:46:20 -0400 -Subject: [PATCH 20/37] Prefer fmtlib +Subject: [PATCH 19/36] Prefer fmtlib --- llvm/lib/Support/ErrorHandling.cpp | 20 ++++++-------------- diff --git a/upstream_utils/llvm_patches/0021-Prefer-wpi-s-fs.h.patch b/upstream_utils/llvm_patches/0020-Prefer-wpi-s-fs.h.patch similarity index 96% rename from upstream_utils/llvm_patches/0021-Prefer-wpi-s-fs.h.patch rename to upstream_utils/llvm_patches/0020-Prefer-wpi-s-fs.h.patch index 5967160f63..69576f03a5 100644 --- a/upstream_utils/llvm_patches/0021-Prefer-wpi-s-fs.h.patch +++ b/upstream_utils/llvm_patches/0020-Prefer-wpi-s-fs.h.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sun, 8 May 2022 16:49:36 -0400 -Subject: [PATCH 21/37] Prefer wpi's fs.h +Subject: [PATCH 20/36] Prefer wpi's fs.h --- llvm/include/llvm/Support/raw_ostream.h | 7 ++----- diff --git a/upstream_utils/llvm_patches/0022-Remove-unused-functions.patch b/upstream_utils/llvm_patches/0021-Remove-unused-functions.patch similarity index 99% rename from upstream_utils/llvm_patches/0022-Remove-unused-functions.patch rename to upstream_utils/llvm_patches/0021-Remove-unused-functions.patch index 2188642a17..e8b3b3a4c4 100644 --- a/upstream_utils/llvm_patches/0022-Remove-unused-functions.patch +++ b/upstream_utils/llvm_patches/0021-Remove-unused-functions.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sun, 8 May 2022 19:16:51 -0400 -Subject: [PATCH 22/37] Remove unused functions +Subject: [PATCH 21/36] Remove unused functions --- llvm/include/llvm/Support/raw_ostream.h | 5 +- diff --git a/upstream_utils/llvm_patches/0023-OS-specific-changes.patch b/upstream_utils/llvm_patches/0022-OS-specific-changes.patch similarity index 97% rename from upstream_utils/llvm_patches/0023-OS-specific-changes.patch rename to upstream_utils/llvm_patches/0022-OS-specific-changes.patch index b17df98e16..b08cf77b4a 100644 --- a/upstream_utils/llvm_patches/0023-OS-specific-changes.patch +++ b/upstream_utils/llvm_patches/0022-OS-specific-changes.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Sun, 8 May 2022 19:30:43 -0400 -Subject: [PATCH 23/37] OS-specific changes +Subject: [PATCH 22/36] OS-specific changes --- llvm/lib/Support/ErrorHandling.cpp | 16 +++++++--------- diff --git a/upstream_utils/llvm_patches/0024-Use-SmallVector-for-UTF-conversion.patch b/upstream_utils/llvm_patches/0023-Use-SmallVector-for-UTF-conversion.patch similarity index 99% rename from upstream_utils/llvm_patches/0024-Use-SmallVector-for-UTF-conversion.patch rename to upstream_utils/llvm_patches/0023-Use-SmallVector-for-UTF-conversion.patch index ea78ec5aa4..bb096a2b05 100644 --- a/upstream_utils/llvm_patches/0024-Use-SmallVector-for-UTF-conversion.patch +++ b/upstream_utils/llvm_patches/0023-Use-SmallVector-for-UTF-conversion.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Mon, 9 May 2022 00:04:30 -0400 -Subject: [PATCH 24/37] Use SmallVector for UTF conversion +Subject: [PATCH 23/36] Use SmallVector for UTF conversion --- llvm/include/llvm/Support/ConvertUTF.h | 6 +++--- diff --git a/upstream_utils/llvm_patches/0025-Prefer-to-use-static-pointers-in-raw_ostream.patch b/upstream_utils/llvm_patches/0024-Prefer-to-use-static-pointers-in-raw_ostream.patch similarity index 95% rename from upstream_utils/llvm_patches/0025-Prefer-to-use-static-pointers-in-raw_ostream.patch rename to upstream_utils/llvm_patches/0024-Prefer-to-use-static-pointers-in-raw_ostream.patch index d81f6a13d8..dd87e46a7b 100644 --- a/upstream_utils/llvm_patches/0025-Prefer-to-use-static-pointers-in-raw_ostream.patch +++ b/upstream_utils/llvm_patches/0024-Prefer-to-use-static-pointers-in-raw_ostream.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Thu, 19 May 2022 00:58:36 -0400 -Subject: [PATCH 25/37] Prefer to use static pointers in raw_ostream +Subject: [PATCH 24/36] Prefer to use static pointers in raw_ostream See #1401 --- diff --git a/upstream_utils/llvm_patches/0026-constexpr-endian-byte-swap.patch b/upstream_utils/llvm_patches/0025-constexpr-endian-byte-swap.patch similarity index 94% rename from upstream_utils/llvm_patches/0026-constexpr-endian-byte-swap.patch rename to upstream_utils/llvm_patches/0025-constexpr-endian-byte-swap.patch index 67ba72a8ca..ed8e269a9f 100644 --- a/upstream_utils/llvm_patches/0026-constexpr-endian-byte-swap.patch +++ b/upstream_utils/llvm_patches/0025-constexpr-endian-byte-swap.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: PJ Reiniger Date: Fri, 1 Mar 2024 11:56:17 -0800 -Subject: [PATCH 26/37] constexpr endian byte swap +Subject: [PATCH 25/36] constexpr endian byte swap --- llvm/include/llvm/Support/Endian.h | 4 +++- diff --git a/upstream_utils/llvm_patches/0027-Copy-type-traits-from-STLExtras.h-into-PointerUnion..patch b/upstream_utils/llvm_patches/0026-Copy-type-traits-from-STLExtras.h-into-PointerUnion..patch similarity index 97% rename from upstream_utils/llvm_patches/0027-Copy-type-traits-from-STLExtras.h-into-PointerUnion..patch rename to upstream_utils/llvm_patches/0026-Copy-type-traits-from-STLExtras.h-into-PointerUnion..patch index d64c7d19b8..28831db7bc 100644 --- a/upstream_utils/llvm_patches/0027-Copy-type-traits-from-STLExtras.h-into-PointerUnion..patch +++ b/upstream_utils/llvm_patches/0026-Copy-type-traits-from-STLExtras.h-into-PointerUnion..patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Wed, 10 Aug 2022 17:07:52 -0700 -Subject: [PATCH 27/37] Copy type traits from STLExtras.h into PointerUnion.h +Subject: [PATCH 26/36] Copy type traits from STLExtras.h into PointerUnion.h --- llvm/include/llvm/ADT/PointerUnion.h | 46 ++++++++++++++++++++++++++++ diff --git a/upstream_utils/llvm_patches/0028-Unused-variable-in-release-mode.patch b/upstream_utils/llvm_patches/0027-Unused-variable-in-release-mode.patch similarity index 94% rename from upstream_utils/llvm_patches/0028-Unused-variable-in-release-mode.patch rename to upstream_utils/llvm_patches/0027-Unused-variable-in-release-mode.patch index 9da7f8677f..8ad8af32c7 100644 --- a/upstream_utils/llvm_patches/0028-Unused-variable-in-release-mode.patch +++ b/upstream_utils/llvm_patches/0027-Unused-variable-in-release-mode.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: Leander Schulten Date: Mon, 10 Jul 2023 00:53:43 +0200 -Subject: [PATCH 28/37] Unused variable in release mode +Subject: [PATCH 27/36] Unused variable in release mode --- llvm/include/llvm/ADT/DenseMap.h | 2 +- diff --git a/upstream_utils/llvm_patches/0029-Use-C-20-bit-header.patch b/upstream_utils/llvm_patches/0028-Use-C-20-bit-header.patch similarity index 99% rename from upstream_utils/llvm_patches/0029-Use-C-20-bit-header.patch rename to upstream_utils/llvm_patches/0028-Use-C-20-bit-header.patch index 87767d948e..770880b1db 100644 --- a/upstream_utils/llvm_patches/0029-Use-C-20-bit-header.patch +++ b/upstream_utils/llvm_patches/0028-Use-C-20-bit-header.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Tue, 11 Jul 2023 22:56:09 -0700 -Subject: [PATCH 29/37] Use C++20 header +Subject: [PATCH 28/36] Use C++20 header --- llvm/include/llvm/ADT/DenseMap.h | 3 +- diff --git a/upstream_utils/llvm_patches/0030-Remove-DenseMap-GTest-printer-test.patch b/upstream_utils/llvm_patches/0029-Remove-DenseMap-GTest-printer-test.patch similarity index 94% rename from upstream_utils/llvm_patches/0030-Remove-DenseMap-GTest-printer-test.patch rename to upstream_utils/llvm_patches/0029-Remove-DenseMap-GTest-printer-test.patch index c7d2302696..f66810259d 100644 --- a/upstream_utils/llvm_patches/0030-Remove-DenseMap-GTest-printer-test.patch +++ b/upstream_utils/llvm_patches/0029-Remove-DenseMap-GTest-printer-test.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Sun, 30 Jul 2023 14:17:37 -0700 -Subject: [PATCH 30/37] Remove DenseMap GTest printer test +Subject: [PATCH 29/36] Remove DenseMap GTest printer test LLVM modifies internal GTest headers to support it, which we can't do. --- diff --git a/upstream_utils/llvm_patches/0031-raw_ostream-Add-SetNumBytesInBuffer.patch b/upstream_utils/llvm_patches/0030-raw_ostream-Add-SetNumBytesInBuffer.patch similarity index 93% rename from upstream_utils/llvm_patches/0031-raw_ostream-Add-SetNumBytesInBuffer.patch rename to upstream_utils/llvm_patches/0030-raw_ostream-Add-SetNumBytesInBuffer.patch index b2e14af00f..801bb60254 100644 --- a/upstream_utils/llvm_patches/0031-raw_ostream-Add-SetNumBytesInBuffer.patch +++ b/upstream_utils/llvm_patches/0030-raw_ostream-Add-SetNumBytesInBuffer.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: Peter Johnson Date: Sun, 29 Oct 2023 23:00:08 -0700 -Subject: [PATCH 31/37] raw_ostream: Add SetNumBytesInBuffer +Subject: [PATCH 30/36] raw_ostream: Add SetNumBytesInBuffer --- llvm/include/llvm/Support/raw_ostream.h | 5 +++++ diff --git a/upstream_utils/llvm_patches/0032-raw_ostream-Replace-errnoAsErrorCode.patch b/upstream_utils/llvm_patches/0031-raw_ostream-Replace-errnoAsErrorCode.patch similarity index 94% rename from upstream_utils/llvm_patches/0032-raw_ostream-Replace-errnoAsErrorCode.patch rename to upstream_utils/llvm_patches/0031-raw_ostream-Replace-errnoAsErrorCode.patch index c0a79ca629..bb0ca0261a 100644 --- a/upstream_utils/llvm_patches/0032-raw_ostream-Replace-errnoAsErrorCode.patch +++ b/upstream_utils/llvm_patches/0031-raw_ostream-Replace-errnoAsErrorCode.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Tue, 17 Sep 2024 15:30:31 -0700 -Subject: [PATCH 32/37] raw_ostream: Replace errnoAsErrorCode() +Subject: [PATCH 31/36] raw_ostream: Replace errnoAsErrorCode() --- llvm/lib/Support/raw_ostream.cpp | 4 ++-- diff --git a/upstream_utils/llvm_patches/0033-type_traits.h-Add-is_constexpr.patch b/upstream_utils/llvm_patches/0032-type_traits.h-Add-is_constexpr.patch similarity index 94% rename from upstream_utils/llvm_patches/0033-type_traits.h-Add-is_constexpr.patch rename to upstream_utils/llvm_patches/0032-type_traits.h-Add-is_constexpr.patch index 51d178286f..5c5e3208b9 100644 --- a/upstream_utils/llvm_patches/0033-type_traits.h-Add-is_constexpr.patch +++ b/upstream_utils/llvm_patches/0032-type_traits.h-Add-is_constexpr.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: Peter Johnson Date: Sat, 2 Dec 2023 15:21:32 -0800 -Subject: [PATCH 33/37] type_traits.h: Add is_constexpr() +Subject: [PATCH 32/36] type_traits.h: Add is_constexpr() --- llvm/include/llvm/Support/type_traits.h | 5 +++++ diff --git a/upstream_utils/llvm_patches/0034-Remove-auto-conversion-from-raw_ostream.patch b/upstream_utils/llvm_patches/0033-Remove-auto-conversion-from-raw_ostream.patch similarity index 95% rename from upstream_utils/llvm_patches/0034-Remove-auto-conversion-from-raw_ostream.patch rename to upstream_utils/llvm_patches/0033-Remove-auto-conversion-from-raw_ostream.patch index 571783f649..2a326fbfdc 100644 --- a/upstream_utils/llvm_patches/0034-Remove-auto-conversion-from-raw_ostream.patch +++ b/upstream_utils/llvm_patches/0033-Remove-auto-conversion-from-raw_ostream.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Sun, 17 Mar 2024 14:51:11 -0700 -Subject: [PATCH 34/37] Remove auto-conversion from raw_ostream +Subject: [PATCH 33/36] Remove auto-conversion from raw_ostream --- llvm/lib/Support/raw_ostream.cpp | 11 +---------- diff --git a/upstream_utils/llvm_patches/0035-Add-SmallVector-erase_if.patch b/upstream_utils/llvm_patches/0034-Add-SmallVector-erase_if.patch similarity index 95% rename from upstream_utils/llvm_patches/0035-Add-SmallVector-erase_if.patch rename to upstream_utils/llvm_patches/0034-Add-SmallVector-erase_if.patch index 357fadc03e..8e7500976d 100644 --- a/upstream_utils/llvm_patches/0035-Add-SmallVector-erase_if.patch +++ b/upstream_utils/llvm_patches/0034-Add-SmallVector-erase_if.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Tue, 18 Jun 2024 09:07:33 -0700 -Subject: [PATCH 35/37] Add SmallVector erase_if() +Subject: [PATCH 34/36] Add SmallVector erase_if() --- llvm/include/llvm/ADT/SmallVector.h | 8 ++++++++ diff --git a/upstream_utils/llvm_patches/0036-Fix-AlignedCharArrayUnion-for-C-23.patch b/upstream_utils/llvm_patches/0035-Fix-AlignedCharArrayUnion-for-C-23.patch similarity index 96% rename from upstream_utils/llvm_patches/0036-Fix-AlignedCharArrayUnion-for-C-23.patch rename to upstream_utils/llvm_patches/0035-Fix-AlignedCharArrayUnion-for-C-23.patch index b71b47d0e8..7203296dba 100644 --- a/upstream_utils/llvm_patches/0036-Fix-AlignedCharArrayUnion-for-C-23.patch +++ b/upstream_utils/llvm_patches/0035-Fix-AlignedCharArrayUnion-for-C-23.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Sat, 13 Jul 2024 15:24:30 -0700 -Subject: [PATCH 36/37] Fix AlignedCharArrayUnion for C++23 +Subject: [PATCH 35/36] Fix AlignedCharArrayUnion for C++23 --- llvm/include/llvm/Support/AlignOf.h | 14 +++++--------- diff --git a/upstream_utils/llvm_patches/0037-Fix-minIntN-and-maxIntN-assertions.patch b/upstream_utils/llvm_patches/0036-Fix-minIntN-and-maxIntN-assertions.patch similarity index 95% rename from upstream_utils/llvm_patches/0037-Fix-minIntN-and-maxIntN-assertions.patch rename to upstream_utils/llvm_patches/0036-Fix-minIntN-and-maxIntN-assertions.patch index f9ca8d5035..f9a70c52d7 100644 --- a/upstream_utils/llvm_patches/0037-Fix-minIntN-and-maxIntN-assertions.patch +++ b/upstream_utils/llvm_patches/0036-Fix-minIntN-and-maxIntN-assertions.patch @@ -1,7 +1,7 @@ From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Mon, 23 Dec 2024 22:56:29 -0800 -Subject: [PATCH 37/37] Fix minIntN() and maxIntN() assertions +Subject: [PATCH 36/36] Fix minIntN() and maxIntN() assertions --- llvm/include/llvm/Support/MathExtras.h | 4 ++-- diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/EpochTracker.h b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/EpochTracker.h index 8cb122a7d5..037a70bf27 100644 --- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/EpochTracker.h +++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/EpochTracker.h @@ -21,7 +21,7 @@ namespace wpi { -#ifndef NDEBUG //ifndef LLVM_ENABLE_ABI_BREAKING_CHECKS +#if LLVM_ENABLE_ABI_BREAKING_CHECKS #define LLVM_DEBUGEPOCHBASE_HANDLEBASE_EMPTYBASE /// A base class for data structure classes wishing to make iterators From b82d204525fa991db6f295634c8a324a2a7cdbe7 Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Tue, 6 Jan 2026 16:29:45 -0800 Subject: [PATCH 13/27] Update vendordep frcYear to 2026 (#8552) --- romiVendordep/RomiVendordep.json | 2 +- wpilibNewCommands/WPILibNewCommands.json | 2 +- xrpVendordep/XRPVendordep.json | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/romiVendordep/RomiVendordep.json b/romiVendordep/RomiVendordep.json index 90cdc120ea..c37414782c 100644 --- a/romiVendordep/RomiVendordep.json +++ b/romiVendordep/RomiVendordep.json @@ -3,7 +3,7 @@ "name": "Romi-Vendordep", "version": "1.0.0", "uuid": "1010372a-b446-46f4-b229-61e53a26a7dc", - "frcYear": "2026beta", + "frcYear": "2026", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ diff --git a/wpilibNewCommands/WPILibNewCommands.json b/wpilibNewCommands/WPILibNewCommands.json index 7ebc95424b..d90630e97e 100644 --- a/wpilibNewCommands/WPILibNewCommands.json +++ b/wpilibNewCommands/WPILibNewCommands.json @@ -3,7 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2026beta", + "frcYear": "2026", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ diff --git a/xrpVendordep/XRPVendordep.json b/xrpVendordep/XRPVendordep.json index 1498cac0ec..3febfb34ce 100644 --- a/xrpVendordep/XRPVendordep.json +++ b/xrpVendordep/XRPVendordep.json @@ -3,7 +3,7 @@ "name": "XRP-Vendordep", "version": "1.0.0", "uuid": "1571a1a5-ed3f-4f07-b7eb-b2beb17394e0", - "frcYear": "2026beta", + "frcYear": "2026", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ From 18249badc06cdabc238503b7c443cad6fdc1854e Mon Sep 17 00:00:00 2001 From: Kevin-OConnor Date: Mon, 12 Jan 2026 22:07:51 -0500 Subject: [PATCH 14/27] Add 2026 game specifics (#8558) Co-authored-by: Peter Johnson Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com> --- .../wpi/first/apriltag/AprilTagFields.java | 8 +- .../main/native/cpp/AprilTagFieldLayout.cpp | 8 + .../include/frc/apriltag/AprilTagFields.h | 6 +- .../first/apriltag/2026-rebuilt-andymark.csv | 33 + .../first/apriltag/2026-rebuilt-andymark.json | 584 ++++++++++++++++++ .../first/apriltag/2026-rebuilt-welded.csv | 33 + .../first/apriltag/2026-rebuilt-welded.json | 584 ++++++++++++++++++ .../java/edu/wpi/first/fields/Fields.java | 5 +- fieldImages/src/main/native/cpp/fields.cpp | 2 + .../main/native/include/fields/2026-rebuilt.h | 12 + .../edu/wpi/first/fields/2026-field.png | Bin 0 -> 760228 bytes .../edu/wpi/first/fields/2026-rebuilt.json | 19 + glass/src/lib/native/cpp/other/Field2D.cpp | 2 +- 13 files changed, 1290 insertions(+), 6 deletions(-) create mode 100644 apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.csv create mode 100644 apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.json create mode 100644 apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.csv create mode 100644 apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json create mode 100644 fieldImages/src/main/native/include/fields/2026-rebuilt.h create mode 100644 fieldImages/src/main/native/resources/edu/wpi/first/fields/2026-field.png create mode 100644 fieldImages/src/main/native/resources/edu/wpi/first/fields/2026-rebuilt.json diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java index 2050ed3e08..883febb6c8 100644 --- a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java +++ b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java @@ -17,13 +17,17 @@ public enum AprilTagFields { /** 2025 Reefscape Welded (see TU 12). */ k2025ReefscapeWelded("2025-reefscape-welded.json"), /** 2025 Reefscape AndyMark (see TU 12). */ - k2025ReefscapeAndyMark("2025-reefscape-andymark.json"); + k2025ReefscapeAndyMark("2025-reefscape-andymark.json"), + /** 2026 Rebuilt Welded. */ + k2026RebuiltWelded("2026-rebuilt-welded.json"), + /** 2026 Rebuilt AndyMark. */ + k2026RebuiltAndymark("2026-rebuilt-andymark.json"); /** Base resource directory. */ public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/"; /** Alias to the current game. */ - public static final AprilTagFields kDefaultField = k2025ReefscapeWelded; + public static final AprilTagFields kDefaultField = k2026RebuiltWelded; /** Resource filename. */ public final String m_resourceFile; diff --git a/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp b/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp index 8388210b25..6457729d4a 100644 --- a/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp +++ b/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp @@ -135,6 +135,8 @@ std::string_view GetResource_2023_chargedup_json(); std::string_view GetResource_2024_crescendo_json(); std::string_view GetResource_2025_reefscape_welded_json(); std::string_view GetResource_2025_reefscape_andymark_json(); +std::string_view GetResource_2026_rebuilt_welded_json(); +std::string_view GetResource_2026_rebuilt_andymark_json(); } // namespace frc @@ -156,6 +158,12 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) { case AprilTagField::k2025ReefscapeAndyMark: fieldString = GetResource_2025_reefscape_andymark_json(); break; + case AprilTagField::k2026RebuiltWelded: + fieldString = GetResource_2026_rebuilt_welded_json(); + break; + case AprilTagField::k2026RebuiltAndyMark: + fieldString = GetResource_2026_rebuilt_andymark_json(); + break; case AprilTagField::kNumFields: throw std::invalid_argument("Invalid Field"); } diff --git a/apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h b/apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h index 2e1f5cc795..732d0279fd 100644 --- a/apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h +++ b/apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h @@ -24,8 +24,12 @@ enum class AprilTagField { k2025ReefscapeAndyMark, /// 2025 Reefscape Welded (see TU12). k2025ReefscapeWelded, + /// 2026 Rebuilt Andymark. + k2026RebuiltAndyMark, + /// 2026 Rebuilt Welded. + k2026RebuiltWelded, /// Alias to the current game. - kDefaultField = k2025ReefscapeWelded, + kDefaultField = k2026RebuiltWelded, // This is a placeholder for denoting the last supported field. This should // always be the last entry in the enum and should not be used by users diff --git a/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.csv b/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.csv new file mode 100644 index 0000000000..da80d5fa95 --- /dev/null +++ b/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.csv @@ -0,0 +1,33 @@ +ID,X,Y,Z,Z-Rotation,X-Rotation +1,467.085,291.791,35,180,0 +2,468.559,182.077,44.25,90,0 +3,444.797,172.321,44.25,180,0 +4,444.797,158.321,44.25,180,0 +5,468.559,134.565,44.25,270,0 +6,467.085,24.851,35,180,0 +7,470.034,24.851,35,0,0 +8,482.559,134.565,44.25,270,0 +9,492.329,144.321,44.25,0,0 +10,492.329,158.321,44.25,0,0 +11,482.559,182.077,44.25,90,0 +12,470.034,291.791,35,0,0 +13,649.58,291.02,21.75,180,0 +14,649.58,274.02,21.75,180,0 +15,649.566,169.783,21.75,180,0 +16,649.566,152.783,21.75,180,0 +17,183.034,24.851,35,0,0 +18,181.559,134.565,44.25,270,0 +19,205.321,144.321,44.25,0,0 +20,205.321,158.321,44.25,0,0 +21,181.559,182.077,44.25,90,0 +22,183.034,291.791,35,0,0 +23,180.085,291.791,35,180,0 +24,167.559,182.077,44.25,90,0 +25,157.79,172.321,44.25,180,0 +26,157.79,158.321,44.25,180,0 +27,167.559,134.565,44.25,270,0 +28,180.085,24.851,35,180,0 +29,0.539,25.621,21.75,0,0 +30,0.539,42.621,21.75,0,0 +31,0.553,146.858,21.75,0,0 +32,0.553,163.858,21.75,0,0 diff --git a/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.json b/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.json new file mode 100644 index 0000000000..ecc03907da --- /dev/null +++ b/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.json @@ -0,0 +1,584 @@ +{ + "tags": [ + { + "ID": 1, + "pose": { + "translation": { + "x": 11.863959, + "y": 7.411491399999999, + "z": 0.889 + }, + "rotation": { + "quaternion": { + "W": 6.123233995736766e-17, + "X": 0.0, + "Y": 0.0, + "Z": 1.0 + } + } + } + }, + { + "ID": 2, + "pose": { + "translation": { + "x": 11.9013986, + "y": 4.6247558, + "z": 1.12395 + }, + "rotation": { + "quaternion": { + "W": 0.7071067811865476, + "X": 0.0, + "Y": 0.0, + "Z": 0.7071067811865476 + } + } + } + }, + { + "ID": 3, + "pose": { + "translation": { + "x": 11.2978438, + "y": 4.3769534, + "z": 1.12395 + }, + "rotation": { + "quaternion": { + "W": 6.123233995736766e-17, + "X": 0.0, + "Y": 0.0, + "Z": 1.0 + } + } + } + }, + { + "ID": 4, + "pose": { + "translation": { + "x": 11.2978438, + "y": 4.0213534, + "z": 1.12395 + }, + "rotation": { + "quaternion": { + "W": 6.123233995736766e-17, + "X": 0.0, + "Y": 0.0, + "Z": 1.0 + } + } + } + }, + { + "ID": 5, + "pose": { + "translation": { + "x": 11.9013986, + "y": 3.417951, + "z": 1.12395 + }, + "rotation": { + "quaternion": { + "W": -0.7071067811865475, + "X": -0.0, + "Y": 0.0, + "Z": 0.7071067811865476 + } + } + } + }, + { + "ID": 6, + "pose": { + "translation": { + "x": 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b/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.csv new file mode 100644 index 0000000000..39f20f6bae --- /dev/null +++ b/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.csv @@ -0,0 +1,33 @@ +ID,X,Y,Z,Z-Rotation,X-Rotation +1,467.637,292.314,35,180,0 +2,469.111,182.6,44.25,90,0 +3,445.349,172.844,44.25,180,0 +4,445.349,158.844,44.25,180,0 +5,469.111,135.088,44.25,270,0 +6,467.637,25.374,35,180,0 +7,470.586,25.374,35,0,0 +8,483.111,135.088,44.25,270,0 +9,492.881,144.844,44.25,0,0 +10,492.881,158.844,44.25,0,0 +11,483.111,182.6,44.25,90,0 +12,470.586,292.314,35,0,0 +13,650.918,291.469,21.75,180,0 +14,650.918,274.469,21.75,180,0 +15,650.904,170.219,21.75,180,0 +16,650.904,153.219,21.75,180,0 +17,183.586,25.374,35,0,0 +18,182.111,135.088,44.25,270,0 +19,205.873,144.844,44.25,0,0 +20,205.873,158.844,44.25,0,0 +21,182.111,182.6,44.25,90,0 +22,183.586,292.314,35,0,0 +23,180.637,292.314,35,180,0 +24,168.111,182.6,44.25,90,0 +25,158.341,172.844,44.25,180,0 +26,158.341,158.844,44.25,180,0 +27,168.111,135.088,44.25,270,0 +28,180.637,25.374,35,180,0 +29,0.305,26.219,21.75,0,0 +30,0.305,43.219,21.75,0,0 +31,0.318,147.469,21.75,0,0 +32,0.318,164.469,21.75,0,0 diff --git a/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json b/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json new file mode 100644 index 0000000000..8c5a52de87 --- /dev/null +++ b/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json @@ -0,0 +1,584 @@ +{ + "tags": [ + { + "ID": 1, + "pose": { + "translation": { + "x": 11.8779798, + "y": 7.4247756, + "z": 0.889 + }, + "rotation": { + "quaternion": { + "W": 6.123233995736766e-17, + "X": 0.0, + "Y": 0.0, + "Z": 1.0 + } + } + } + }, + { + "ID": 2, + "pose": { + "translation": { + "x": 11.9154194, + "y": 4.638039999999999, + "z": 1.12395 + }, + "rotation": { + "quaternion": { + "W": 0.7071067811865476, + "X": 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b/fieldImages/src/main/java/edu/wpi/first/fields/Fields.java @@ -17,12 +17,13 @@ public enum Fields { k2022RapidReact("2022-rapidreact.json"), k2023ChargedUp("2023-chargedup.json"), k2024Crescendo("2024-crescendo.json"), - k2025Reefscape("2025-reefscape.json"); + k2025Reefscape("2025-reefscape.json"), + k2026Rebuilt("2026-rebuilt.json"); public static final String kBaseResourceDir = "/edu/wpi/first/fields/"; /** Alias to the current game. */ - public static final Fields kDefaultField = k2025Reefscape; + public static final Fields kDefaultField = k2026Rebuilt; public final String m_resourceFile; diff --git a/fieldImages/src/main/native/cpp/fields.cpp b/fieldImages/src/main/native/cpp/fields.cpp index 06e5f8ed40..b4e165cc33 100644 --- a/fieldImages/src/main/native/cpp/fields.cpp +++ b/fieldImages/src/main/native/cpp/fields.cpp @@ -17,10 +17,12 @@ #include "fields/2023-chargedup.h" #include "fields/2024-crescendo.h" #include "fields/2025-reefscape.h" +#include "fields/2026-rebuilt.h" using namespace fields; static const Field kFields[] = { + {"2026 Rebuilt", GetResource_2026_rebuilt_json, GetResource_2026_field_png}, {"2025 Reefscape", GetResource_2025_reefscape_json, GetResource_2025_field_png}, {"2024 Crescendo", GetResource_2024_crescendo_json, diff --git a/fieldImages/src/main/native/include/fields/2026-rebuilt.h b/fieldImages/src/main/native/include/fields/2026-rebuilt.h new file mode 100644 index 0000000000..acdc881001 --- /dev/null +++ b/fieldImages/src/main/native/include/fields/2026-rebuilt.h @@ -0,0 +1,12 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#pragma once + +#include + +namespace fields { +std::string_view GetResource_2026_rebuilt_json(); +std::string_view GetResource_2026_field_png(); +} // namespace fields diff --git 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zn$#4C#Ds)-lI;lGN1dHjGXUv^@(R>eWtvfTId^u`F-}epoC6eO*Gyqk%hV1In3N>= zP*S>bbz?_IM5n3~(k&>ts-HwI?uN#dM8$zJKmkoZvf zK4`Z68#A-c1r&Q>xHv7-C?ng-1Ff0jGfoMD06%*JyMzKw#scIvuDBAplBW~WavlESM1o4J%eoJ8*e%DJN;`=?A54zmmj3w7uO2;~WEHYwoYV>-`k zioxKiAF~9C{Mov)M3I8EMltwP2-hfV$2og5tow)%WB=$VP6BC_Lmjrpmh9jZ8-Pj> z_VQ~b{PDUe`D8Ia_kNf;1*3<3;OGeYRo&(O$4xD2pG9P#nnsXg6Krm5RP|oo+~k_R zJTf|J&>&l7{j=negNHUphKqk4abR=+gyr|n<2ADv(=a@glewWf9#B(3f`Y$%V(ZGY z0agKMVn7Tbrhz{mZWy6XPQz@geh}A$SWK`e_Tv|M*pAeEio!>zPb_<;?czK=J#P{i z-bf%tFj06U6@J$e^7-zO8p|mBDQAb*l>}^)1|$WZ4u$=uOLmQw<>lOHtCQ-_`cB_M zR|8j_`AeZFfe9mXApV3QYO+|5!chKfoEFFhpVHG zDs_zRqLZwS`F%-lnRkQvUSX9`b2|8W27l8Nr~m8nfDa;IP%U_Hb(e6g;rMv@TSr<7 zOUYFYN=*pDQr6xt(vU3^-G0D_-pj;K>uncbJ1M9wglj zun#CdufcqZpkCV|9U$RIujQ|D5oAB^SLq3%j;*())}, m_height{storage.GetFloat("height", kDefaultHeight.to())}, From 812a1b8e1aedf1c21fc2dfc52759279bb0236e77 Mon Sep 17 00:00:00 2001 From: Dave Oleksy Date: Wed, 14 Jan 2026 22:14:20 -0600 Subject: [PATCH 15/27] [hal] Add 2026 REV products for usage reporting (#8567) Adding REV Easy Swerve and MAXSpline Encoder to usage reporting. Co-authored-by: Dave Oleksy --- hal/src/generate/Instances.txt | 1 + hal/src/generate/ResourceType.txt | 1 + hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java | 4 ++++ hal/src/generated/main/native/include/hal/FRCUsageReporting.h | 2 ++ hal/src/generated/main/native/include/hal/UsageReporting.h | 2 ++ 5 files changed, 10 insertions(+) diff --git a/hal/src/generate/Instances.txt b/hal/src/generate/Instances.txt index bbb9dadb43..93b09f78e4 100644 --- a/hal/src/generate/Instances.txt +++ b/hal/src/generate/Instances.txt @@ -36,6 +36,7 @@ kRobotDriveSwerve_YAGSL = 15 kRobotDriveSwerve_CTRE = 16 kRobotDriveSwerve_MaxSwerve = 17 kRobotDriveSwerve_AdvantageKit = 18 +kRobotDriveSwerve_EasySwerve = 19 kDriverStationCIO_Analog = 1 kDriverStationCIO_DigitalIn = 2 kDriverStationCIO_DigitalOut = 3 diff --git a/hal/src/generate/ResourceType.txt b/hal/src/generate/ResourceType.txt index f572a44eb8..7e6d58631e 100644 --- a/hal/src/generate/ResourceType.txt +++ b/hal/src/generate/ResourceType.txt @@ -134,3 +134,4 @@ kResourceType_PoseEstimator3d = 132 kResourceType_LinearSystemLoop = 133 kResourceType_LumynLabs_ConnectorX = 134 kResourceType_LumynLabs_ConnectorXAnimate = 135 +kResourceType_RevMAXSplineEncoder = 136 diff --git a/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java b/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java index fdb51a83d2..d2b5ebd93a 100644 --- a/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java +++ b/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java @@ -291,6 +291,8 @@ public final class FRCNetComm { public static final int kResourceType_LumynLabs_ConnectorX = 134; /** kResourceType_LumynLabs_ConnectorXAnimate = 135. */ public static final int kResourceType_LumynLabs_ConnectorXAnimate = 135; + /** kResourceType_RevMAXSplineEncoder = 136. */ + public static final int kResourceType_RevMAXSplineEncoder = 136; } /** @@ -377,6 +379,8 @@ public final class FRCNetComm { public static final int kRobotDriveSwerve_MaxSwerve = 17; /** kRobotDriveSwerve_AdvantageKit = 18. */ public static final int kRobotDriveSwerve_AdvantageKit = 18; + /** kRobotDriveSwerve_EasySwerve = 19. */ + public static final int kRobotDriveSwerve_EasySwerve = 19; /** kDriverStationCIO_Analog = 1. */ public static final int kDriverStationCIO_Analog = 1; /** kDriverStationCIO_DigitalIn = 2. */ diff --git a/hal/src/generated/main/native/include/hal/FRCUsageReporting.h b/hal/src/generated/main/native/include/hal/FRCUsageReporting.h index 309dbc49d3..6d6c2b01b3 100644 --- a/hal/src/generated/main/native/include/hal/FRCUsageReporting.h +++ b/hal/src/generated/main/native/include/hal/FRCUsageReporting.h @@ -187,6 +187,7 @@ namespace HALUsageReporting { kResourceType_LinearSystemLoop = 133, kResourceType_LumynLabs_ConnectorX = 134, kResourceType_LumynLabs_ConnectorXAnimate = 135, + kResourceType_RevMAXSplineEncoder = 136, }; enum tInstances : int32_t { kLanguage_LabVIEW = 1, @@ -227,6 +228,7 @@ namespace HALUsageReporting { kRobotDriveSwerve_CTRE = 16, kRobotDriveSwerve_MaxSwerve = 17, kRobotDriveSwerve_AdvantageKit = 18, + kRobotDriveSwerve_EasySwerve = 19, kDriverStationCIO_Analog = 1, kDriverStationCIO_DigitalIn = 2, kDriverStationCIO_DigitalOut = 3, diff --git a/hal/src/generated/main/native/include/hal/UsageReporting.h b/hal/src/generated/main/native/include/hal/UsageReporting.h index b0d5295577..1230e187f6 100644 --- a/hal/src/generated/main/native/include/hal/UsageReporting.h +++ b/hal/src/generated/main/native/include/hal/UsageReporting.h @@ -156,6 +156,7 @@ typedef enum kResourceType_LinearSystemLoop = 133, kResourceType_LumynLabs_ConnectorX = 134, kResourceType_LumynLabs_ConnectorXAnimate = 135, + kResourceType_RevMAXSplineEncoder = 136, // kResourceType_MaximumID = 255, } tResourceType; @@ -200,6 +201,7 @@ typedef enum kRobotDriveSwerve_CTRE = 16, kRobotDriveSwerve_MaxSwerve = 17, kRobotDriveSwerve_AdvantageKit = 18, + kRobotDriveSwerve_EasySwerve = 19, kDriverStationCIO_Analog = 1, kDriverStationCIO_DigitalIn = 2, kDriverStationCIO_DigitalOut = 3, From 9e1258440b7953af31fe53d6081112c033a9869b Mon Sep 17 00:00:00 2001 From: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com> Date: Wed, 14 Jan 2026 20:16:24 -0800 Subject: [PATCH 16/27] [wpimath] Fix Rotation3d interpolation and document extrinsic vs intrinsic (#8544) Documents the extrinsic vs intrinsic semantics of `plus()` and `minus()`. (`rotateBy()` was documented in [a previous PR](https://github.com/wpilibsuite/allwpilib/pull/5508)) Fixes usage of `plus()` and `minus()` in `Rotation3d.interpolate()`. (Fixes #8523) Fixes incorrect usages of `plus()`, `minus()`, and `rotateBy()` throughout `Odometry3d`. Adds explanatory comments for some `plus()`, `minus()`, and `rotateBy()` operations. Fixes `TimeInterpolatableBuffer` not using twists for `Pose3d` (this was just because I happened to notice it, it isn't really related to the PR) To check all of our usages of `plus()`, `minus()`, and `rotateBy()`, I marked them as deprecated, checked compile errors from `./gradlew compileJava`, and then undeprecated them. You can see all of the spots that showed up (at least on the Java side) by viewing the diff for 241109c. I wanted to present this alternative to #8526 because the change has its own quirks, there's little time before kickoff, and there would be no code-side warning to teams (and mentors) already used to the current behavior. --- .../first/math/geometry/CoordinateSystem.java | 26 ++++- .../edu/wpi/first/math/geometry/Pose2d.java | 2 +- .../edu/wpi/first/math/geometry/Pose3d.java | 5 +- .../wpi/first/math/geometry/Rotation2d.java | 11 +++ .../wpi/first/math/geometry/Rotation3d.java | 89 +++++++++++++++-- .../wpi/first/math/geometry/Transform2d.java | 7 +- .../wpi/first/math/geometry/Transform3d.java | 12 ++- .../wpi/first/math/kinematics/Odometry.java | 17 +++- .../wpi/first/math/kinematics/Odometry3d.java | 27 ++++- .../include/frc/geometry/CoordinateSystem.h | 26 ++++- .../main/native/include/frc/geometry/Pose2d.h | 2 +- .../main/native/include/frc/geometry/Pose3d.h | 5 +- .../native/include/frc/geometry/Rotation2d.h | 13 +++ .../native/include/frc/geometry/Rotation3d.h | 99 ++++++++++++++++++- .../native/include/frc/geometry/Transform2d.h | 7 +- .../native/include/frc/geometry/Transform3d.h | 11 ++- .../interpolation/TimeInterpolatableBuffer.h | 21 +++- .../native/include/frc/kinematics/Odometry.h | 14 ++- .../include/frc/kinematics/Odometry3d.h | 24 ++++- .../first/math/geometry/Rotation2dTest.java | 10 ++ .../first/math/geometry/Rotation3dTest.java | 43 ++++++++ .../DifferentialDriveOdometry3dTest.java | 19 ++++ .../MecanumDriveOdometry3dTest.java | 18 ++++ .../kinematics/SwerveDriveOdometry3dTest.java | 18 ++++ .../native/cpp/geometry/Rotation2dTest.cpp | 9 ++ .../native/cpp/geometry/Rotation3dTest.cpp | 43 ++++++++ .../DifferentialDriveOdometry3dTest.cpp | 15 +++ .../kinematics/MecanumDriveOdometry3dTest.cpp | 16 +++ .../kinematics/SwerveDriveOdometry3dTest.cpp | 15 +++ 29 files changed, 561 insertions(+), 63 deletions(-) diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/CoordinateSystem.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/CoordinateSystem.java index 9e827c3e48..95788c7798 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/geometry/CoordinateSystem.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/CoordinateSystem.java @@ -16,7 +16,7 @@ public class CoordinateSystem { private static final CoordinateSystem m_ned = new CoordinateSystem(CoordinateAxis.N(), CoordinateAxis.E(), CoordinateAxis.D()); - // Rotation from this coordinate system to NWU coordinate system + // Rotation from this coordinate system to NWU coordinate system when applied extrinsically private final Rotation3d m_rotation; /** @@ -85,7 +85,8 @@ public class CoordinateSystem { */ public static Translation3d convert( Translation3d translation, CoordinateSystem from, CoordinateSystem to) { - return translation.rotateBy(from.m_rotation.minus(to.m_rotation)); + // Convert to NWU, then convert to the new coordinate system + return translation.rotateBy(from.m_rotation).rotateBy(to.m_rotation.unaryMinus()); } /** @@ -98,7 +99,8 @@ public class CoordinateSystem { */ public static Rotation3d convert( Rotation3d rotation, CoordinateSystem from, CoordinateSystem to) { - return rotation.rotateBy(from.m_rotation.minus(to.m_rotation)); + // Convert to NWU, then convert to the new coordinate system + return rotation.rotateBy(from.m_rotation).rotateBy(to.m_rotation.unaryMinus()); } /** @@ -124,9 +126,23 @@ public class CoordinateSystem { */ public static Transform3d convert( Transform3d transform, CoordinateSystem from, CoordinateSystem to) { - var coordRot = from.m_rotation.minus(to.m_rotation); + // coordRot is the rotation that converts between the coordinate systems when applied + // extrinsically. It first converts to NWU, then converts to the new coordinate system. + var coordRot = from.m_rotation.rotateBy(to.m_rotation.unaryMinus()); + // The new rotation is the extrinsic rotation from convert(zero) to + // convert(transformRot). That is, applying convertedRot extrinsically to + // convert(zero) produces convert(transformRot). In the below snippet, we + // use matrix notation, so rotA rotB applies rotA extrinsically to rotB. + // + // convertedRot convert(zero) = convert(transformRot) + // convertedRot = convert(transformRot) convert(zero)⁻¹ + // = (coordRot transformRot) (coordRot zero)⁻¹ + // = (coordRot transformRot) coordRot⁻¹ + // + // In code, the equivalent for rotA rotB is rotB.rotateBy(rotA) (note the + // change in order), and the equivalent for rot⁻¹ is rot.unaryMinus(). return new Transform3d( convert(transform.getTranslation(), from, to), - coordRot.unaryMinus().plus(transform.getRotation().rotateBy(coordRot))); + coordRot.unaryMinus().rotateBy(transform.getRotation().rotateBy(coordRot))); } } diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java index 4a84ef6543..4b80cc4801 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java @@ -220,7 +220,7 @@ public class Pose2d implements Interpolatable, ProtobufSerializable, Str public Pose2d transformBy(Transform2d other) { return new Pose2d( m_translation.plus(other.getTranslation().rotateBy(m_rotation)), - other.getRotation().plus(m_rotation)); + other.getRotation().rotateBy(m_rotation)); } /** diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java index 20204235bc..ca3a8ebab5 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java @@ -254,9 +254,12 @@ public class Pose3d implements Interpolatable, ProtobufSerializable, Str * @return The transformed pose. */ public Pose3d transformBy(Transform3d other) { + // Rotating the transform's rotation by the pose's rotation extrinsically is equivalent to + // rotating the pose's rotation by the transform's rotation intrinsically. (We define transforms + // as being applied intrinsically.) return new Pose3d( m_translation.plus(other.getTranslation().rotateBy(m_rotation)), - other.getRotation().plus(m_rotation)); + other.getRotation().rotateBy(m_rotation)); } /** diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java index 2d4206b8c6..01ad00cb1b 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java @@ -275,6 +275,17 @@ public class Rotation2d m_cos * other.m_cos - m_sin * other.m_sin, m_cos * other.m_sin + m_sin * other.m_cos); } + /** + * Returns the current rotation relative to the given rotation. + * + * @param other The rotation describing the orientation of the new coordinate frame that the + * current rotation will be converted into. + * @return The current rotation relative to the new orientation of the coordinate frame. + */ + public Rotation2d relativeTo(Rotation2d other) { + return rotateBy(other.unaryMinus()); + } + /** * Returns matrix representation of this rotation. * diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java index 5d3f479a97..46a258e117 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java @@ -26,7 +26,49 @@ import edu.wpi.first.util.protobuf.ProtobufSerializable; import edu.wpi.first.util.struct.StructSerializable; import java.util.Objects; -/** A rotation in a 3D coordinate frame represented by a quaternion. */ +/** + * A rotation in a 3D coordinate frame, represented by a quaternion. Note that unlike 2D rotations, + * 3D rotations are not always commutative, so changing the order of rotations changes the result. + * + *

As an example of the order of rotations mattering, suppose we have a card that looks like + * this: + * + * 

+ *          ┌───┐        ┌───┐
+ *          │ X │        │ x │
+ *   Front: │ | │  Back: │ · │
+ *          │ | │        │ · │
+ *          └───┘        └───┘
+ *
+ * + *

If we rotate 90º clockwise around the axis into the page, then flip around the left/right + * axis, we get one result: + * + * 

+ *   ┌───┐
+ *   │ X │   ┌───────┐   ┌───────┐
+ *   │ | │ → │------X│ → │······x│
+ *   │ | │   └───────┘   └───────┘
+ *   └───┘
+ *
+ * + *

If we flip around the left/right axis, then rotate 90º clockwise around the axis into the + * page, we get a different result: + * + * 

+ *   ┌───┐   ┌───┐
+ *   │ X │   │ · │   ┌───────┐
+ *   │ | │ → │ · │ → │x······│
+ *   │ | │   │ x │   └───────┘
+ *   └───┘   └───┘
+ *
+ * + *

Because order matters for 3D rotations, we need to distinguish between extrinsic + * rotations and intrinsic rotations. Rotating extrinsically means rotating around the + * global axes, while rotating intrinsically means rotating from the perspective of the other + * rotation. A neat property is that applying a series of rotations extrinsically is the same as + * applying the same series in the opposite order intrinsically. + */ @JsonIgnoreProperties(ignoreUnknown = true) @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE) public class Rotation3d @@ -286,9 +328,17 @@ public class Rotation3d } /** - * Adds two rotations together. + * Adds two rotations together. The other rotation is applied extrinsically to this rotation, + * which is equivalent to this rotation being applied intrinsically to the other rotation. See the + * class comment for definitions of extrinsic and intrinsic rotations. * - * @param other The rotation to add. + *

Note that {@code a.minus(b).plus(b)} always equals {@code a}, but {@code b.plus(a.minus(b))} + * sometimes doesn't. To apply a rotation offset, use either {@code offset = + * measurement.unaryMinus().plus(actual); newAngle = angle.plus(offset);} or {@code offset = + * actual.minus(measurement); newAngle = offset.plus(angle);}, depending on how the corrected + * angle needs to change as the input angle changes. + * + * @param other The rotation to add (applied extrinsically). * @return The sum of the two rotations. */ public Rotation3d plus(Rotation3d other) { @@ -296,10 +346,19 @@ public class Rotation3d } /** - * Subtracts the new rotation from the current rotation and returns the new rotation. + * Subtracts the other rotation from the current rotation and returns the new rotation. The new + * rotation is from the perspective of the other rotation (like {@link Pose3d#minus}), so it needs + * to be applied intrinsically. See the class comment for definitions of extrinsic and intrinsic + * rotations. + * + *

Note that {@code a.minus(b).plus(b)} always equals {@code a}, but {@code b.plus(a.minus(b))} + * sometimes doesn't. To apply a rotation offset, use either {@code offset = + * measurement.unaryMinus().plus(actual); newAngle = angle.plus(offset);} or {@code offset = + * actual.minus(measurement); newAngle = offset.plus(angle);}, depending on how the corrected + * angle needs to change as the input angle changes. * * @param other The rotation to subtract. - * @return The difference between the two rotations. + * @return The difference between the two rotations, from the perspective of the other rotation. */ public Rotation3d minus(Rotation3d other) { return rotateBy(other.unaryMinus()); @@ -358,6 +417,24 @@ public class Rotation3d return new Rotation3d(other.m_q.times(m_q)); } + /** + * Returns the current rotation relative to the given rotation. Because the result is in the + * perspective of the given rotation, it must be applied intrinsically. See the class comment for + * definitions of extrinsic and intrinsic rotations. + * + * @param other The rotation describing the orientation of the new coordinate frame that the + * current rotation will be converted into. + * @return The current rotation relative to the new orientation of the coordinate frame. + */ + public Rotation3d relativeTo(Rotation3d other) { + // To apply a quaternion intrinsically, we must right-multiply by that quaternion. + // Therefore, "this_q relative to other_q" is the q such that other_q q = this_q: + // + // other_q q = this_q + // q = other_q⁻¹ this_q + return new Rotation3d(other.m_q.inverse().times(m_q)); + } + /** * Returns the quaternion representation of the Rotation3d. * @@ -562,7 +639,7 @@ public class Rotation3d @Override public Rotation3d interpolate(Rotation3d endValue, double t) { - return plus(endValue.minus(this).times(MathUtil.clamp(t, 0, 1))); + return endValue.minus(this).times(MathUtil.clamp(t, 0, 1)).plus(this); } /** Rotation3d protobuf for serialization. */ diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java index 7a4cf8f4f9..79e8955220 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java @@ -36,15 +36,14 @@ public class Transform2d implements ProtobufSerializable, StructSerializable { * @param last The final pose for the transformation. */ public Transform2d(Pose2d initial, Pose2d last) { - // We are rotating the difference between the translations - // using a clockwise rotation matrix. This transforms the global - // delta into a local delta (relative to the initial pose). + // To transform the global translation delta to be relative to the initial + // pose, rotate by the inverse of the initial pose's orientation. m_translation = last.getTranslation() .minus(initial.getTranslation()) .rotateBy(initial.getRotation().unaryMinus()); - m_rotation = last.getRotation().minus(initial.getRotation()); + m_rotation = last.getRotation().relativeTo(initial.getRotation()); } /** diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java index d993d86100..67a4ba6173 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java @@ -17,7 +17,10 @@ import edu.wpi.first.util.protobuf.ProtobufSerializable; import edu.wpi.first.util.struct.StructSerializable; import java.util.Objects; -/** Represents a transformation for a Pose3d in the pose's frame. */ +/** + * Represents a transformation for a Pose3d in the pose's frame. Translation is applied before + * rotation. (The translation is applied in the pose's original frame, not the transformed frame.) + */ public class Transform3d implements ProtobufSerializable, StructSerializable { /** * A preallocated Transform3d representing no transformation. @@ -36,15 +39,14 @@ public class Transform3d implements ProtobufSerializable, StructSerializable { * @param last The final pose for the transformation. */ public Transform3d(Pose3d initial, Pose3d last) { - // We are rotating the difference between the translations - // using a clockwise rotation matrix. This transforms the global - // delta into a local delta (relative to the initial pose). + // To transform the global translation delta to be relative to the initial + // pose, rotate by the inverse of the initial pose's orientation. m_translation = last.getTranslation() .minus(initial.getTranslation()) .rotateBy(initial.getRotation().unaryMinus()); - m_rotation = last.getRotation().minus(initial.getRotation()); + m_rotation = last.getRotation().relativeTo(initial.getRotation()); } /** diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java index 6a09f92bff..acc72ea55f 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java @@ -24,7 +24,10 @@ public class Odometry { private Pose2d m_poseMeters; private Rotation2d m_gyroOffset; + + // Always equal to m_poseMeters.getRotation() private Rotation2d m_previousAngle; + private final T m_previousWheelPositions; /** @@ -42,7 +45,7 @@ public class Odometry { Pose2d initialPoseMeters) { m_kinematics = kinematics; m_poseMeters = initialPoseMeters; - m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle); + m_gyroOffset = gyroAngle.unaryMinus().rotateBy(m_poseMeters.getRotation()); m_previousAngle = m_poseMeters.getRotation(); m_previousWheelPositions = m_kinematics.copy(wheelPositions); } @@ -60,7 +63,7 @@ public class Odometry { public void resetPosition(Rotation2d gyroAngle, T wheelPositions, Pose2d poseMeters) { m_poseMeters = poseMeters; m_previousAngle = m_poseMeters.getRotation(); - m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle); + m_gyroOffset = gyroAngle.unaryMinus().rotateBy(m_poseMeters.getRotation()); m_kinematics.copyInto(wheelPositions, m_previousWheelPositions); } @@ -70,7 +73,10 @@ public class Odometry { * @param poseMeters The pose to reset to. */ public void resetPose(Pose2d poseMeters) { - m_gyroOffset = m_gyroOffset.plus(poseMeters.getRotation().minus(m_poseMeters.getRotation())); + m_gyroOffset = + m_gyroOffset + .rotateBy(m_poseMeters.getRotation().unaryMinus()) + .rotateBy(poseMeters.getRotation()); m_poseMeters = poseMeters; m_previousAngle = m_poseMeters.getRotation(); } @@ -90,7 +96,8 @@ public class Odometry { * @param rotation The rotation to reset to. */ public void resetRotation(Rotation2d rotation) { - m_gyroOffset = m_gyroOffset.plus(rotation.minus(m_poseMeters.getRotation())); + m_gyroOffset = + m_gyroOffset.rotateBy(m_poseMeters.getRotation().unaryMinus()).rotateBy(rotation); m_poseMeters = new Pose2d(m_poseMeters.getTranslation(), rotation); m_previousAngle = m_poseMeters.getRotation(); } @@ -115,7 +122,7 @@ public class Odometry { * @return The new pose of the robot. */ public Pose2d update(Rotation2d gyroAngle, T wheelPositions) { - var angle = gyroAngle.plus(m_gyroOffset); + var angle = gyroAngle.rotateBy(m_gyroOffset); var twist = m_kinematics.toTwist2d(m_previousWheelPositions, wheelPositions); twist.dtheta = angle.minus(m_previousAngle).getRadians(); diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry3d.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry3d.java index f79403ef92..9e5122731b 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry3d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry3d.java @@ -32,8 +32,15 @@ public class Odometry3d { private final Kinematics m_kinematics; private Pose3d m_poseMeters; + // Applying a rotation intrinsically to the measured gyro angle should cause the corrected angle + // to be rotated intrinsically in the same way, so the measured gyro angle must be applied + // intrinsically. This is equivalent to applying the offset extrinsically to the measured gyro + // angle. private Rotation3d m_gyroOffset; + + // Always equal to m_poseMeters.getRotation() private Rotation3d m_previousAngle; + private final T m_previousWheelPositions; /** @@ -51,7 +58,9 @@ public class Odometry3d { Pose3d initialPoseMeters) { m_kinematics = kinematics; m_poseMeters = initialPoseMeters; - m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle); + // When applied extrinsically, m_gyroOffset cancels the current gyroAngle and + // then rotates to m_poseMeters.getRotation() + m_gyroOffset = gyroAngle.unaryMinus().rotateBy(m_poseMeters.getRotation()); m_previousAngle = m_poseMeters.getRotation(); m_previousWheelPositions = m_kinematics.copy(wheelPositions); } @@ -69,7 +78,9 @@ public class Odometry3d { public void resetPosition(Rotation3d gyroAngle, T wheelPositions, Pose3d poseMeters) { m_poseMeters = poseMeters; m_previousAngle = m_poseMeters.getRotation(); - m_gyroOffset = m_poseMeters.getRotation().minus(gyroAngle); + // When applied extrinsically, m_gyroOffset cancels the current gyroAngle and + // then rotates to m_poseMeters.getRotation() + m_gyroOffset = gyroAngle.unaryMinus().rotateBy(m_poseMeters.getRotation()); m_kinematics.copyInto(wheelPositions, m_previousWheelPositions); } @@ -79,7 +90,11 @@ public class Odometry3d { * @param poseMeters The pose to reset to. */ public void resetPose(Pose3d poseMeters) { - m_gyroOffset = m_gyroOffset.plus(poseMeters.getRotation().minus(m_poseMeters.getRotation())); + // Cancel the previous m_pose.Rotation() and then rotate to the new angle + m_gyroOffset = + m_gyroOffset + .rotateBy(m_poseMeters.getRotation().unaryMinus()) + .rotateBy(poseMeters.getRotation()); m_poseMeters = poseMeters; m_previousAngle = m_poseMeters.getRotation(); } @@ -99,7 +114,9 @@ public class Odometry3d { * @param rotation The rotation to reset to. */ public void resetRotation(Rotation3d rotation) { - m_gyroOffset = m_gyroOffset.plus(rotation.minus(m_poseMeters.getRotation())); + // Cancel the previous m_pose.Rotation() and then rotate to the new angle + m_gyroOffset = + m_gyroOffset.rotateBy(m_poseMeters.getRotation().unaryMinus()).rotateBy(rotation); m_poseMeters = new Pose3d(m_poseMeters.getTranslation(), rotation); m_previousAngle = m_poseMeters.getRotation(); } @@ -124,7 +141,7 @@ public class Odometry3d { * @return The new pose of the robot. */ public Pose3d update(Rotation3d gyroAngle, T wheelPositions) { - var angle = gyroAngle.plus(m_gyroOffset); + var angle = gyroAngle.rotateBy(m_gyroOffset); var angle_difference = angle.minus(m_previousAngle).toVector(); var twist2d = m_kinematics.toTwist2d(m_previousWheelPositions, wheelPositions); diff --git a/wpimath/src/main/native/include/frc/geometry/CoordinateSystem.h b/wpimath/src/main/native/include/frc/geometry/CoordinateSystem.h index 0d4ba8f6c8..eff347f10d 100644 --- a/wpimath/src/main/native/include/frc/geometry/CoordinateSystem.h +++ b/wpimath/src/main/native/include/frc/geometry/CoordinateSystem.h @@ -86,7 +86,8 @@ class WPILIB_DLLEXPORT CoordinateSystem { constexpr static Translation3d Convert(const Translation3d& translation, const CoordinateSystem& from, const CoordinateSystem& to) { - return translation.RotateBy(from.m_rotation - to.m_rotation); + // Convert to NWU, then convert to the new coordinate system + return translation.RotateBy(from.m_rotation).RotateBy(-to.m_rotation); } /** @@ -100,7 +101,8 @@ class WPILIB_DLLEXPORT CoordinateSystem { constexpr static Rotation3d Convert(const Rotation3d& rotation, const CoordinateSystem& from, const CoordinateSystem& to) { - return rotation.RotateBy(from.m_rotation - to.m_rotation); + // Convert to NWU, then convert to the new coordinate system + return rotation.RotateBy(from.m_rotation).RotateBy(-to.m_rotation); } /** @@ -129,14 +131,30 @@ class WPILIB_DLLEXPORT CoordinateSystem { constexpr static Transform3d Convert(const Transform3d& transform, const CoordinateSystem& from, const CoordinateSystem& to) { - const auto coordRot = from.m_rotation - to.m_rotation; + // coordRot is the rotation that converts between the coordinate systems + // when applied extrinsically. It first converts to NWU, then converts to + // the new coordinate system. + const auto coordRot = from.m_rotation.RotateBy(-to.m_rotation); + // The new rotation is the extrinsic rotation from convert(zero) to + // convert(transformRot). That is, applying convertedRot extrinsically to + // convert(zero) produces convert(transformRot). In the below snippet, we + // use matrix notation, so rotA rotB applies rotA extrinsically to rotB. + // + // convertedRot convert(zero) = convert(transformRot) + // convertedRot = convert(transformRot) convert(zero)⁻¹ + // = (coordRot transformRot) (coordRot zero)⁻¹ + // = (coordRot transformRot) coordRot⁻¹ + // + // In code, the equivalent for rotA rotB is rotB.RotateBy(rotA) (note the + // change in order), and the equivalent for rot⁻¹ is -rot. return Transform3d{ Convert(transform.Translation(), from, to), (-coordRot).RotateBy(transform.Rotation().RotateBy(coordRot))}; } private: - // Rotation from this coordinate system to NWU coordinate system + // Rotation from this coordinate system to NWU coordinate system when applied + // extrinsically Rotation3d m_rotation; }; diff --git a/wpimath/src/main/native/include/frc/geometry/Pose2d.h b/wpimath/src/main/native/include/frc/geometry/Pose2d.h index d488e312a7..ea0a1e6767 100644 --- a/wpimath/src/main/native/include/frc/geometry/Pose2d.h +++ b/wpimath/src/main/native/include/frc/geometry/Pose2d.h @@ -320,7 +320,7 @@ constexpr Transform2d Pose2d::operator-(const Pose2d& other) const { constexpr Pose2d Pose2d::TransformBy(const frc::Transform2d& other) const { return {m_translation + (other.Translation().RotateBy(m_rotation)), - other.Rotation() + m_rotation}; + other.Rotation().RotateBy(m_rotation)}; } constexpr Pose2d Pose2d::RelativeTo(const Pose2d& other) const { diff --git a/wpimath/src/main/native/include/frc/geometry/Pose3d.h b/wpimath/src/main/native/include/frc/geometry/Pose3d.h index 17aac42648..fb1eb96a76 100644 --- a/wpimath/src/main/native/include/frc/geometry/Pose3d.h +++ b/wpimath/src/main/native/include/frc/geometry/Pose3d.h @@ -392,8 +392,11 @@ constexpr Transform3d Pose3d::operator-(const Pose3d& other) const { } constexpr Pose3d Pose3d::TransformBy(const Transform3d& other) const { + // Rotating the transform's rotation by the pose's rotation extrinsically is + // equivalent to rotating the pose's rotation by the transform's rotation + // intrinsically. (We define transforms as being applied intrinsically.) return {m_translation + (other.Translation().RotateBy(m_rotation)), - other.Rotation() + m_rotation}; + other.Rotation().RotateBy(m_rotation)}; } constexpr Pose3d Pose3d::RelativeTo(const Pose3d& other) const { diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h index 82d9e39d78..61e39b148f 100644 --- a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h +++ b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h @@ -198,6 +198,19 @@ class WPILIB_DLLEXPORT Rotation2d { Cos() * other.Sin() + Sin() * other.Cos()}; } + /** + * Returns the current rotation relative to the given rotation. + * + * @param other The rotation describing the orientation of the new coordinate + * frame that the current rotation will be converted into. + * + * @return The current rotation relative to the new orientation of the + * coordinate frame. + */ + constexpr Rotation2d RelativeTo(const Rotation2d& other) const { + return RotateBy(-other); + } + /** * Returns matrix representation of this rotation. */ diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation3d.h b/wpimath/src/main/native/include/frc/geometry/Rotation3d.h index 8d1e975299..d972e85636 100644 --- a/wpimath/src/main/native/include/frc/geometry/Rotation3d.h +++ b/wpimath/src/main/native/include/frc/geometry/Rotation3d.h @@ -10,6 +10,7 @@ #include #include #include +#include #include #include @@ -24,7 +25,49 @@ namespace frc { /** - * A rotation in a 3D coordinate frame represented by a quaternion. + * A rotation in a 3D coordinate frame, represented by a quaternion. Note that + * unlike 2D rotations, 3D rotations are not always commutative, so changing the + * order of rotations changes the result. + * + * As an example of the order of rotations mattering, suppose we have a card + * that looks like this: + * + * 

+ *          ┌───┐        ┌───┐
+ *          │ X │        │ x │
+ *   Front: │ | │  Back: │ · │
+ *          │ | │        │ · │
+ *          └───┘        └───┘
+ *
+ * + * If we rotate 90º clockwise around the axis into the page, then flip around + * the left/right axis, we get one result: + * + * 
+ *   ┌───┐
+ *   │ X │   ┌───────┐   ┌───────┐
+ *   │ | │ → │------X│ → │······x│
+ *   │ | │   └───────┘   └───────┘
+ *   └───┘
+ *
+ * + * If we flip around the left/right axis, then rotate 90º clockwise around the + * axis into the page, we get a different result: + * + * 
+ *   ┌───┐   ┌───┐
+ *   │ X │   │ · │   ┌───────┐
+ *   │ | │ → │ · │ → │x······│
+ *   │ | │   │ x │   └───────┘
+ *   └───┘   └───┘
+ *
+ * + * Because order matters for 3D rotations, we need to distinguish between + * extrinsic rotations and intrinsic rotations. Rotating + * extrinsically means rotating around the global axes, while rotating + * intrinsically means rotating from the perspective of the other rotation. A + * neat property is that applying a series of rotations extrinsically is the + * same as applying the same series in the opposite order intrinsically. */ class WPILIB_DLLEXPORT Rotation3d { public: @@ -242,9 +285,18 @@ class WPILIB_DLLEXPORT Rotation3d { : Rotation3d{0_rad, 0_rad, rotation.Radians()} {} /** - * Adds two rotations together. + * Adds two rotations together. The other rotation is applied extrinsically to + * this rotation, which is equivalent to this rotation being applied + * intrinsically to the other rotation. See the class comment for definitions + * of extrinsic and intrinsic rotations. * - * @param other The rotation to add. + * Note that `a - b + b` always equals `a`, but `b + (a - b)` + * sometimes doesn't. To apply a rotation offset, use either `offset = + * -measurement + actual; newAngle = angle + offset;` or `offset = actual - + * measurement; newAngle = offset + angle;`, depending on how the corrected + * angle needs to change as the input angle changes. + * + * @param other The rotation to add (applied extrinsically). * * @return The sum of the two rotations. */ @@ -254,11 +306,20 @@ class WPILIB_DLLEXPORT Rotation3d { /** * Subtracts the new rotation from the current rotation and returns the new - * rotation. + * rotation. The new rotation is from the perspective of the other rotation + * (like Pose3d::operator-), so it needs to be applied intrinsically. See the + * class comment for definitions of extrinsic and intrinsic rotations. + * + * Note that `a - b + b` always equals `a`, but `b + (a - b)` sometimes + * doesn't. To apply a rotation offset, use either `offset = -measurement + + * actual; newAngle = angle + offset;` or `offset = actual - measurement; + * newAngle = offset + angle;`, depending on how the corrected angle needs to + * change as the input angle changes. * * @param other The rotation to subtract. * - * @return The difference between the two rotations. + * @return The difference between the two rotations, from the perspective of + * the other rotation. */ constexpr Rotation3d operator-(const Rotation3d& other) const { return *this + -other; @@ -323,6 +384,28 @@ class WPILIB_DLLEXPORT Rotation3d { return Rotation3d{other.m_q * m_q}; } + /** + * Returns the current rotation relative to the given rotation. Because the + * result is in the perspective of the given rotation, it must be applied + * intrinsically. See the class comment for definitions of extrinsic and + * intrinsic rotations. + * + * @param other The rotation describing the orientation of the new coordinate + * frame that the current rotation will be converted into. + * + * @return The current rotation relative to the new orientation of the + * coordinate frame. + */ + constexpr Rotation3d RelativeTo(const Rotation3d& other) const { + // To apply a quaternion intrinsically, we must right-multiply by that + // quaternion. Therefore, "this_q relative to other_q" is the q such that + // other_q q = this_q: + // + // other_q q = this_q + // q = other_q⁻¹ this_q + return Rotation3d{other.m_q.Inverse() * m_q}; + } + /** * Returns the quaternion representation of the Rotation3d. */ @@ -449,5 +532,11 @@ void from_json(const wpi::json& json, Rotation3d& rotation); } // namespace frc +template <> +constexpr frc::Rotation3d wpi::Lerp(const frc::Rotation3d& startValue, + const frc::Rotation3d& endValue, double t) { + return (endValue - startValue) * t + startValue; +} + #include "frc/geometry/proto/Rotation3dProto.h" #include "frc/geometry/struct/Rotation3dStruct.h" diff --git a/wpimath/src/main/native/include/frc/geometry/Transform2d.h b/wpimath/src/main/native/include/frc/geometry/Transform2d.h index 88c00550d0..2055ee489f 100644 --- a/wpimath/src/main/native/include/frc/geometry/Transform2d.h +++ b/wpimath/src/main/native/include/frc/geometry/Transform2d.h @@ -167,13 +167,12 @@ class WPILIB_DLLEXPORT Transform2d { namespace frc { constexpr Transform2d::Transform2d(const Pose2d& initial, const Pose2d& final) { - // We are rotating the difference between the translations - // using a clockwise rotation matrix. This transforms the global - // delta into a local delta (relative to the initial pose). + // To transform the global translation delta to be relative to the initial + // pose, rotate by the inverse of the initial pose's orientation. m_translation = (final.Translation() - initial.Translation()) .RotateBy(-initial.Rotation()); - m_rotation = final.Rotation() - initial.Rotation(); + m_rotation = final.Rotation().RelativeTo(initial.Rotation()); } constexpr Transform2d Transform2d::operator+(const Transform2d& other) const { diff --git a/wpimath/src/main/native/include/frc/geometry/Transform3d.h b/wpimath/src/main/native/include/frc/geometry/Transform3d.h index bd6ca9c41e..38cf39d69f 100644 --- a/wpimath/src/main/native/include/frc/geometry/Transform3d.h +++ b/wpimath/src/main/native/include/frc/geometry/Transform3d.h @@ -16,7 +16,9 @@ namespace frc { class Pose3d; /** - * Represents a transformation for a Pose3d in the pose's frame. + * Represents a transformation for a Pose3d in the pose's frame. Translation is + * applied before rotation. (The translation is applied in the pose's original + * frame, not the transformed frame.) */ class WPILIB_DLLEXPORT Transform3d { public: @@ -192,13 +194,12 @@ class WPILIB_DLLEXPORT Transform3d { namespace frc { constexpr Transform3d::Transform3d(const Pose3d& initial, const Pose3d& final) { - // We are rotating the difference between the translations - // using a clockwise rotation matrix. This transforms the global - // delta into a local delta (relative to the initial pose). + // To transform the global translation delta to be relative to the initial + // pose, rotate by the inverse of the initial pose's orientation. m_translation = (final.Translation() - initial.Translation()) .RotateBy(-initial.Rotation()); - m_rotation = final.Rotation() - initial.Rotation(); + m_rotation = final.Rotation().RelativeTo(initial.Rotation()); } constexpr Transform3d Transform3d::operator+(const Transform3d& other) const { diff --git a/wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h b/wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h index 47bcc46b14..f07df67cf0 100644 --- a/wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h +++ b/wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h @@ -14,6 +14,8 @@ #include #include "frc/geometry/Pose2d.h" +#include "frc/geometry/Pose3d.h" +#include "frc/geometry/Rotation3d.h" #include "units/time.h" namespace frc { @@ -155,7 +157,8 @@ class TimeInterpolatableBuffer { std::function m_interpolatingFunc; }; -// Template specialization to ensure that Pose2d uses pose exponential +// Template specializations to ensure that Pose2d and Pose3d use pose +// exponential template <> inline TimeInterpolatableBuffer::TimeInterpolatableBuffer( units::second_t historySize) @@ -172,4 +175,20 @@ inline TimeInterpolatableBuffer::TimeInterpolatableBuffer( } }) {} +template <> +inline TimeInterpolatableBuffer::TimeInterpolatableBuffer( + units::second_t historySize) + : m_historySize(historySize), + m_interpolatingFunc([](const Pose3d& start, const Pose3d& end, double t) { + if (t < 0) { + return start; + } else if (t >= 1) { + return end; + } else { + Twist3d twist = start.Log(end); + Twist3d scaledTwist = twist * t; + return start.Exp(scaledTwist); + } + }) {} + } // namespace frc diff --git a/wpimath/src/main/native/include/frc/kinematics/Odometry.h b/wpimath/src/main/native/include/frc/kinematics/Odometry.h index c73eed2248..991bd1a34d 100644 --- a/wpimath/src/main/native/include/frc/kinematics/Odometry.h +++ b/wpimath/src/main/native/include/frc/kinematics/Odometry.h @@ -45,7 +45,7 @@ class WPILIB_DLLEXPORT Odometry { m_pose(initialPose), m_previousWheelPositions(wheelPositions) { m_previousAngle = m_pose.Rotation(); - m_gyroOffset = m_pose.Rotation() - gyroAngle; + m_gyroOffset = (-gyroAngle).RotateBy(m_pose.Rotation()); } /** @@ -62,7 +62,7 @@ class WPILIB_DLLEXPORT Odometry { const WheelPositions& wheelPositions, const Pose2d& pose) { m_pose = pose; m_previousAngle = pose.Rotation(); - m_gyroOffset = m_pose.Rotation() - gyroAngle; + m_gyroOffset = (-gyroAngle).RotateBy(m_pose.Rotation()); m_previousWheelPositions = wheelPositions; } @@ -72,7 +72,8 @@ class WPILIB_DLLEXPORT Odometry { * @param pose The pose to reset to. */ void ResetPose(const Pose2d& pose) { - m_gyroOffset = m_gyroOffset + (pose.Rotation() - m_pose.Rotation()); + m_gyroOffset = + m_gyroOffset.RotateBy(-m_pose.Rotation()).RotateBy(pose.Rotation()); m_pose = pose; m_previousAngle = pose.Rotation(); } @@ -92,7 +93,7 @@ class WPILIB_DLLEXPORT Odometry { * @param rotation The rotation to reset to. */ void ResetRotation(const Rotation2d& rotation) { - m_gyroOffset = m_gyroOffset + (rotation - m_pose.Rotation()); + m_gyroOffset = m_gyroOffset.RotateBy(m_pose.Rotation()).RotateBy(rotation); m_pose = Pose2d{m_pose.Translation(), rotation}; m_previousAngle = rotation; } @@ -116,7 +117,7 @@ class WPILIB_DLLEXPORT Odometry { */ const Pose2d& Update(const Rotation2d& gyroAngle, const WheelPositions& wheelPositions) { - auto angle = gyroAngle + m_gyroOffset; + auto angle = gyroAngle.RotateBy(m_gyroOffset); auto twist = m_kinematics.ToTwist2d(m_previousWheelPositions, wheelPositions); @@ -136,7 +137,10 @@ class WPILIB_DLLEXPORT Odometry { Pose2d m_pose; WheelPositions m_previousWheelPositions; + + // Always equal to m_pose.Rotation() Rotation2d m_previousAngle; + Rotation2d m_gyroOffset; }; diff --git a/wpimath/src/main/native/include/frc/kinematics/Odometry3d.h b/wpimath/src/main/native/include/frc/kinematics/Odometry3d.h index f24d6f86f6..9b67a75176 100644 --- a/wpimath/src/main/native/include/frc/kinematics/Odometry3d.h +++ b/wpimath/src/main/native/include/frc/kinematics/Odometry3d.h @@ -48,7 +48,9 @@ class WPILIB_DLLEXPORT Odometry3d { m_pose(initialPose), m_previousWheelPositions(wheelPositions) { m_previousAngle = m_pose.Rotation(); - m_gyroOffset = m_pose.Rotation() - gyroAngle; + // When applied extrinsically, m_gyroOffset cancels the + // current gyroAngle and then rotates to m_pose.Rotation() + m_gyroOffset = (-gyroAngle).RotateBy(m_pose.Rotation()); } /** @@ -65,7 +67,9 @@ class WPILIB_DLLEXPORT Odometry3d { const WheelPositions& wheelPositions, const Pose3d& pose) { m_pose = pose; m_previousAngle = pose.Rotation(); - m_gyroOffset = m_pose.Rotation() - gyroAngle; + // When applied extrinsically, m_gyroOffset cancels the + // current gyroAngle and then rotates to m_pose.Rotation() + m_gyroOffset = (-gyroAngle).RotateBy(m_pose.Rotation()); m_previousWheelPositions = wheelPositions; } @@ -75,7 +79,9 @@ class WPILIB_DLLEXPORT Odometry3d { * @param pose The pose to reset to. */ void ResetPose(const Pose3d& pose) { - m_gyroOffset = m_gyroOffset + (pose.Rotation() - m_pose.Rotation()); + // Cancel the previous m_pose.Rotation() and then rotate to the new angle + m_gyroOffset = + m_gyroOffset.RotateBy(-m_pose.Rotation()).RotateBy(pose.Rotation()); m_pose = pose; m_previousAngle = pose.Rotation(); } @@ -95,7 +101,8 @@ class WPILIB_DLLEXPORT Odometry3d { * @param rotation The rotation to reset to. */ void ResetRotation(const Rotation3d& rotation) { - m_gyroOffset = m_gyroOffset + (rotation - m_pose.Rotation()); + // Cancel the previous m_pose.Rotation() and then rotate to the new angle + m_gyroOffset = m_gyroOffset.RotateBy(-m_pose.Rotation()).RotateBy(rotation); m_pose = Pose3d{m_pose.Translation(), rotation}; m_previousAngle = rotation; } @@ -119,7 +126,7 @@ class WPILIB_DLLEXPORT Odometry3d { */ const Pose3d& Update(const Rotation3d& gyroAngle, const WheelPositions& wheelPositions) { - auto angle = gyroAngle + m_gyroOffset; + auto angle = gyroAngle.RotateBy(m_gyroOffset); auto angle_difference = (angle - m_previousAngle).ToVector(); auto twist2d = @@ -145,7 +152,14 @@ class WPILIB_DLLEXPORT Odometry3d { Pose3d m_pose; WheelPositions m_previousWheelPositions; + + // Always equal to m_pose.Rotation() Rotation3d m_previousAngle; + + // Applying a rotation intrinsically to the measured gyro angle should cause + // the corrected angle to be rotated intrinsically in the same way, so the + // measured gyro angle must be applied intrinsically. This is equivalent to + // applying the offset extrinsically to the measured gyro angle. Rotation3d m_gyroOffset; }; diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java index 6eaa2a3f98..223256bb6f 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation2dTest.java @@ -59,6 +59,16 @@ class Rotation2dTest { assertEquals(120.0, rot.getDegrees(), kEpsilon); } + @Test + void testRelativeTo() { + var start = Rotation2d.fromDegrees(30.0); + var end = Rotation2d.kCCW_Pi_2; + + var result = end.relativeTo(start); + + assertEquals(60.0, result.getDegrees(), kEpsilon); + } + @Test void testMinus() { var rot1 = Rotation2d.fromDegrees(70.0); diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation3dTest.java index 3e96a1cb3d..c87c7d0bad 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation3dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation3dTest.java @@ -281,6 +281,22 @@ class Rotation3dTest { assertEquals(expected, rot); } + @Test + void testRelativeTo() { + final var yAxis = VecBuilder.fill(0.0, 1.0, 0.0); + final var zAxis = VecBuilder.fill(0.0, 0.0, 1.0); + + var start = new Rotation3d(yAxis, Units.degreesToRadians(-90.0)); + var end = new Rotation3d(zAxis, Units.degreesToRadians(90.0)); + + final var intrinsicAxis = VecBuilder.fill(1.0, 1.0, 1.0); + var expected = new Rotation3d(intrinsicAxis, Units.degreesToRadians(120.0)); + + var result = end.relativeTo(start); + + assertEquals(expected, result); + } + @Test void testMinus() { final var zAxis = VecBuilder.fill(0.0, 0.0, 1.0); @@ -409,5 +425,32 @@ class Rotation3dTest { assertEquals(Units.degreesToRadians(0.0), interpolated.getX(), kEpsilon); assertEquals(Units.degreesToRadians(0.0), interpolated.getY(), kEpsilon); assertEquals(Units.degreesToRadians(-175.0), interpolated.getZ(), kEpsilon); + + // t value of 0 should always produce the start + rot1 = new Rotation3d(yAxis, -Units.degreesToRadians(90)); + rot2 = new Rotation3d(zAxis, Units.degreesToRadians(90)); + interpolated = rot1.interpolate(rot2, 0.0); + assertEquals(rot1.getX(), interpolated.getX(), kEpsilon); + assertEquals(rot1.getY(), interpolated.getY(), kEpsilon); + assertEquals(rot1.getZ(), interpolated.getZ(), kEpsilon); + + // The full rotation from rot1 to rot2 to 120 degrees around extrinsic <-1.0, 1.0, 1.0> + var extrinsicAxis = VecBuilder.fill(-1.0, 1.0, 1.0); + rot1 = new Rotation3d(yAxis, -Units.degreesToRadians(90)); + rot2 = new Rotation3d(zAxis, Units.degreesToRadians(90)); + assertEquals(rot2, rot1.rotateBy(new Rotation3d(extrinsicAxis, Units.degreesToRadians(120)))); + interpolated = rot1.interpolate(rot2, 0.5); + var expected = rot1.rotateBy(new Rotation3d(extrinsicAxis, Units.degreesToRadians(60))); + assertEquals(expected.getX(), interpolated.getX(), kEpsilon); + assertEquals(expected.getY(), interpolated.getY(), kEpsilon); + assertEquals(expected.getZ(), interpolated.getZ(), kEpsilon); + + // t value of 1 should always produce the end + rot1 = new Rotation3d(yAxis, -Units.degreesToRadians(90)); + rot2 = new Rotation3d(zAxis, Units.degreesToRadians(90)); + interpolated = rot1.interpolate(rot2, 1.0); + assertEquals(rot2.getX(), interpolated.getX(), kEpsilon); + assertEquals(rot2.getY(), interpolated.getY(), kEpsilon); + assertEquals(rot2.getZ(), interpolated.getZ(), kEpsilon); } } diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry3dTest.java index 166a615ca9..b72b4ce8f5 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry3dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/DifferentialDriveOdometry3dTest.java @@ -9,6 +9,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation3d; +import edu.wpi.first.math.geometry.Translation3d; import edu.wpi.first.math.util.Units; import org.junit.jupiter.api.Test; @@ -45,4 +46,22 @@ class DifferentialDriveOdometry3dTest { () -> assertEquals(pose.getZ(), 0.0, kEpsilon), () -> assertEquals(pose.getRotation().toRotation2d().getDegrees(), 90.0, kEpsilon)); } + + @Test + void testGyroOffset() { + m_odometry.resetPosition( + new Rotation3d(0, Units.degreesToRadians(5), 0), + 0, + 0, + new Pose3d(Translation3d.kZero, new Rotation3d(0, 0, Units.degreesToRadians(90)))); + var pose = m_odometry.update(new Rotation3d(0, Units.degreesToRadians(10), 0), 0, 0); + + assertAll( + () -> assertEquals(pose.getX(), 0.0, kEpsilon), + () -> assertEquals(pose.getY(), 0.0, kEpsilon), + () -> assertEquals(pose.getZ(), 0.0, kEpsilon), + () -> assertEquals(pose.getRotation().getX(), Units.degreesToRadians(0), kEpsilon), + () -> assertEquals(pose.getRotation().getY(), Units.degreesToRadians(5), kEpsilon), + () -> assertEquals(pose.getRotation().getZ(), Units.degreesToRadians(90), kEpsilon)); + } } diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry3dTest.java index d417e2a120..4e1857d251 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry3dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometry3dTest.java @@ -295,4 +295,22 @@ class MecanumDriveOdometry3dTest { 0.05, "Incorrect distance travelled"); } + + @Test + void testGyroOffset() { + var wheelPositions = new MecanumDriveWheelPositions(); + m_odometry.resetPosition( + new Rotation3d(0, Units.degreesToRadians(5), 0), + wheelPositions, + new Pose3d(Translation3d.kZero, new Rotation3d(0, 0, Units.degreesToRadians(90)))); + var pose = m_odometry.update(new Rotation3d(0, Units.degreesToRadians(10), 0), wheelPositions); + + assertAll( + () -> assertEquals(pose.getX(), 0.0, 1e-9), + () -> assertEquals(pose.getY(), 0.0, 1e-9), + () -> assertEquals(pose.getZ(), 0.0, 1e-9), + () -> assertEquals(pose.getRotation().getX(), Units.degreesToRadians(0), 1e-9), + () -> assertEquals(pose.getRotation().getY(), Units.degreesToRadians(5), 1e-9), + () -> assertEquals(pose.getRotation().getZ(), Units.degreesToRadians(90), 1e-9)); + } } diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry3dTest.java index dfc446fcee..43058defe3 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry3dTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry3dTest.java @@ -305,4 +305,22 @@ class SwerveDriveOdometry3dTest { 0.0, errorSum / (trajectory.getTotalTimeSeconds() / dt), 0.06, "Incorrect mean error"); assertEquals(0.0, maxError, 0.125, "Incorrect max error"); } + + @Test + void testGyroOffset() { + SwerveModulePosition[] modulePositions = {zero, zero, zero, zero}; + m_odometry.resetPosition( + new Rotation3d(0, Units.degreesToRadians(5), 0), + modulePositions, + new Pose3d(Translation3d.kZero, new Rotation3d(0, 0, Units.degreesToRadians(90)))); + var pose = m_odometry.update(new Rotation3d(0, Units.degreesToRadians(10), 0), modulePositions); + + assertAll( + () -> assertEquals(pose.getX(), 0.0, 1e-9), + () -> assertEquals(pose.getY(), 0.0, 1e-9), + () -> assertEquals(pose.getZ(), 0.0, 1e-9), + () -> assertEquals(pose.getRotation().getX(), Units.degreesToRadians(0), 1e-9), + () -> assertEquals(pose.getRotation().getY(), Units.degreesToRadians(5), 1e-9), + () -> assertEquals(pose.getRotation().getZ(), Units.degreesToRadians(90), 1e-9)); + } } diff --git a/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp b/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp index ffbbd20c4a..66e000a8e2 100644 --- a/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp +++ b/wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp @@ -42,6 +42,15 @@ TEST(Rotation2dTest, RotateByNonZero) { EXPECT_DOUBLE_EQ(120.0, rot.Degrees().value()); } +TEST(Rotation2dTest, RelativeTo) { + auto start = Rotation2d{30_deg}; + auto end = Rotation2d{90_deg}; + + auto result = end.RelativeTo(start); + + EXPECT_DOUBLE_EQ(60.0, result.Degrees().value()); +} + TEST(Rotation2dTest, Minus) { const auto rot1 = Rotation2d{70_deg}; const auto rot2 = Rotation2d{30_deg}; diff --git a/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp index 903d4144bc..6c0d4f6e14 100644 --- a/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp +++ b/wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp @@ -253,6 +253,21 @@ TEST(Rotation3dTest, RotateByNonZeroZ) { EXPECT_EQ(expected, rot); } +TEST(Rotation3dTest, RelativeTo) { + const Eigen::Vector3d yAxis{0.0, 1.0, 0.0}; + const Eigen::Vector3d zAxis{0.0, 0.0, 1.0}; + + auto start = Rotation3d{yAxis, -90_deg}; + auto end = Rotation3d{zAxis, 90_deg}; + + const Eigen::Vector3d intrinsicAxis{1.0, 1.0, 1.0}; + auto expected = Rotation3d{intrinsicAxis, 120_deg}; + + auto result = end.RelativeTo(start); + + EXPECT_EQ(expected, result); +} + TEST(Rotation3dTest, Minus) { const Eigen::Vector3d zAxis{0.0, 0.0, 1.0}; @@ -371,4 +386,32 @@ TEST(Rotation3dTest, Interpolate) { EXPECT_DOUBLE_EQ(0.0, units::degree_t{interpolated.X()}.value()); EXPECT_DOUBLE_EQ(0.0, units::degree_t{interpolated.Y()}.value()); EXPECT_DOUBLE_EQ(-175.0, units::degree_t{interpolated.Z()}.value()); + + // t value of 0 should always produce the start + rot1 = Rotation3d{yAxis, -90_deg}; + rot2 = Rotation3d{zAxis, 90_deg}; + interpolated = wpi::Lerp(rot1, rot2, 0.0); + EXPECT_DOUBLE_EQ(rot1.X().value(), interpolated.X().value()); + EXPECT_DOUBLE_EQ(rot1.Y().value(), interpolated.Y().value()); + EXPECT_DOUBLE_EQ(rot1.Z().value(), interpolated.Z().value()); + + // The full rotation from rot1 to rot2 is 120 degrees around extrinsic + // <-1.0, 1.0, 1.0> + const Eigen::Vector3d extrinsicAxis{-1.0, 1.0, 1.0}; + rot1 = Rotation3d{yAxis, -90_deg}; + rot2 = Rotation3d{zAxis, 90_deg}; + EXPECT_EQ(rot2, rot1.RotateBy(Rotation3d{extrinsicAxis, 120_deg})); + interpolated = wpi::Lerp(rot1, rot2, 0.5); + auto expected = rot1.RotateBy(Rotation3d{extrinsicAxis, 60_deg}); + EXPECT_DOUBLE_EQ(expected.X().value(), interpolated.X().value()); + EXPECT_DOUBLE_EQ(expected.Y().value(), interpolated.Y().value()); + EXPECT_DOUBLE_EQ(expected.Z().value(), interpolated.Z().value()); + + // t value of 1 should always produce the end + rot1 = Rotation3d{yAxis, -90_deg}; + rot2 = Rotation3d{zAxis, 90_deg}; + interpolated = wpi::Lerp(rot1, rot2, 1.0); + EXPECT_NEAR(rot2.X().value(), interpolated.X().value(), 1e-9); + EXPECT_NEAR(rot2.Y().value(), interpolated.Y().value(), 1e-9); + EXPECT_NEAR(rot2.Z().value(), interpolated.Z().value(), 1e-9); } diff --git a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometry3dTest.cpp b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometry3dTest.cpp index 76f5f3292c..df7099368f 100644 --- a/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometry3dTest.cpp +++ b/wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometry3dTest.cpp @@ -38,3 +38,18 @@ TEST(DifferentialDriveOdometry3dTest, EncoderDistances) { EXPECT_NEAR(pose.Z().value(), 0.0, kEpsilon); EXPECT_NEAR(pose.Rotation().ToRotation2d().Degrees().value(), 90.0, kEpsilon); } + +TEST(DifferentialDriveOdometry3dTest, GyroOffset) { + DifferentialDriveOdometry3d odometry{ + frc::Rotation3d{0_deg, 5_deg, 0_deg}, 0_m, 0_m, + frc::Pose3d{frc::Translation3d{}, frc::Rotation3d{0_deg, 0_deg, 90_deg}}}; + const auto& pose = + odometry.Update(frc::Rotation3d{0_deg, 10_deg, 0_deg}, 0_m, 0_m); + + EXPECT_NEAR(pose.X().value(), 0.0, kEpsilon); + EXPECT_NEAR(pose.Y().value(), 0.0, kEpsilon); + EXPECT_NEAR(pose.Z().value(), 0.0, kEpsilon); + EXPECT_NEAR(units::degree_t{pose.Rotation().X()}.value(), 0.0, kEpsilon); + EXPECT_NEAR(units::degree_t{pose.Rotation().Y()}.value(), 5.0, kEpsilon); + EXPECT_NEAR(units::degree_t{pose.Rotation().Z()}.value(), 90.0, kEpsilon); +} diff --git a/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometry3dTest.cpp b/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometry3dTest.cpp index b195e8507b..e957ae31c2 100644 --- a/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometry3dTest.cpp +++ b/wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometry3dTest.cpp @@ -221,3 +221,19 @@ TEST_F(MecanumDriveOdometry3dTest, AccuracyFacingXAxis) { EXPECT_LT(errorSum / (trajectory.TotalTime().value() / dt.value()), 0.06); EXPECT_LT(maxError, 0.125); } + +TEST_F(MecanumDriveOdometry3dTest, GyroOffset) { + frc::MecanumDriveWheelPositions wheelPositions; + odometry.ResetPosition( + frc::Rotation3d{0_deg, 5_deg, 0_deg}, wheelPositions, + frc::Pose3d{frc::Translation3d{}, frc::Rotation3d{0_deg, 0_deg, 90_deg}}); + auto pose = + odometry.Update(frc::Rotation3d{0_deg, 10_deg, 0_deg}, wheelPositions); + + EXPECT_NEAR(pose.X().value(), 0.0, 1e-9); + EXPECT_NEAR(pose.Y().value(), 0.0, 1e-9); + EXPECT_NEAR(pose.Z().value(), 0.0, 1e-9); + EXPECT_NEAR(units::degree_t{pose.Rotation().X()}.value(), 0.0, 1e-9); + EXPECT_NEAR(units::degree_t{pose.Rotation().Y()}.value(), 5.0, 1e-9); + EXPECT_NEAR(units::degree_t{pose.Rotation().Z()}.value(), 90.0, 1e-9); +} diff --git a/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometry3dTest.cpp b/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometry3dTest.cpp index d9fd52a559..01a2cea03a 100644 --- a/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometry3dTest.cpp +++ b/wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometry3dTest.cpp @@ -222,3 +222,18 @@ TEST_F(SwerveDriveOdometry3dTest, AccuracyFacingXAxis) { EXPECT_LT(errorSum / (trajectory.TotalTime().value() / dt.value()), 0.06); EXPECT_LT(maxError, 0.125); } + +TEST_F(SwerveDriveOdometry3dTest, GyroOffset) { + m_odometry.ResetPosition( + frc::Rotation3d{0_deg, 5_deg, 0_deg}, {zero, zero, zero, zero}, + frc::Pose3d{frc::Translation3d{}, frc::Rotation3d{0_deg, 0_deg, 90_deg}}); + auto pose = m_odometry.Update(frc::Rotation3d{0_deg, 10_deg, 0_deg}, + {zero, zero, zero, zero}); + + EXPECT_NEAR(pose.X().value(), 0.0, 1e-9); + EXPECT_NEAR(pose.Y().value(), 0.0, 1e-9); + EXPECT_NEAR(pose.Z().value(), 0.0, 1e-9); + EXPECT_NEAR(units::degree_t{pose.Rotation().X()}.value(), 0.0, 1e-9); + EXPECT_NEAR(units::degree_t{pose.Rotation().Y()}.value(), 5.0, 1e-9); + EXPECT_NEAR(units::degree_t{pose.Rotation().Z()}.value(), 90.0, 1e-9); +} From 21b5389bbefa08e50803cdf6b206d5440839c818 Mon Sep 17 00:00:00 2001 From: Michael Lesirge <100492377+MichaelLesirge@users.noreply.github.com> Date: Wed, 14 Jan 2026 20:22:07 -0800 Subject: [PATCH 17/27] [wpimath,cmd] Add multi tap boolean stream filter and multi tap trigger modifier (double tap detector) (#8307) Add a simple tap counting filter for boolean streams. The filter activates when the input has risen (transitioned from false to true, like when a button is tapped) the required number of times within the time window after the first rising edge. Once activated, the output remains true as long as the input is true. The tap count resets when the time window expires or when the input goes false after activation. Example usage: ```java xbox.a() .multiPress(2, 0.2) // Detect a double tap within 0.2 seconds .onTrue(Commands.print("Double tapped A button")); xbox.y() .multiPress(2, 0.5) // Detect a double tap within 0.5 seconds .whileTrue(Commands.print("Y held after tap").repeatedly()); ``` This is not a noise reduction and/or input smoothing filter, but it is similar in usage to debounce, so I believe it could be considered a filter, but am open to a better location. I believe this would be a useful addition, as double/triple tapping a button is a common control option in games, yet is not often utilized by newer FRC teams. I believe adding it to WPILib in a standard way will allow more teams to make the most out of their controls. --- .../wpilibj2/command/button/Trigger.java | 28 ++++ .../cpp/frc2/command/button/Trigger.cpp | 9 ++ .../include/frc2/command/button/Trigger.h | 16 +++ .../first/math/filter/EdgeCounterFilter.java | 120 ++++++++++++++++++ .../native/cpp/filter/EdgeCountFilter.cpp | 46 +++++++ .../include/frc/filter/EdgeCountFilter.h | 94 ++++++++++++++ .../math/filter/EdgeCounterFilterTest.java | 82 ++++++++++++ .../native/cpp/filter/EdgeCountFilterTest.cpp | 75 +++++++++++ 8 files changed, 470 insertions(+) create mode 100644 wpimath/src/main/java/edu/wpi/first/math/filter/EdgeCounterFilter.java create mode 100644 wpimath/src/main/native/cpp/filter/EdgeCountFilter.cpp create mode 100644 wpimath/src/main/native/include/frc/filter/EdgeCountFilter.h create mode 100644 wpimath/src/test/java/edu/wpi/first/math/filter/EdgeCounterFilterTest.java create mode 100644 wpimath/src/test/native/cpp/filter/EdgeCountFilterTest.cpp diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java index 65c6145f6b..fc8b3b1bbe 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java @@ -7,6 +7,7 @@ package edu.wpi.first.wpilibj2.command.button; import static edu.wpi.first.util.ErrorMessages.requireNonNullParam; import edu.wpi.first.math.filter.Debouncer; +import edu.wpi.first.math.filter.EdgeCounterFilter; import edu.wpi.first.wpilibj.event.EventLoop; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; @@ -287,4 +288,31 @@ public class Trigger implements BooleanSupplier { } }); } + + /** + * Creates a new multi-press trigger from this trigger - it will become active when this trigger + * has been activated the required number of times within the specified time window. + * + *

This is useful for implementing "double-click" style functionality. + * + *

Input for this must be stable, consider using a Debouncer before this to avoid counting + * noise as multiple presses. + * + * @param requiredPresses The number of presses required. + * @param windowTime The number of seconds in which the presses must occur. + * @return The multi-press trigger. + */ + public Trigger multiPress(int requiredPresses, double windowTime) { + return new Trigger( + m_loop, + new BooleanSupplier() { + final EdgeCounterFilter m_edgeCounterFilter = + new EdgeCounterFilter(requiredPresses, windowTime); + + @Override + public boolean getAsBoolean() { + return m_edgeCounterFilter.calculate(m_condition.getAsBoolean()); + } + }); + } } diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp index 6afdbb2b2c..6716fe6bc2 100644 --- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp +++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp @@ -7,6 +7,7 @@ #include #include +#include #include "frc2/command/CommandPtr.h" @@ -184,6 +185,14 @@ Trigger Trigger::Debounce(units::second_t debounceTime, }); } +Trigger Trigger::MultiPress(int requiredPresses, units::second_t windowTime) { + return Trigger(m_loop, + [filter = frc::EdgeCounterFilter(requiredPresses, windowTime), + condition = m_condition]() mutable { + return filter.Calculate(condition()); + }); +} + bool Trigger::Get() const { return m_condition(); } diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h index 9e86b1b700..c3b3b76c27 100644 --- a/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h +++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h @@ -284,6 +284,22 @@ class Trigger { frc::Debouncer::DebounceType type = frc::Debouncer::DebounceType::kRising); + /** + * Creates a new multi-press trigger from this trigger - it will become active + * when this trigger has been activated the required number of times within + * the specified time window. + * + *

This is useful for implementing "double-click" style functionality. + * + *

Input for this must be stable, consider using a Debouncer before this to + * avoid counting noise as multiple presses. + * + * @param requiredPresses The number of presses required. + * @param windowTime The time in which the presses must occur. + * @return The multi-press trigger. + */ + Trigger MultiPress(int requiredPresses, units::second_t windowTime); + /** * Returns the current state of this trigger. * diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/EdgeCounterFilter.java b/wpimath/src/main/java/edu/wpi/first/math/filter/EdgeCounterFilter.java new file mode 100644 index 0000000000..7a4d80e296 --- /dev/null +++ b/wpimath/src/main/java/edu/wpi/first/math/filter/EdgeCounterFilter.java @@ -0,0 +1,120 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package edu.wpi.first.math.filter; + +import edu.wpi.first.math.MathSharedStore; + +/** + * A rising edge counter for boolean streams. Requires that the boolean change value to true for a + * specified number of times within a specified time window after the first rising edge before the + * filtered value changes. + * + *

The filter activates when the input has risen (transitioned from false to true) the required + * number of times within the time window. Once activated, the output remains true as long as the + * input is true. The edge count resets when the time window expires or when the input goes false + * after activation. + * + *

Input must be stable; consider using a Debouncer before this filter to avoid counting noise as + * multiple edges. + */ +public class EdgeCounterFilter { + private int m_requiredEdges; + private double m_windowTimeSeconds; + + private double m_firstEdgeTimeSeconds; + private int m_currentCount; + + private boolean m_lastInput; + + /** + * Creates a new EdgeCounterFilter. + * + * @param requiredEdges The number of rising edges required before the output goes true. + * @param windowTime The maximum number of seconds in which all required edges must occur after + * the first rising edge. + */ + public EdgeCounterFilter(int requiredEdges, double windowTime) { + m_requiredEdges = requiredEdges; + m_windowTimeSeconds = windowTime; + + resetTimer(); + } + + private void resetTimer() { + m_firstEdgeTimeSeconds = MathSharedStore.getTimestamp(); + } + + private boolean hasElapsed() { + return MathSharedStore.getTimestamp() - m_firstEdgeTimeSeconds >= m_windowTimeSeconds; + } + + /** + * Applies the edge counter filter to the input stream. + * + * @param input The current value of the input stream. + * @return True if the required number of edges have occurred within the time window and the input + * is currently true; false otherwise. + */ + public boolean calculate(boolean input) { + boolean enoughEdges = m_currentCount >= m_requiredEdges; + + boolean expired = hasElapsed() && !enoughEdges; + boolean activationEnded = !input && enoughEdges; + + if (expired || activationEnded) { + m_currentCount = 0; + } + + if (input && !m_lastInput) { + if (m_currentCount == 0) { + resetTimer(); // Start timer on first rising edge + } + + m_currentCount++; + } + + m_lastInput = input; + + return input && m_currentCount >= m_requiredEdges; + } + + /** + * Sets the time window duration. + * + * @param windowTime The maximum window of seconds in which all required edges must occur after + * the first rising edge. + */ + public void setWindowTime(double windowTime) { + m_windowTimeSeconds = windowTime; + } + + /** + * Gets the time window duration. + * + * @return The maximum window of seconds in which all required edges must occur after the first + * rising edge. + */ + public double getWindowTime() { + return m_windowTimeSeconds; + } + + /** + * Sets the required number of edges. + * + * @param requiredEdges The number of rising edges required before the output goes true. + */ + public void setRequiredEdges(int requiredEdges) { + m_requiredEdges = requiredEdges; + } + + /** + * Gets the required number of edges. + * + * @return The number of rising edges required before the output goes true. + */ + public int getRequiredEdges() { + return m_requiredEdges; + } +} diff --git a/wpimath/src/main/native/cpp/filter/EdgeCountFilter.cpp b/wpimath/src/main/native/cpp/filter/EdgeCountFilter.cpp new file mode 100644 index 0000000000..dfa5e47ff4 --- /dev/null +++ b/wpimath/src/main/native/cpp/filter/EdgeCountFilter.cpp @@ -0,0 +1,46 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#include "frc/filter/EdgeCountFilter.h" + +#include "wpimath/MathShared.h" + +using namespace frc; + +EdgeCounterFilter::EdgeCounterFilter(int requiredEdges, units::second_t window) + : m_requiredEdges(requiredEdges), m_windowTime(window) { + ResetTimer(); +} + +void EdgeCounterFilter::ResetTimer() { + m_firstEdgeTime = wpi::math::MathSharedStore::GetTimestamp(); +} + +bool EdgeCounterFilter::HasElapsed() const { + return wpi::math::MathSharedStore::GetTimestamp() - m_firstEdgeTime >= + m_windowTime; +} + +bool EdgeCounterFilter::Calculate(bool input) { + bool enoughEdges = m_currentCount >= m_requiredEdges; + + bool expired = HasElapsed() && !enoughEdges; + bool activationEnded = !input && enoughEdges; + + if (expired || activationEnded) { + m_currentCount = 0; + } + + if (input && !m_lastInput) { + if (m_currentCount == 0) { + ResetTimer(); // Start timer on first rising edge + } + + m_currentCount++; + } + + m_lastInput = input; + + return input && m_currentCount >= m_requiredEdges; +} diff --git a/wpimath/src/main/native/include/frc/filter/EdgeCountFilter.h b/wpimath/src/main/native/include/frc/filter/EdgeCountFilter.h new file mode 100644 index 0000000000..3fb682d24c --- /dev/null +++ b/wpimath/src/main/native/include/frc/filter/EdgeCountFilter.h @@ -0,0 +1,94 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#pragma once + +#include + +#include "units/time.h" + +namespace frc { +/** + * A rising edge counter for boolean streams. Requires that the boolean change + * value to true for a specified number of times within a specified time window + * after the first rising edge before the filtered value changes. + * + * The filter activates when the input has risen (transitioned from false to + * true) the required number of times within the time window. Once activated, + * the output remains true as long as the input is true. The edge count resets + * when the time window expires or when the input goes false after activation. + * + * Input must be stable; consider using a Debouncer before this filter to avoid + * counting noise as multiple edges. + */ +class WPILIB_DLLEXPORT EdgeCounterFilter { + public: + /** + * Creates a new EdgeCounterFilter. + * + * @param requiredEdges The number of rising edges required before the output + * goes true. + * @param windowTime The maximum time window in which all required edges must + * occur after the first rising edge. + */ + explicit EdgeCounterFilter(int requiredEdges, units::second_t windowTime); + + /** + * Applies the edge counter filter to the input stream. + * + * @param input The current value of the input stream. + * @return True if the required number of edges have occurred within the time + * window and the input is currently true; false otherwise. + */ + bool Calculate(bool input); + + /** + * Sets the time window duration. + * + * @param windowTime The maximum time window in which all required edges must + * occur after the first rising edge. + */ + constexpr void SetWindowTime(units::second_t windowTime) { + m_windowTime = windowTime; + } + + /** + * Gets the time window duration. + * + * @return The maximum time window in which all required edges must occur + * after the first rising edge. + */ + constexpr units::second_t GetWindowTime() const { return m_windowTime; } + + /** + * Sets the required number of edges. + * + * @param requiredEdges The number of rising edges required before the output + * goes true. + */ + constexpr void SetRequiredEdges(int requiredEdges) { + m_requiredEdges = requiredEdges; + } + + /** + * Gets the required number of edges. + * + * @return The number of rising edges required before the output goes true. + */ + constexpr int GetRequiredEdges() const { return m_requiredEdges; } + + private: + int m_requiredEdges; + units::second_t m_windowTime; + + units::second_t m_firstEdgeTime; + int m_currentCount = 0; + + bool m_lastInput = false; + + void ResetTimer(); + + bool HasElapsed() const; +}; +} // namespace frc diff --git a/wpimath/src/test/java/edu/wpi/first/math/filter/EdgeCounterFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/filter/EdgeCounterFilterTest.java new file mode 100644 index 0000000000..9da4c59cd2 --- /dev/null +++ b/wpimath/src/test/java/edu/wpi/first/math/filter/EdgeCounterFilterTest.java @@ -0,0 +1,82 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package edu.wpi.first.math.filter; + +import static org.junit.jupiter.api.Assertions.assertEquals; +import static org.junit.jupiter.api.Assertions.assertFalse; +import static org.junit.jupiter.api.Assertions.assertTrue; + +import edu.wpi.first.util.WPIUtilJNI; +import org.junit.jupiter.api.AfterEach; +import org.junit.jupiter.api.BeforeEach; +import org.junit.jupiter.api.Test; + +class EdgeCounterFilterTest { + @BeforeEach + void setUp() { + WPIUtilJNI.enableMockTime(); + WPIUtilJNI.setMockTime(0L); + } + + @AfterEach + void tearDown() { + WPIUtilJNI.setMockTime(0L); + WPIUtilJNI.disableMockTime(); + } + + @Test + void edgeCounterFilterActivatedTest() { + var filter = new EdgeCounterFilter(2, 0.2); + + assertFalse(filter.calculate(true)); // First edge + + WPIUtilJNI.setMockTime(50_000L); + assertFalse(filter.calculate(false)); // First edge ended + + WPIUtilJNI.setMockTime(100_000L); + assertTrue(filter.calculate(true)); // Second edge + + WPIUtilJNI.setMockTime(150_000L); + assertTrue(filter.calculate(true)); // Still true + + WPIUtilJNI.setMockTime(250_000L); + assertTrue(filter.calculate(true)); // Still true + + WPIUtilJNI.setMockTime(300_000L); + assertFalse(filter.calculate(false)); // Input false, should reset + } + + @Test + void edgeCounterFilterExpiredTest() { + var filter = new EdgeCounterFilter(2, 0.2); + + assertFalse(filter.calculate(true)); // First edge + + WPIUtilJNI.setMockTime(50_000L); + filter.calculate(false); // First edge ended + + WPIUtilJNI.setMockTime(250_000L); + assertFalse(filter.calculate(true)); // Second edge after window expired + + WPIUtilJNI.setMockTime(300_000L); + assertFalse(filter.calculate(true)); // Still false + } + + @Test + void edgeCounterFilterParamsTest() { + var filter = new EdgeCounterFilter(2, 0.2); + + assertEquals(filter.getRequiredEdges(), 2); + assertEquals(filter.getWindowTime(), 0.2); + + filter.setRequiredEdges(3); + + assertEquals(filter.getRequiredEdges(), 3); + + filter.setWindowTime(0.5); + + assertEquals(filter.getWindowTime(), 0.5); + } +} diff --git a/wpimath/src/test/native/cpp/filter/EdgeCountFilterTest.cpp b/wpimath/src/test/native/cpp/filter/EdgeCountFilterTest.cpp new file mode 100644 index 0000000000..a6ae79756c --- /dev/null +++ b/wpimath/src/test/native/cpp/filter/EdgeCountFilterTest.cpp @@ -0,0 +1,75 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#include +#include + +#include "frc/filter/EdgeCountFilter.h" +#include "units/time.h" + +static units::second_t now = 0_s; + +class EdgeCounterFilterTest : public ::testing::Test { + protected: + void SetUp() override { + WPI_SetNowImpl([] { return units::microsecond_t{now}.to(); }); + now = 0_ms; + } + + void TearDown() override { + now = 0_ms; + WPI_SetNowImpl(nullptr); + } +}; + +TEST_F(EdgeCounterFilterTest, EdgeCounterFilterActivated) { + frc::EdgeCounterFilter filter{2, 0.2_s}; + + EXPECT_FALSE(filter.Calculate(true)); // First edge + + now = 50_ms; + EXPECT_FALSE(filter.Calculate(false)); // First edge ended + + now = 100_ms; + EXPECT_TRUE(filter.Calculate(true)); // Second edge + + now = 150_ms; + EXPECT_TRUE(filter.Calculate(true)); // Still true + + now = 250_ms; + EXPECT_TRUE(filter.Calculate(true)); // Still true + + now = 300_ms; + EXPECT_FALSE(filter.Calculate(false)); // Input false, should reset +} + +TEST_F(EdgeCounterFilterTest, EdgeCounterFilterExpired) { + frc::EdgeCounterFilter filter{2, 0.2_s}; + + EXPECT_FALSE(filter.Calculate(true)); // First edge + + now = 50_ms; + filter.Calculate(false); // First edge ended + + now = 250_ms; + EXPECT_FALSE(filter.Calculate(true)); // Second edge after window expired + + now = 300_ms; + EXPECT_FALSE(filter.Calculate(true)); // Still false +} + +TEST_F(EdgeCounterFilterTest, EdgeCounterFilterParams) { + frc::EdgeCounterFilter filter{2, 0.2_s}; + + EXPECT_EQ(filter.GetRequiredEdges(), 2); + EXPECT_EQ(filter.GetWindowTime(), 0.2_s); + + filter.SetRequiredEdges(3); + + EXPECT_EQ(filter.GetRequiredEdges(), 3); + + filter.SetWindowTime(0.5_s); + + EXPECT_EQ(filter.GetWindowTime(), 0.5_s); +} From 8be7720a688523d0e7bd3933ad6697ebe3037f63 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Thu, 15 Jan 2026 17:57:38 -0800 Subject: [PATCH 18/27] [sysid] Fix crash on partially empty raw data (#8572) Fixes #8570. --- .../native/cpp/analysis/AnalysisManager.cpp | 27 +++++++++++++++++-- 1 file changed, 25 insertions(+), 2 deletions(-) diff --git a/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp b/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp index ba24cb0d38..c05fc0a17d 100644 --- a/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp +++ b/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp @@ -57,7 +57,8 @@ static double Lerp(units::second_t time, */ static std::vector ConvertToPrepared(const MotorData& data) { std::vector prepared; - // assume we've selected down to a single contiguous run by this point + + // Assume we've selected down to a single contiguous run by this point auto run = data.runs[0]; for (int i = 0; i < static_cast(run.voltage.size()) - 1; ++i) { @@ -101,7 +102,7 @@ static void CopyRawData(wpi::StringMap* dataset) { } /** - * Assigns the combines the various datasets into a single one for analysis. + * Combines the various datasets into a single one for analysis. * * @param slowForward The slow forward dataset * @param slowBackward The slow backward dataset @@ -127,6 +128,28 @@ void AnalysisManager::PrepareGeneralData() { // Convert data to PreparedData structs for (auto& it : m_data.motorData) { auto key = it.first; + + // Assume we've selected down to a single contiguous run by this point + auto run = m_data.motorData[key].runs[0]; + + // Ensure data has at least two samples in it or linear interpolation within + // ConvertToPrepared() will fail + if (run.voltage.size() < 2) { + throw sysid::InvalidDataError(fmt::format( + "{} data has {} voltage samples and at least 2 are required.", key, + run.voltage.size())); + } + if (run.position.size() < 2) { + throw sysid::InvalidDataError(fmt::format( + "{} data has {} position samples and at least 2 are required.", key, + run.position.size())); + } + if (run.velocity.size() < 2) { + throw sysid::InvalidDataError(fmt::format( + "{} data has {} velocity samples and at least 2 are required.", key, + run.velocity.size())); + } + preparedData[key] = ConvertToPrepared(m_data.motorData[key]); WPI_INFO(m_logger, "SAMPLES {}", preparedData[key].size()); } From c89401250fbd412ba050f595551d0a451b7307a2 Mon Sep 17 00:00:00 2001 From: crueter Date: Thu, 15 Jan 2026 21:55:55 -0500 Subject: [PATCH 19/27] [hal, wpilib] Usage Reporting: QFRCDashboard -> QDash (#8571) --- hal/src/generate/Instances.txt | 2 +- .../generated/main/java/edu/wpi/first/hal/FRCNetComm.java | 4 ++-- .../generated/main/native/include/hal/FRCUsageReporting.h | 2 +- hal/src/generated/main/native/include/hal/UsageReporting.h | 2 +- wpilibc/src/main/native/cppcs/RobotBase.cpp | 5 +++-- wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java | 6 +++--- 6 files changed, 11 insertions(+), 10 deletions(-) diff --git a/hal/src/generate/Instances.txt b/hal/src/generate/Instances.txt index 93b09f78e4..3211479de1 100644 --- a/hal/src/generate/Instances.txt +++ b/hal/src/generate/Instances.txt @@ -70,7 +70,7 @@ kDashboard_Shuffleboard = 4 kDashboard_Elastic = 5 kDashboard_LabVIEW = 6 kDashboard_AdvantageScope = 7 -kDashboard_QFRCDashboard = 8 +kDashboard_QDash = 8 kDashboard_FRCWebComponents = 9 kDataLogLocation_Onboard = 1 kDataLogLocation_USB = 2 diff --git a/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java b/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java index d2b5ebd93a..8931ffde21 100644 --- a/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java +++ b/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java @@ -447,8 +447,8 @@ public final class FRCNetComm { public static final int kDashboard_LabVIEW = 6; /** kDashboard_AdvantageScope = 7. */ public static final int kDashboard_AdvantageScope = 7; - /** kDashboard_QFRCDashboard = 8. */ - public static final int kDashboard_QFRCDashboard = 8; + /** kDashboard_QDash = 8. */ + public static final int kDashboard_QDash = 8; /** kDashboard_FRCWebComponents = 9. */ public static final int kDashboard_FRCWebComponents = 9; /** kDataLogLocation_Onboard = 1. */ diff --git a/hal/src/generated/main/native/include/hal/FRCUsageReporting.h b/hal/src/generated/main/native/include/hal/FRCUsageReporting.h index 6d6c2b01b3..06707a4235 100644 --- a/hal/src/generated/main/native/include/hal/FRCUsageReporting.h +++ b/hal/src/generated/main/native/include/hal/FRCUsageReporting.h @@ -262,7 +262,7 @@ namespace HALUsageReporting { kDashboard_Elastic = 5, kDashboard_LabVIEW = 6, kDashboard_AdvantageScope = 7, - kDashboard_QFRCDashboard = 8, + kDashboard_QDash = 8, kDashboard_FRCWebComponents = 9, kDataLogLocation_Onboard = 1, kDataLogLocation_USB = 2, diff --git a/hal/src/generated/main/native/include/hal/UsageReporting.h b/hal/src/generated/main/native/include/hal/UsageReporting.h index 1230e187f6..c9f7a0dcc7 100644 --- a/hal/src/generated/main/native/include/hal/UsageReporting.h +++ b/hal/src/generated/main/native/include/hal/UsageReporting.h @@ -235,7 +235,7 @@ typedef enum kDashboard_Elastic = 5, kDashboard_LabVIEW = 6, kDashboard_AdvantageScope = 7, - kDashboard_QFRCDashboard = 8, + kDashboard_QDash = 8, kDashboard_FRCWebComponents = 9, kDataLogLocation_Onboard = 1, kDataLogLocation_USB = 2, diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp index 69dc19e9b4..fe4cd3f866 100644 --- a/wpilibc/src/main/native/cppcs/RobotBase.cpp +++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp @@ -306,10 +306,11 @@ RobotBase::RobotBase() { HAL_Report(HALUsageReporting::kResourceType_Dashboard, HALUsageReporting::kDashboard_AdvantageScope); m_dashboardDetected = true; - } else if (event.GetConnectionInfo()->remote_id.starts_with( + } else if (event.GetConnectionInfo()->remote_id.starts_with("QDash") || + event.GetConnectionInfo()->remote_id.starts_with( "QFRCDashboard")) { HAL_Report(HALUsageReporting::kResourceType_Dashboard, - HALUsageReporting::kDashboard_QFRCDashboard); + HALUsageReporting::kDashboard_QDash); m_dashboardDetected = true; } else if (event.GetConnectionInfo()->remote_id.starts_with( "FRC Web Components")) { diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java index 02b9c84137..aa927f3e32 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java @@ -211,9 +211,9 @@ public abstract class RobotBase implements AutoCloseable { HAL.report( tResourceType.kResourceType_Dashboard, tInstances.kDashboard_AdvantageScope); m_dashboardDetected = true; - } else if (event.connInfo.remote_id.startsWith("QFRCDashboard")) { - HAL.report( - tResourceType.kResourceType_Dashboard, tInstances.kDashboard_QFRCDashboard); + } else if (event.connInfo.remote_id.startsWith("QDash") + || event.connInfo.remote_id.startsWith("QFRCDashboard")) { + HAL.report(tResourceType.kResourceType_Dashboard, tInstances.kDashboard_QDash); m_dashboardDetected = true; } else if (event.connInfo.remote_id.startsWith("FRC Web Components")) { HAL.report( From 3d92547d62ff0e65bd3c58816b9df04908e6e1cb Mon Sep 17 00:00:00 2001 From: Vasista Vovveti Date: Thu, 5 Feb 2026 17:56:52 -0800 Subject: [PATCH 20/27] [cscore] Fix format specifier on Mac (#8602) --- cscore/src/main/native/objcpp/UvcControlImpl.mm | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cscore/src/main/native/objcpp/UvcControlImpl.mm b/cscore/src/main/native/objcpp/UvcControlImpl.mm index 05b7229a78..609b2f7af8 100644 --- a/cscore/src/main/native/objcpp/UvcControlImpl.mm +++ b/cscore/src/main/native/objcpp/UvcControlImpl.mm @@ -484,7 +484,7 @@ const propertyInfo_t propertyInfo[] = UVCERROR("USB control interface not found"); break; default: - UVCERROR("ControlRequest failed (KR=sys:sub:code) = {:02Xh}:{:03Xh}:{:04Xh}", + UVCERROR("ControlRequest failed (KR=sys:sub:code) = {:02X}h:{:03X}h:{:04X}h", sys, sub, code); break; } From 6b225bb1f1c88ab06aa721489a7c90a97f374651 Mon Sep 17 00:00:00 2001 From: FirstFox3 Date: Thu, 5 Feb 2026 20:57:49 -0500 Subject: [PATCH 21/27] [wpilib] Fix typo in TimedRobot.getLoopStartTime() docs (#8590) Fixed a typo in the description of the getLoopStartTime function in both C++ and Java TimedRobot class. --------- Co-authored-by: Tyler Veness --- wpilibc/src/main/native/include/frc/TimedRobot.h | 2 +- wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/wpilibc/src/main/native/include/frc/TimedRobot.h b/wpilibc/src/main/native/include/frc/TimedRobot.h index 9d1e8ca1a1..0015f9ae6b 100644 --- a/wpilibc/src/main/native/include/frc/TimedRobot.h +++ b/wpilibc/src/main/native/include/frc/TimedRobot.h @@ -65,7 +65,7 @@ class TimedRobot : public IterativeRobotBase { ~TimedRobot() override; /** - * Return the system clock time in micrseconds for the start of the current + * Return the system clock time in microseconds for the start of the current * periodic loop. This is in the same time base as Timer.GetFPGATimestamp(), * but is stable through a loop. It is updated at the beginning of every * periodic callback (including the normal periodic loop). diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java index de0fab0f26..6c4024d7c5 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java @@ -181,9 +181,9 @@ public class TimedRobot extends IterativeRobotBase { } /** - * Return the system clock time in micrseconds for the start of the current periodic loop. This is - * in the same time base as Timer.getFPGATimestamp(), but is stable through a loop. It is updated - * at the beginning of every periodic callback (including the normal periodic loop). + * Return the system clock time in microseconds for the start of the current periodic loop. This + * is in the same time base as Timer.getFPGATimestamp(), but is stable through a loop. It is + * updated at the beginning of every periodic callback (including the normal periodic loop). * * @return Robot running time in microseconds, as of the start of the current periodic function. */ From 0a3731746710a6155ce3dbfcde4327262bb01ce2 Mon Sep 17 00:00:00 2001 From: jpokornyiii Date: Sat, 7 Feb 2026 00:36:35 -0500 Subject: [PATCH 22/27] [examples] Adding XRP java and cpp examples for Timed Robot (#8599) Adding an example (one C++ and one Java) for using TimedRobot with the XRP. --- .../main/cpp/examples/Xrptimed/cpp/Robot.cpp | 57 +++++++++++++++ .../cpp/examples/Xrptimed/include/Robot.h | 31 ++++++++ .../src/main/cpp/examples/examples.json | 16 ++++ .../wpi/first/wpilibj/examples/examples.json | 16 ++++ .../first/wpilibj/examples/xrptimed/Main.java | 25 +++++++ .../wpilibj/examples/xrptimed/Robot.java | 73 +++++++++++++++++++ 6 files changed, 218 insertions(+) create mode 100644 wpilibcExamples/src/main/cpp/examples/Xrptimed/cpp/Robot.cpp create mode 100644 wpilibcExamples/src/main/cpp/examples/Xrptimed/include/Robot.h create mode 100644 wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrptimed/Main.java create mode 100644 wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrptimed/Robot.java diff --git a/wpilibcExamples/src/main/cpp/examples/Xrptimed/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Xrptimed/cpp/Robot.cpp new file mode 100644 index 0000000000..0001613df4 --- /dev/null +++ b/wpilibcExamples/src/main/cpp/examples/Xrptimed/cpp/Robot.cpp @@ -0,0 +1,57 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#include "Robot.h" + +Robot::Robot() { + wpi::SendableRegistry::AddChild(&m_drive, &m_leftMotor); + wpi::SendableRegistry::AddChild(&m_drive, &m_rightMotor); + + // We need to invert one side of the drivetrain so that positive voltages + // result in both sides moving forward. Depending on how your robot's + // gearbox is constructed, you might have to invert the left side instead. + m_rightMotor.SetInverted(true); +} + +/** + * This function is called every 20 ms, no matter the mode. Use + * this for items like diagnostics that you want ran during disabled, + * autonomous, teleoperated and test. + * + *

This runs after the mode specific periodic functions, but before + * LiveWindow and SmartDashboard integrated updating. + */ +void Robot::RobotPeriodic() {} + +// This function is only once each time Autonomous is enabled +void Robot::AutonomousInit() { + m_timer.Restart(); +} + +// This function is called periodically during autonomous mode +void Robot::AutonomousPeriodic() { + // Drive for 2 seconds + if (m_timer.Get() < 2_s) { + // Drive forwards half speed, make sure to turn input squaring off + m_drive.ArcadeDrive(0.5, 0.0, false); + } else { + // Stop robot + m_drive.ArcadeDrive(0.0, 0.0, false); + } +} + +// This function is only once each time telop is enabled +void Robot::TeleopInit() {} + +// This function is called periodically during teleop mode +void Robot::TeleopPeriodic() { + m_drive.ArcadeDrive(-m_XboxController.GetLeftY(), + -m_XboxController.GetRightX()); +} + +#ifndef RUNNING_FRC_TESTS +int main() { + return frc::StartRobot(); +} +#endif diff --git a/wpilibcExamples/src/main/cpp/examples/Xrptimed/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/Xrptimed/include/Robot.h new file mode 100644 index 0000000000..4f028475e9 --- /dev/null +++ b/wpilibcExamples/src/main/cpp/examples/Xrptimed/include/Robot.h @@ -0,0 +1,31 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#pragma once + +#include +#include +#include +#include +#include + +class Robot : public frc::TimedRobot { + public: + Robot(); + void RobotPeriodic() override; + void AutonomousInit() override; + void AutonomousPeriodic() override; + void TeleopInit() override; + void TeleopPeriodic() override; + + private: + frc::XRPMotor m_leftMotor{0}; + frc::XRPMotor m_rightMotor{1}; + frc::XboxController m_XboxController{0}; + frc::Timer m_timer; + + frc::DifferentialDrive m_drive{ + [&](double output) { m_leftMotor.Set(output); }, + [&](double output) { m_rightMotor.Set(output); }}; +}; diff --git a/wpilibcExamples/src/main/cpp/examples/examples.json b/wpilibcExamples/src/main/cpp/examples/examples.json index 8723e307ca..40deb292fb 100644 --- a/wpilibcExamples/src/main/cpp/examples/examples.json +++ b/wpilibcExamples/src/main/cpp/examples/examples.json @@ -609,6 +609,22 @@ "xrp" ] }, + { + "name": "XRP Timed", + "description": "An very basic timed robot program that can be used with the XRP reference robot design.", + "tags": [ + "XRP", + "Differential Drive", + "XboxController" + ], + "foldername": "Xrptimed", + "gradlebase": "cppxrp", + "mainclass": "Main", + "commandversion": 2, + "extravendordeps": [ + "xrp" + ] + }, { "name": "StateSpaceFlywheel", "description": "Control a flywheel using a state-space model (based on values from CAD), with a Kalman Filter and LQR.", diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json index 1abd22855b..255a7cf2e3 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json @@ -812,6 +812,22 @@ "xrp" ] }, + { + "name": "XRP Timed", + "description": "An very basic timed robot program that can be used with the XRP reference robot design.", + "tags": [ + "XRP", + "Differential Drive", + "XboxController" + ], + "foldername": "xrptimed", + "gradlebase": "javaxrp", + "mainclass": "Main", + "commandversion": 2, + "extravendordeps": [ + "xrp" + ] + }, { "name": "Digital Communication Sample", "description": "Communicates with external devices (such as an Arduino) using the roboRIO's DIO.", diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrptimed/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrptimed/Main.java new file mode 100644 index 0000000000..a8f11df99a --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrptimed/Main.java @@ -0,0 +1,25 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package edu.wpi.first.wpilibj.examples.xrptimed; + +import edu.wpi.first.wpilibj.RobotBase; + +/** + * Do NOT add any static variables to this class, or any initialization at all. Unless you know what + * you are doing, do not modify this file except to change the parameter class to the startRobot + * call. + */ +public final class Main { + private Main() {} + + /** + * Main initialization function. Do not perform any initialization here. + * + *

If you change your main robot class, change the parameter type. + */ + public static void main(String... args) { + RobotBase.startRobot(Robot::new); + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrptimed/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrptimed/Robot.java new file mode 100644 index 0000000000..27ea6275f8 --- /dev/null +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/xrptimed/Robot.java @@ -0,0 +1,73 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package edu.wpi.first.wpilibj.examples.xrptimed; + +import edu.wpi.first.util.sendable.SendableRegistry; +import edu.wpi.first.wpilibj.TimedRobot; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.drive.DifferentialDrive; +import edu.wpi.first.wpilibj.xrp.XRPMotor; + +/** + * The methods in this class are called automatically corresponding to each mode, as described in + * the TimedRobot documentation. If you change the name of this class or the package after creating + * this project, you must also update the manifest file in the resource directory. + */ +public class Robot extends TimedRobot { + private final XRPMotor m_leftDrive = new XRPMotor(0); + private final XRPMotor m_rightDrive = new XRPMotor(1); + private final DifferentialDrive m_robotDrive = + new DifferentialDrive(m_leftDrive::set, m_rightDrive::set); + private final XboxController m_controller = new XboxController(0); + private final Timer m_timer = new Timer(); + + /** Called once at the beginning of the robot program. */ + public Robot() { + SendableRegistry.addChild(m_robotDrive, m_leftDrive); + SendableRegistry.addChild(m_robotDrive, m_rightDrive); + + // We need to invert one side of the drivetrain so that positive voltages + // result in both sides moving forward. Depending on how your robot's + // gearbox is constructed, you might have to invert the left side instead. + m_rightDrive.setInverted(true); + } + + /** This function is run once each time the robot enters autonomous mode. */ + @Override + public void autonomousInit() { + m_timer.restart(); + } + + /** This function is called periodically during autonomous. */ + @Override + public void autonomousPeriodic() { + // Drive for 2 seconds + if (m_timer.get() < 2.0) { + // Drive forwards half speed, make sure to turn input squaring off + m_robotDrive.arcadeDrive(0.5, 0.0, false); + } else { + m_robotDrive.stopMotor(); // stop robot + } + } + + /** This function is called once each time the robot enters teleoperated mode. */ + @Override + public void teleopInit() {} + + /** This function is called periodically during teleoperated mode. */ + @Override + public void teleopPeriodic() { + m_robotDrive.arcadeDrive(-m_controller.getLeftY(), -m_controller.getRightX()); + } + + /** This function is called once each time the robot enters test mode. */ + @Override + public void testInit() {} + + /** This function is called periodically during test mode. */ + @Override + public void testPeriodic() {} +} From 664484306cc3d76e57cedeaa3bb00968549fdeb6 Mon Sep 17 00:00:00 2001 From: NotTacos <128665709+NotTacos2@users.noreply.github.com> Date: Fri, 6 Feb 2026 22:39:12 -0700 Subject: [PATCH 23/27] [glass] Change match times for rebuilt (#8575) The timer has changed for rebuilt's auto and teleop. --- glass/src/lib/native/cpp/other/FMS.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/glass/src/lib/native/cpp/other/FMS.cpp b/glass/src/lib/native/cpp/other/FMS.cpp index 22de23304b..55e56424f2 100644 --- a/glass/src/lib/native/cpp/other/FMS.cpp +++ b/glass/src/lib/native/cpp/other/FMS.cpp @@ -71,11 +71,11 @@ void glass::DisplayFMS(FMSModel* model, bool editableDsAttached) { } ImGui::SameLine(); if (ImGui::Button("Auto") && !enabled) { - model->SetMatchTime(15.0); + model->SetMatchTime(20.0); } ImGui::SameLine(); if (ImGui::Button("Teleop") && !enabled) { - model->SetMatchTime(135.0); + model->SetMatchTime(140.0); } } From 7cd3790c7c0209d2242913e7f1c7306201984b07 Mon Sep 17 00:00:00 2001 From: Gavin P <62412298+gavinskycastle@users.noreply.github.com> Date: Fri, 6 Feb 2026 21:47:08 -0800 Subject: [PATCH 24/27] [wpiunits] Make RPM an alias of RotationsPerMinute (#8595) Currently the only name for this unit is `RPM`. This caused a bit of confusion for a couple of my team members when we failed to find an RPM unit, assuming it would be named `RotationsPerMinute` as is the standard for almost all other units, such as `RotationsPerSecond`. No corresponding changes have been made to wpilibc as it seems to already work this way, with `rpm` being the abbreviation for `revolutions_per_minute`. --- wpiunits/src/main/java/edu/wpi/first/units/Units.java | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/wpiunits/src/main/java/edu/wpi/first/units/Units.java b/wpiunits/src/main/java/edu/wpi/first/units/Units.java index 04b1c5f990..67cef3bbe9 100644 --- a/wpiunits/src/main/java/edu/wpi/first/units/Units.java +++ b/wpiunits/src/main/java/edu/wpi/first/units/Units.java @@ -166,7 +166,13 @@ public final class Units { * A unit of angular velocity equivalent to spinning at a rate of one {@link #Rotations Rotation} * per {@link #Minute}. Motor spec sheets often list maximum speeds in terms of RPM. */ - public static final AngularVelocityUnit RPM = Rotations.per(Minute); + public static final AngularVelocityUnit RotationsPerMinute = Rotations.per(Minute); + + /** + * A unit of angular velocity equivalent to spinning at a rate of one {@link #Rotations Rotation} + * per {@link #Minute}. Motor spec sheets often list maximum speeds in terms of RPM. + */ + public static final AngularVelocityUnit RPM = RotationsPerMinute; // alias /** * The standard SI unit of angular velocity, equivalent to spinning at a rate of one {@link From 2c5529d714775c19fe5a21876cefc4fbaff305f7 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Fri, 6 Feb 2026 21:47:49 -0800 Subject: [PATCH 25/27] [wpimath] Speed up pose estimator correction computation (#8574) In C++, we use a diagonal matrix to avoid an expensive matrix multiplication. EJML doesn't have a diagonal matrix type, so in Java, we use a double array and implement the multiplication manually. --- .../first/math/estimator/PoseEstimator.java | 42 ++++++------- .../first/math/estimator/PoseEstimator3d.java | 60 ++++++++----------- .../include/frc/estimator/PoseEstimator.h | 18 ++++-- .../include/frc/estimator/PoseEstimator3d.h | 30 ++++++---- 4 files changed, 74 insertions(+), 76 deletions(-) diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java index 4c31748329..4cae330248 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java @@ -8,8 +8,6 @@ import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.MathUsageId; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.Nat; -import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Transform2d; @@ -40,8 +38,12 @@ import java.util.TreeMap; */ public class PoseEstimator { private final Odometry m_odometry; - private final Matrix m_q = new Matrix<>(Nat.N3(), Nat.N1()); - private final Matrix m_visionK = new Matrix<>(Nat.N3(), Nat.N3()); + + // Diagonal of process noise covariance matrix Q + private final double[] m_q = new double[] {0.0, 0.0, 0.0}; + + // Diagonal of Kalman gain matrix K + private final double[] m_vision_k = new double[] {0.0, 0.0, 0.0}; private static final double kBufferDuration = 1.5; // Maps timestamps to odometry-only pose estimates @@ -79,7 +81,7 @@ public class PoseEstimator { m_poseEstimate = m_odometry.getPoseMeters(); for (int i = 0; i < 3; ++i) { - m_q.set(i, 0, stateStdDevs.get(i, 0) * stateStdDevs.get(i, 0)); + m_q[i] = stateStdDevs.get(i, 0) * stateStdDevs.get(i, 0); } setVisionMeasurementStdDevs(visionMeasurementStdDevs); MathSharedStore.getMathShared().reportUsage(MathUsageId.kEstimator_PoseEstimator, 1); @@ -95,6 +97,7 @@ public class PoseEstimator { * theta]ᵀ, with units in meters and radians. */ public final void setVisionMeasurementStdDevs(Matrix visionMeasurementStdDevs) { + // Diagonal of measurement noise covariance matrix R var r = new double[3]; for (int i = 0; i < 3; ++i) { r[i] = visionMeasurementStdDevs.get(i, 0) * visionMeasurementStdDevs.get(i, 0); @@ -103,11 +106,10 @@ public class PoseEstimator { // Solve for closed form Kalman gain for continuous Kalman filter with A = 0 // and C = I. See wpimath/algorithms.md. for (int row = 0; row < 3; ++row) { - if (m_q.get(row, 0) == 0.0) { - m_visionK.set(row, row, 0.0); + if (m_q[row] == 0.0) { + m_vision_k[row] = 0.0; } else { - m_visionK.set( - row, row, m_q.get(row, 0) / (m_q.get(row, 0) + Math.sqrt(m_q.get(row, 0) * r[row]))); + m_vision_k[row] = m_q[row] / (m_q[row] + Math.sqrt(m_q[row] * r[row])); } } } @@ -307,29 +309,23 @@ public class PoseEstimator { var transform = visionRobotPoseMeters.minus(visionSample.get()); // Step 5: We should not trust the transform entirely, so instead we scale this transform by a - // Kalman - // gain matrix representing how much we trust vision measurements compared to our current pose. - var k_times_transform = - m_visionK.times( - VecBuilder.fill( - transform.getX(), transform.getY(), transform.getRotation().getRadians())); - - // Step 6: Convert back to Transform2d. + // Kalman gain matrix representing how much we trust vision measurements compared to our current + // pose. Then, we convert the result back to a Transform2d. var scaledTransform = new Transform2d( - k_times_transform.get(0, 0), - k_times_transform.get(1, 0), - Rotation2d.fromRadians(k_times_transform.get(2, 0))); + m_vision_k[0] * transform.getX(), + m_vision_k[1] * transform.getY(), + Rotation2d.fromRadians(m_vision_k[2] * transform.getRotation().getRadians())); - // Step 7: Calculate and record the vision update. + // Step 6: Calculate and record the vision update. var visionUpdate = new VisionUpdate(visionSample.get().plus(scaledTransform), odometrySample.get()); m_visionUpdates.put(timestampSeconds, visionUpdate); - // Step 8: Remove later vision measurements. (Matches previous behavior) + // Step 7: Remove later vision measurements. (Matches previous behavior) m_visionUpdates.tailMap(timestampSeconds, false).entrySet().clear(); - // Step 9: Update latest pose estimate. Since we cleared all updates after this vision update, + // Step 8: Update latest pose estimate. Since we cleared all updates after this vision update, // it's guaranteed to be the latest vision update. m_poseEstimate = visionUpdate.compensate(m_odometry.getPoseMeters()); } diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java index ad0d1404b8..99feba9632 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java +++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java @@ -8,8 +8,6 @@ import edu.wpi.first.math.MathSharedStore; import edu.wpi.first.math.MathUsageId; import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.Matrix; -import edu.wpi.first.math.Nat; -import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; @@ -22,7 +20,6 @@ import edu.wpi.first.math.kinematics.Kinematics; import edu.wpi.first.math.kinematics.Odometry3d; import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N4; -import edu.wpi.first.math.numbers.N6; import java.util.NavigableMap; import java.util.Optional; import java.util.TreeMap; @@ -48,8 +45,12 @@ import java.util.TreeMap; */ public class PoseEstimator3d { private final Odometry3d m_odometry; - private final Matrix m_q = new Matrix<>(Nat.N4(), Nat.N1()); - private final Matrix m_visionK = new Matrix<>(Nat.N6(), Nat.N6()); + + // Diagonal of process noise covariance matrix Q + private final double[] m_q = new double[] {0.0, 0.0, 0.0, 0.0}; + + // Diagonal of Kalman gain matrix K + private final double[] m_vision_k = new double[] {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; private static final double kBufferDuration = 1.5; // Maps timestamps to odometry-only pose estimates @@ -87,7 +88,7 @@ public class PoseEstimator3d { m_poseEstimate = m_odometry.getPoseMeters(); for (int i = 0; i < 4; ++i) { - m_q.set(i, 0, stateStdDevs.get(i, 0) * stateStdDevs.get(i, 0)); + m_q[i] = stateStdDevs.get(i, 0) * stateStdDevs.get(i, 0); } setVisionMeasurementStdDevs(visionMeasurementStdDevs); MathSharedStore.getMathShared().reportUsage(MathUsageId.kEstimator_PoseEstimator3d, 1); @@ -103,6 +104,7 @@ public class PoseEstimator3d { * theta]ᵀ, with units in meters and radians. */ public final void setVisionMeasurementStdDevs(Matrix visionMeasurementStdDevs) { + // Diagonal of measurement covariance matrix R var r = new double[4]; for (int i = 0; i < 4; ++i) { r[i] = visionMeasurementStdDevs.get(i, 0) * visionMeasurementStdDevs.get(i, 0); @@ -111,17 +113,16 @@ public class PoseEstimator3d { // Solve for closed form Kalman gain for continuous Kalman filter with A = 0 // and C = I. See wpimath/algorithms.md. for (int row = 0; row < 4; ++row) { - if (m_q.get(row, 0) == 0.0) { - m_visionK.set(row, row, 0.0); + if (m_q[row] == 0.0) { + m_vision_k[row] = 0.0; } else { - m_visionK.set( - row, row, m_q.get(row, 0) / (m_q.get(row, 0) + Math.sqrt(m_q.get(row, 0) * r[row]))); + m_vision_k[row] = m_q[row] / (m_q[row] + Math.sqrt(m_q[row] * r[row])); } } // Fill in the gains for the other components of the rotation vector - double angle_gain = m_visionK.get(3, 3); - m_visionK.set(4, 4, angle_gain); - m_visionK.set(5, 5, angle_gain); + double angle_gain = m_vision_k[3]; + m_vision_k[4] = angle_gain; + m_vision_k[5] = angle_gain; } /** @@ -320,38 +321,27 @@ public class PoseEstimator3d { var transform = visionRobotPoseMeters.minus(visionSample.get()); // Step 5: We should not trust the transform entirely, so instead we scale this transform by a - // Kalman - // gain matrix representing how much we trust vision measurements compared to our current pose. - var k_times_transform = - m_visionK.times( - VecBuilder.fill( - transform.getX(), - transform.getY(), - transform.getZ(), - transform.getRotation().getX(), - transform.getRotation().getY(), - transform.getRotation().getZ())); - - // Step 6: Convert back to Transform3d. + // Kalman gain matrix representing how much we trust vision measurements compared to our current + // pose. Then we convert the result back to a Transform3d. var scaledTransform = new Transform3d( - k_times_transform.get(0, 0), - k_times_transform.get(1, 0), - k_times_transform.get(2, 0), + m_vision_k[0] * transform.getX(), + m_vision_k[1] * transform.getY(), + m_vision_k[2] * transform.getZ(), new Rotation3d( - k_times_transform.get(3, 0), - k_times_transform.get(4, 0), - k_times_transform.get(5, 0))); + m_vision_k[3] * transform.getRotation().getX(), + m_vision_k[4] * transform.getRotation().getY(), + m_vision_k[5] * transform.getRotation().getZ())); - // Step 7: Calculate and record the vision update. + // Step 6: Calculate and record the vision update. var visionUpdate = new VisionUpdate(visionSample.get().plus(scaledTransform), odometrySample.get()); m_visionUpdates.put(timestampSeconds, visionUpdate); - // Step 8: Remove later vision measurements. (Matches previous behavior) + // Step 7: Remove later vision measurements. (Matches previous behavior) m_visionUpdates.tailMap(timestampSeconds, false).entrySet().clear(); - // Step 9: Update latest pose estimate. Since we cleared all updates after this vision update, + // Step 8: Update latest pose estimate. Since we cleared all updates after this vision update, // it's guaranteed to be the latest vision update. m_poseEstimate = visionUpdate.compensate(m_odometry.getPoseMeters()); } diff --git a/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h index 9187889ff6..850ea1707f 100644 --- a/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h +++ b/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h @@ -86,6 +86,7 @@ class WPILIB_DLLEXPORT PoseEstimator { */ void SetVisionMeasurementStdDevs( const wpi::array& visionMeasurementStdDevs) { + // Diagonal of measurement covariance matrix R wpi::array r{wpi::empty_array}; for (size_t i = 0; i < 3; ++i) { r[i] = visionMeasurementStdDevs[i] * visionMeasurementStdDevs[i]; @@ -95,9 +96,9 @@ class WPILIB_DLLEXPORT PoseEstimator { // and C = I. See wpimath/algorithms.md. for (size_t row = 0; row < 3; ++row) { if (m_q[row] == 0.0) { - m_visionK(row, row) = 0.0; + m_vision_K.diagonal()[row] = 0.0; } else { - m_visionK(row, row) = + m_vision_K.diagonal()[row] = m_q[row] / (m_q[row] + std::sqrt(m_q[row] * r[row])); } } @@ -318,9 +319,9 @@ class WPILIB_DLLEXPORT PoseEstimator { // this transform by a Kalman gain matrix representing how much we trust // vision measurements compared to our current pose. Eigen::Vector3d k_times_transform = - m_visionK * Eigen::Vector3d{transform.X().value(), - transform.Y().value(), - transform.Rotation().Radians().value()}; + m_vision_K * Eigen::Vector3d{transform.X().value(), + transform.Y().value(), + transform.Rotation().Radians().value()}; // Step 6: Convert back to Transform2d. Transform2d scaledTransform{ @@ -475,8 +476,13 @@ class WPILIB_DLLEXPORT PoseEstimator { static constexpr units::second_t kBufferDuration = 1.5_s; Odometry& m_odometry; + + // Diagonal of process noise covariance matrix Q wpi::array m_q{wpi::empty_array}; - Eigen::Matrix3d m_visionK = Eigen::Matrix3d::Zero(); + + // Kalman gain matrix K + Eigen::DiagonalMatrix m_vision_K = + Eigen::DiagonalMatrix::Zero(); // Maps timestamps to odometry-only pose estimates TimeInterpolatableBuffer m_odometryPoseBuffer{kBufferDuration}; diff --git a/wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h b/wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h index 490a6cbcb2..6699e98d76 100644 --- a/wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h +++ b/wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h @@ -92,6 +92,7 @@ class WPILIB_DLLEXPORT PoseEstimator3d { */ void SetVisionMeasurementStdDevs( const wpi::array& visionMeasurementStdDevs) { + // Diagonal of measurement noise covariance matrix R wpi::array r{wpi::empty_array}; for (size_t i = 0; i < 4; ++i) { r[i] = visionMeasurementStdDevs[i] * visionMeasurementStdDevs[i]; @@ -101,15 +102,15 @@ class WPILIB_DLLEXPORT PoseEstimator3d { // and C = I. See wpimath/algorithms.md. for (size_t row = 0; row < 4; ++row) { if (m_q[row] == 0.0) { - m_visionK(row, row) = 0.0; + m_vision_K.diagonal()[row] = 0.0; } else { - m_visionK(row, row) = + m_vision_K.diagonal()[row] = m_q[row] / (m_q[row] + std::sqrt(m_q[row] * r[row])); } } - double angle_gain = m_visionK(3, 3); - m_visionK(4, 4) = angle_gain; - m_visionK(5, 5) = angle_gain; + double angle_gain = m_vision_K.diagonal()[3]; + m_vision_K.diagonal()[4] = angle_gain; + m_vision_K.diagonal()[5] = angle_gain; } /** @@ -327,12 +328,12 @@ class WPILIB_DLLEXPORT PoseEstimator3d { // this transform by a Kalman gain matrix representing how much we trust // vision measurements compared to our current pose. frc::Vectord<6> k_times_transform = - m_visionK * frc::Vectord<6>{transform.X().value(), - transform.Y().value(), - transform.Z().value(), - transform.Rotation().X().value(), - transform.Rotation().Y().value(), - transform.Rotation().Z().value()}; + m_vision_K * frc::Vectord<6>{transform.X().value(), + transform.Y().value(), + transform.Z().value(), + transform.Rotation().X().value(), + transform.Rotation().Y().value(), + transform.Rotation().Z().value()}; // Step 6: Convert back to Transform3d. Transform3d scaledTransform{ @@ -490,8 +491,13 @@ class WPILIB_DLLEXPORT PoseEstimator3d { static constexpr units::second_t kBufferDuration = 1.5_s; Odometry3d& m_odometry; + + // Diagonal of process noise covariance matrix Q wpi::array m_q{wpi::empty_array}; - frc::Matrixd<6, 6> m_visionK = frc::Matrixd<6, 6>::Zero(); + + // Kalman gain matrix K + Eigen::DiagonalMatrix m_vision_K = + Eigen::DiagonalMatrix::Zero(); // Maps timestamps to odometry-only pose estimates TimeInterpolatableBuffer m_odometryPoseBuffer{kBufferDuration}; From 7ac061239703b8573beeb0bf43f9403cf5d5f228 Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Mon, 9 Feb 2026 17:14:42 -0800 Subject: [PATCH 26/27] [hal,wpilib] Update MatchTime docs for teleop and auto mode (NFC) (#8606) Update Timer and JNI MatchTime functions to latest docs --- .../edu/wpi/first/hal/DriverStationJNI.java | 17 ++++++++------ .../main/native/include/hal/DriverStation.h | 3 +-- .../main/native/include/frc/DriverStation.h | 3 +-- wpilibc/src/main/native/include/frc/Timer.h | 22 +++++++++++-------- .../edu/wpi/first/wpilibj/DriverStation.java | 3 +-- .../java/edu/wpi/first/wpilibj/Timer.java | 12 ++++++++-- 6 files changed, 36 insertions(+), 24 deletions(-) diff --git a/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java b/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java index 580dcd1d32..b5a3fcd56f 100644 --- a/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java +++ b/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java @@ -308,16 +308,19 @@ public class DriverStationJNI extends JNIWrapper { public static native int getJoystickAxisType(byte joystickNum, byte axis); /** - * Returns the approximate match time. + * Return the approximate match time. The FMS does not send an official match time to the robots, + * but does send an approximate match time. The value will count down the time remaining in the + * current period (auto or teleop). Warning: This is not an official time (so it cannot be used to + * dispute ref calls or guarantee that a function will trigger before the match ends). * - *

The FMS does not send an official match time to the robots, but does send an approximate - * match time. The value will count down the time remaining in the current period (auto or - * teleop). + *

When connected to the real field, this number only changes in full integer increments, and + * always counts down. * - *

Warning: This is not an official time (so it cannot be used to dispute ref calls or - * guarantee that a function will trigger before the match ends). + *

When the DS is in practice mode, this number is a floating point number, and counts down. * - *

The Practice Match function of the DS approximates the behavior seen on the field. + *

When the DS is in teleop or autonomous mode, this number returns -1.0. + * + *

Simulation matches DS behavior without an FMS connected. * * @return time remaining in current match period (auto or teleop) * @see "HAL_GetMatchTime" diff --git a/hal/src/main/native/include/hal/DriverStation.h b/hal/src/main/native/include/hal/DriverStation.h index 59270afae1..4fe5dcdcda 100644 --- a/hal/src/main/native/include/hal/DriverStation.h +++ b/hal/src/main/native/include/hal/DriverStation.h @@ -187,8 +187,7 @@ int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs, *

When the DS is in practice mode, this number is a floating point number, * and counts down. * - *

When the DS is in teleop or autonomous mode, this number is a floating - * point number, and counts up. + *

When the DS is in teleop or autonomous mode, this number returns -1.0. * *

Simulation matches DS behavior without an FMS connected. * diff --git a/wpilibc/src/main/native/include/frc/DriverStation.h b/wpilibc/src/main/native/include/frc/DriverStation.h index b9b683f11b..97c4885270 100644 --- a/wpilibc/src/main/native/include/frc/DriverStation.h +++ b/wpilibc/src/main/native/include/frc/DriverStation.h @@ -339,8 +339,7 @@ class DriverStation final { *

When the DS is in practice mode, this number is a floating point number, * and counts down. * - *

When the DS is in teleop or autonomous mode, this number is a floating - * point number, and counts up. + *

When the DS is in teleop or autonomous mode, this number returns -1.0. * *

Simulation matches DS behavior without an FMS connected. * diff --git a/wpilibc/src/main/native/include/frc/Timer.h b/wpilibc/src/main/native/include/frc/Timer.h index b3bbfd3539..f058b4a578 100644 --- a/wpilibc/src/main/native/include/frc/Timer.h +++ b/wpilibc/src/main/native/include/frc/Timer.h @@ -139,19 +139,23 @@ class Timer { static units::second_t GetFPGATimestamp(); /** - * Return the approximate match time. - * - * The FMS does not send an official match time to the robots, but does send - * an approximate match time. The value will count down the time remaining in - * the current period (auto or teleop). - * + * Return the approximate match time. The FMS does not send an official match + * time to the robots, but does send an approximate match time. The value will + * count down the time remaining in the current period (auto or teleop). * Warning: This is not an official time (so it cannot be used to dispute ref * calls or guarantee that a function will trigger before the match ends). * - * The Practice Match function of the DS approximates the behavior seen on the - * field. + *

When connected to the real field, this number only changes in full + * integer increments, and always counts down. * - * @return Time remaining in current match period (auto or teleop) + *

When the DS is in practice mode, this number is a floating point number, + * and counts down. + * + *

When the DS is in teleop or autonomous mode, this number returns -1.0. + * + *

Simulation matches DS behavior without an FMS connected. + * + * @return Time remaining in current match period (auto or teleop) in seconds */ static units::second_t GetMatchTime(); diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java index befa01636c..607713abfe 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java @@ -1182,8 +1182,7 @@ public final class DriverStation { * *

When the DS is in practice mode, this number is a floating point number, and counts down. * - *

When the DS is in teleop or autonomous mode, this number is a floating point number, and - * counts up. + *

When the DS is in teleop or autonomous mode, this number returns -1.0. * *

Simulation matches DS behavior without an FMS connected. * diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java index af55a43208..8f26a7a42b 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java @@ -40,8 +40,16 @@ public class Timer { * Return the approximate match time. The FMS does not send an official match time to the robots, * but does send an approximate match time. The value will count down the time remaining in the * current period (auto or teleop). Warning: This is not an official time (so it cannot be used to - * dispute ref calls or guarantee that a function will trigger before the match ends) The Practice - * Match function of the DS approximates the behavior seen on the field. + * dispute ref calls or guarantee that a function will trigger before the match ends). + * + *

When connected to the real field, this number only changes in full integer increments, and + * always counts down. + * + *

When the DS is in practice mode, this number is a floating point number, and counts down. + * + *

When the DS is in teleop or autonomous mode, this number returns -1.0. + * + *

Simulation matches DS behavior without an FMS connected. * * @return Time remaining in current match period (auto or teleop) in seconds */ From 77dfad97c66fd4922fb19fd7f805c96357ea13cb Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Sat, 14 Feb 2026 11:32:57 -0800 Subject: [PATCH 27/27] [ci] Use wpilib docker-run-action fork (#8615) --- .github/workflows/gradle.yml | 2 +- .github/workflows/sentinel-build.yml | 2 +- .github/workflows/tools.yml | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml index 32e6d3491b..bfae785ff2 100644 --- a/.github/workflows/gradle.yml +++ b/.github/workflows/gradle.yml @@ -52,7 +52,7 @@ jobs: run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027') - name: Build with Gradle - uses: addnab/docker-run-action@3e77f186b7a929ef010f183a9e24c0f9955ea609 + uses: wpilibsuite/docker-run-action@v4 with: image: ${{ matrix.container }} options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI diff --git a/.github/workflows/sentinel-build.yml b/.github/workflows/sentinel-build.yml index 43d44191c3..3b84bb439a 100644 --- a/.github/workflows/sentinel-build.yml +++ b/.github/workflows/sentinel-build.yml @@ -53,7 +53,7 @@ jobs: with: fetch-depth: 0 - name: Build with Gradle - uses: addnab/docker-run-action@3e77f186b7a929ef010f183a9e24c0f9955ea609 + uses: wpilibsuite/docker-run-action@v4 with: image: ${{ matrix.container }} options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI diff --git a/.github/workflows/tools.yml b/.github/workflows/tools.yml index 58e9ad449e..0c4d44fd07 100644 --- a/.github/workflows/tools.yml +++ b/.github/workflows/tools.yml @@ -31,11 +31,11 @@ jobs: fetch-depth: 0 - uses: gradle/actions/wrapper-validation@v4 - name: Build WPILib with Gradle - uses: addnab/docker-run-action@v3 + uses: wpilibsuite/docker-run-action@v4 with: image: wpilib/roborio-cross-ubuntu:2025-22.04 options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI -e DISPLAY - run: df . && rm -f semicolon_delimited_script && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :simulation:halsim_ws_server:publish :simulation:halsim_ws_client:publish :simulation:halsim_xrp:publish :fieldImages:publish :romiVendordep:publish :xrpVendordep:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work + run: df . && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :simulation:halsim_ws_server:publish :simulation:halsim_ws_client:publish :simulation:halsim_xrp:publish :fieldImages:publish :romiVendordep:publish :xrpVendordep:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work - uses: actions/upload-artifact@v4 with: name: MavenArtifacts

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