From b2b111dc11232eb434d6f43a242ae9862335c798 Mon Sep 17 00:00:00 2001 From: Thad House Date: Fri, 13 Mar 2026 23:05:55 -0700 Subject: [PATCH] Rename FRC to WPILib (#8637) --- DevelopmentBuilds.md | 4 ++-- MODULE.bazel.lock | 2 +- README.md | 4 ++-- apriltag/README.md | 2 +- benchmark/build.gradle | 24 +++++++++---------- .../src/main/java/org/wpilib/Main.java | 2 +- .../src/main/native/cpp/main.cpp | 4 ++-- .../native/cpp/cameraserver/CameraServer.cpp | 2 +- commandsv2/CommandsV2.json | 2 +- commandsv3/CommandsV3.json | 2 +- datalog/doc/datalog.adoc | 6 ++--- datalog/robotpy_pybind_build_info.bzl | 2 +- datalog/src/main/python/pyproject.toml | 2 +- developerRobot/build.gradle | 14 +++++------ gradle/libs.versions.toml | 4 ++-- hal/robotpy_pybind_build_info.bzl | 2 +- .../org/wpilib/hardware/hal/CANAPITypes.java | 4 ++-- hal/src/main/native/cpp/jni/HAL.cpp | 4 ++-- hal/src/main/native/include/wpi/hal/Errors.h | 5 ---- .../wpi/hal/handles/HandlesInternal.hpp | 2 +- hal/src/main/native/sim/DriverStation.cpp | 8 +++---- ...iverStation.cpp => FIRSTDriverStation.cpp} | 8 +++---- hal/src/main/native/systemcore/HAL.cpp | 2 +- .../main/native/systemcore/HALInitializer.hpp | 2 +- hal/src/main/python/hal/simulation/main.cpp | 4 ++-- .../python/hal/simulation/resethandles.cpp | 4 +--- hal/src/main/python/hal/src/hal.cpp | 2 +- hal/src/main/python/pyproject.toml | 2 +- hal/src/main/python/semiwrap/Extensions.yml | 6 ++--- hal/src/main/python/semiwrap/SimDevice.yml | 8 +++---- ntcore/doc/networktables2.adoc | 2 +- ntcore/doc/networktables3.adoc | 2 +- ntcore/doc/networktables4.adoc | 2 +- ntcore/robotpy_pybind_build_info.bzl | 2 +- ntcore/src/main/python/pyproject.toml | 2 +- .../src/main/native/cpp/DataLogManager.cpp | 24 +++++++++---------- robotpyExamples/QuickVision/robot.py | 2 +- .../StateSpaceFlywheelSysId/robot.py | 2 +- romiVendordep/RomiVendordep.json | 2 +- .../src/main/native/cpp/DriverStationGui.cpp | 2 +- wpilibc/robotpy_pybind_build_info.bzl | 2 +- .../native/cpp/hardware/motor/MotorSafety.cpp | 2 +- .../cpp/smartdashboard/SmartDashboard.cpp | 2 +- .../main/native/cpp/system/DataLogManager.cpp | 2 +- .../src/main/native/cpp/util/Preferences.cpp | 2 +- wpilibc/src/main/native/cppcs/RobotBase.cpp | 4 ++-- .../include/wpi/framework/RobotBase.hpp | 8 +++---- wpilibc/src/main/python/README.rst | 2 +- wpilibc/src/main/python/pyproject.toml | 2 +- .../python/wpilib/simulation/simulation.cpp | 2 +- .../main/python/wpilib/src/rpy/Filesystem.inc | 4 ++-- wpilibc/src/test/native/cpp/main.cpp | 4 ++-- .../cpp/examples/QuickVision/cpp/Robot.cpp | 6 ++--- .../main/cpp/examples/Xrptimed/cpp/Robot.cpp | 2 +- wpilibj/src/main/java/org/wpilib/package.html | 2 +- .../wpilib/examples/quickvision/Robot.java | 4 ++-- wpimath/robotpy_pybind_build_info.bzl | 2 +- .../main/java/org/wpilib/math/util/Units.java | 2 +- wpimath/src/main/python/pyproject.toml | 6 ++--- .../python/semiwrap/NumericalIntegration.yml | 2 +- .../python/semiwrap/NumericalJacobian.yml | 2 +- .../_impl/src/type_casters/frc_eigen.h | 4 ---- .../_impl/src/type_casters/wpi_eigen.h | 4 ++++ wpinet/robotpy_pybind_build_info.bzl | 2 +- wpinet/src/main/python/pyproject.toml | 2 +- wpiutil/robotpy_pybind_build_info.bzl | 2 +- .../src/main/native/cpp/jni/WPIUtilJNI.cpp | 2 +- .../native/cpp/sendable/SendableRegistry.cpp | 2 +- wpiutil/src/main/native/cpp/timestamp.cpp | 2 +- .../include/wpi/util/priority_mutex.hpp | 2 +- wpiutil/src/main/python/pyproject.toml | 2 +- wpiutil/src/main/python/wpiutil/src/main.cpp | 4 ++-- xrpVendordep/XRPVendordep.json | 2 +- 73 files changed, 134 insertions(+), 141 deletions(-) rename hal/src/main/native/systemcore/{FRCDriverStation.cpp => FIRSTDriverStation.cpp} (99%) delete mode 100644 wpimath/src/main/python/wpimath/_impl/src/type_casters/frc_eigen.h create mode 100644 wpimath/src/main/python/wpimath/_impl/src/type_casters/wpi_eigen.h diff --git a/DevelopmentBuilds.md b/DevelopmentBuilds.md index b5415cd66a..4241a8e564 100644 --- a/DevelopmentBuilds.md +++ b/DevelopmentBuilds.md @@ -65,7 +65,7 @@ plugins { } wpi.maven.useLocal = false -wpi.maven.useFrcMavenLocalDevelopment = true +wpi.maven.useWpilibMavenLocalDevelopment = true wpi.versions.wpilibVersion = 'YEAR.424242.+' ``` @@ -78,7 +78,7 @@ plugins { } wpi.maven.useLocal = false -wpi.maven.useFrcMavenLocalDevelopment = true +wpi.maven.useWpilibMavenLocalDevelopment = true wpi.versions.wpilibVersion = 'YEAR.424242.+' ``` diff --git a/MODULE.bazel.lock b/MODULE.bazel.lock index 6f11bb78b8..2dbaaa788f 100644 --- a/MODULE.bazel.lock +++ b/MODULE.bazel.lock @@ -263,7 +263,7 @@ "repoRuleId": "@@rules_bzlmodrio_toolchains+//toolchains:configure_cross_compiler.bzl%configure_cross_compiler", "attributes": { "extra_defines": [ - "-D__FRC_SYSTEMCORE__=1" + "-D__FIRST_SYSTEMCORE__=1" ], "bin_subfolder": "bookworm/bin", "bin_prefix": "aarch64-bookworm-linux-gnu-", diff --git a/README.md b/README.md index e0c3611509..519f4139cb 100644 --- a/README.md +++ b/README.md @@ -129,10 +129,10 @@ Please read the documentation available [here](DevelopmentBuilds.md) ### Custom toolchain location -If you have installed the FRC Toolchain to a directory other than the default, or if the Toolchain location is not on your System PATH, you can pass the `toolChainPath` property to specify where it is located. Example: +If you have installed the WPILib Toolchain to a directory other than the default, or if the Toolchain location is not on your System PATH, you can pass the `toolChainPath` property to specify where it is located. Example: ```bash -./gradlew build -PtoolChainPath=some/path/to/frc/toolchain/bin +./gradlew build -PtoolChainPath=some/path/to/wpilib/toolchain/bin ``` ### Formatting/linting diff --git a/apriltag/README.md b/apriltag/README.md index 5bf1d6778e..ade440940e 100644 --- a/apriltag/README.md +++ b/apriltag/README.md @@ -20,7 +20,7 @@ ### C++ updates -1. Update `src/main/native/include/frc/apriltag/AprilTagFields.h` +1. Update `src/main/native/include/wpi/apriltag/AprilTagFields.hpp` 1. Add enum value for new field to `AprilTagFields` 2. Update `AprilTagFields::kDefaultField` if necessary 2. Update `src/main/native/cpp/AprilTagFields.cpp` diff --git a/benchmark/build.gradle b/benchmark/build.gradle index 5d5cd2fd99..22ef4e1baf 100644 --- a/benchmark/build.gradle +++ b/benchmark/build.gradle @@ -93,35 +93,35 @@ deploy { all { postdeploy << { ctx -> ctx.execute("sync") - ctx.execute("sudo ldconfig /home/systemcore/frc/third-party/lib") + ctx.execute("sudo ldconfig /home/systemcore/wpilib/third-party/lib") } } benchmarkCpp(NativeExecutableArtifact) { - libraryDirectory = '/usr/local/frc/third-party/lib' + libraryDirectory = '/home/systemcore/wpilib/third-party/lib' def excludes = getLibraryFilter().getExcludes() excludes.add('**/*.so.debug') excludes.add('**/*.so.*.debug') postdeploy << { ctx -> - ctx.execute("echo '/home/lvuser/benchmarkCpp' > /home/lvuser/robotCommand") - ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand") - ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/benchmarkCpp\"") + ctx.execute("echo '/home/systemcore/benchmarkCpp' > /home/systemcore/robotCommand") + ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand") + ctx.execute("setcap cap_sys_nice+eip \"/home/systemcore/benchmarkCpp\"") ctx.execute('chmod +x benchmarkCpp') } } benchmarkCppStatic(NativeExecutableArtifact) { - libraryDirectory = '/usr/local/frc/third-party/lib' + libraryDirectory = '/home/systemcore/wpilib/third-party/lib' postdeploy << { ctx -> - ctx.execute("echo '/home/lvuser/benchmarkCppStatic' > /home/lvuser/robotCommand") - ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand") - ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/benchmarkCppStatic\"") + ctx.execute("echo '/home/systemcore/benchmarkCppStatic' > /home/systemcore/robotCommand") + ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand") + ctx.execute("setcap cap_sys_nice+eip \"/home/systemcore/benchmarkCppStatic\"") ctx.execute('chmod +x benchmarkCppStatic') } } benchmarkCppJava(NativeExecutableArtifact) { - libraryDirectory = '/usr/local/frc/third-party/lib' + libraryDirectory = '/home/systemcore/wpilib/third-party/lib' def excludes = getLibraryFilter().getExcludes() excludes.add('**/*.so.debug') excludes.add('**/*.so.*.debug') @@ -130,8 +130,8 @@ deploy { benchmarkJava(JavaArtifact) { jarTask = shadowJar postdeploy << { ctx -> - ctx.execute("echo '/usr/local/frc/JRE/bin/java -XX:+UseSerialGC -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/lvuser/benchmark-all.jar' > /home/lvuser/robotCommand") - ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand") + ctx.execute("echo 'java -XX:+UseSerialGC -Djava.library.path=/home/systemcore/wpilib/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/systemcore/benchmark-all.jar' > /home/systemcore/robotCommand") + ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand") } } } diff --git a/cameraserver/multiCameraServer/src/main/java/org/wpilib/Main.java b/cameraserver/multiCameraServer/src/main/java/org/wpilib/Main.java index 0bb8293daf..8da41bb340 100644 --- a/cameraserver/multiCameraServer/src/main/java/org/wpilib/Main.java +++ b/cameraserver/multiCameraServer/src/main/java/org/wpilib/Main.java @@ -47,7 +47,7 @@ import org.wpilib.vision.stream.CameraServer; */ public final class Main { - private static String configFile = "/boot/frc.json"; + private static String configFile = "/boot/CameraServerConfig.json"; @SuppressWarnings("MemberName") public static class CameraConfig { diff --git a/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp b/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp index a28a5ff219..d37982a819 100644 --- a/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp +++ b/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp @@ -46,9 +46,9 @@ */ #ifdef __RASPBIAN__ -static const char* configFile = "/boot/frc.json"; +static const char* configFile = "/boot/CameraServerConfig.json"; #else -static const char* configFile = "frc.json"; +static const char* configFile = "CameraServerConfig.json"; #endif namespace { diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp index 08cea8fa4d..f79a3f67fe 100644 --- a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp +++ b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp @@ -186,7 +186,7 @@ std::vector Instance::GetSourceStreamValues(CS_Source source) { value = "mjpg:" + value; } -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ // Look to see if we have a passthrough server for this source // Only do this on the systemcore for (const auto& i : m_sinks) { diff --git a/commandsv2/CommandsV2.json b/commandsv2/CommandsV2.json index d88c22deeb..871d657a10 100644 --- a/commandsv2/CommandsV2.json +++ b/commandsv2/CommandsV2.json @@ -3,7 +3,7 @@ "name": "Commands V2", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2027_alpha1", + "wpilibYear": "2027_alpha4", "mavenUrls": [], "jsonUrl": "", "conflictsWith": [ diff --git a/commandsv3/CommandsV3.json b/commandsv3/CommandsV3.json index acb3dd9211..8680c48eba 100644 --- a/commandsv3/CommandsV3.json +++ b/commandsv3/CommandsV3.json @@ -3,7 +3,7 @@ "name": "Commands v3", "version": "1.0.0", "uuid": "4decdc05-a056-46cf-9561-39449bbb0130", - "frcYear": "2027_alpha1", + "wpilibYear": "2027_alpha4", "mavenUrls": [], "jsonUrl": "", "conflictsWith": [ diff --git a/datalog/doc/datalog.adoc b/datalog/doc/datalog.adoc index a6ea78c98e..74a94be0db 100644 --- a/datalog/doc/datalog.adoc +++ b/datalog/doc/datalog.adoc @@ -10,11 +10,11 @@ A simple binary logging format designed for high speed logging of timestamped da [[motivation]] == Motivation -FRC robots generate a lot of real-time data of various data types (most typically numeric values, but also strings and more complex data such as camera images). While there is good support in the WPILib software ecosystem for real-time display of this data on dashboards (via NetworkTables), there is no current standard for logging of timestamped data values for offline analysis. In the absence of a standard, teams have developed various ad-hoc solutions, including CSV files. +FIRST robots generate a lot of real-time data of various data types (most typically numeric values, but also strings and more complex data such as camera images). While there is good support in the WPILib software ecosystem for real-time display of this data on dashboards (via NetworkTables), there is no current standard for logging of timestamped data values for offline analysis. In the absence of a standard, teams have developed various ad-hoc solutions, including CSV files. Similar to how the NetworkTables standard protocol enabled ecosystem development of multiple dashboards, it is expected that a standard format for data logging, in combination with built-in library support for easy on-robot logging of robot data, will facilitate ecosystem development of offline data analysis tools. -Standard logging facilities currently available (e.g. in Java) are generally designed for string messages, not for binary data. As a binary format, this will be faster with less overhead for the typical data (e.g. numbers) coming from a robot in real time (at least dozens, if not hundreds, of data points every ~20 ms). String formatting is significantly more expensive than just copying the binary number, and is more difficult to read back into analysis tools. Latency of the actual logging to the main program is also critical in the FRC application. WPILib also needs a common logging format and implementation across both C++ and Java. +Standard logging facilities currently available (e.g. in Java) are generally designed for string messages, not for binary data. As a binary format, this will be faster with less overhead for the typical data (e.g. numbers) coming from a robot in real time (at least dozens, if not hundreds, of data points every ~20 ms). String formatting is significantly more expensive than just copying the binary number, and is more difficult to read back into analysis tools. Latency of the actual logging to the main program is also critical in the FIRST application. WPILib also needs a common logging format and implementation across both C++ and Java. [[references]] == References @@ -35,7 +35,7 @@ Entry ID:: An unsigned 4-byte ID by which records in the log refer to an Entry, Record:: Storage of a single timestamped data item in the log. A record consists of the entry ID, the data length, a 64-bit integer timestamp, and the data contents. [[def-timestamp]] -Timestamp:: 64-bit integer microseconds. The zero time is not specified by the data format, but on an FRC robot is typically the time the robot program started. +Timestamp:: 64-bit integer microseconds. The zero time is not specified by the data format, but on an FIRST robot is typically the time the robot program started. [[design]] == Design diff --git a/datalog/robotpy_pybind_build_info.bzl b/datalog/robotpy_pybind_build_info.bzl index 29ac502cb2..0ea9b0def7 100644 --- a/datalog/robotpy_pybind_build_info.bzl +++ b/datalog/robotpy_pybind_build_info.bzl @@ -209,7 +209,7 @@ def define_pybind_library(name, pkgcfgs = []): "//wpiutil:robotpy-wpiutil", ], strip_path_prefixes = ["datalog/src/main/python", "datalog"], - summary = "Binary wrapper for FRC wpilog library", + summary = "Binary wrapper for WPILib logging library", project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"}, author_email = "RobotPy Development Team ", requires = ["robotpy-native-datalog==0.0.0", "robotpy-wpiutil==0.0.0"], diff --git a/datalog/src/main/python/pyproject.toml b/datalog/src/main/python/pyproject.toml index 31fc207adc..7539b28214 100644 --- a/datalog/src/main/python/pyproject.toml +++ b/datalog/src/main/python/pyproject.toml @@ -11,7 +11,7 @@ requires = [ [project] name = "robotpy-wpilog" version = "0.0.0" -description = "Binary wrapper for FRC wpilog library" +description = "Binary wrapper for WPILib logging library" authors = [ {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"}, ] diff --git a/developerRobot/build.gradle b/developerRobot/build.gradle index 597995528b..ecace3b40e 100644 --- a/developerRobot/build.gradle +++ b/developerRobot/build.gradle @@ -93,17 +93,17 @@ deploy { all { postdeploy << { ctx -> ctx.execute("sync") - ctx.execute("sudo ldconfig /home/systemcore/frc/third-party/lib") + ctx.execute("sudo ldconfig /home/systemcore/wpilib/third-party/lib") } } developerRobotCpp(NativeExecutableArtifact) { - libraryDirectory = '/home/systemcore/frc/third-party/lib' + libraryDirectory = '/home/systemcore/wpilib/third-party/lib' def excludes = getLibraryFilter().getExcludes() excludes.add('**/*.so.debug') excludes.add('**/*.so.*.debug') postdeploy << { ctx -> - ctx.execute("echo 'LD_LIBRARY_PATH=/home/systemcore/frc/third-party/lib /home/systemcore/developerRobotCpp' > /home/systemcore/robotCommand") + ctx.execute("echo 'LD_LIBRARY_PATH=/home/systemcore/wpilib/third-party/lib /home/systemcore/developerRobotCpp' > /home/systemcore/robotCommand") ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand") ctx.execute("setcap cap_sys_nice+eip \"/home/systemcore/developerRobotCpp\"") ctx.execute('chmod +x developerRobotCpp') @@ -111,9 +111,9 @@ deploy { } developerRobotCppStatic(NativeExecutableArtifact) { - libraryDirectory = '/home/systemcore/frc/third-party/lib' + libraryDirectory = '/home/systemcore/wpilib/third-party/lib' postdeploy << { ctx -> - ctx.execute("echo ''LD_LIBRARY_PATH=/home/systemcore/frc/third-party/lib /home/systemcore/developerRobotCppStatic' > /home/systemcore/robotCommand") + ctx.execute("echo ''LD_LIBRARY_PATH=/home/systemcore/wpilib/third-party/lib /home/systemcore/developerRobotCppStatic' > /home/systemcore/robotCommand") ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand") ctx.execute("sudo setcap cap_sys_nice+eip \"/home/systemcore/developerRobotCppStatic\"") ctx.execute('chmod +x developerRobotCppStatic') @@ -121,7 +121,7 @@ deploy { } developerRobotCppJava(NativeExecutableArtifact) { - libraryDirectory = '/home/systemcore/frc/third-party/lib' + libraryDirectory = '/home/systemcore/wpilib/third-party/lib' def excludes = getLibraryFilter().getExcludes() excludes.add('**/*.so.debug') excludes.add('**/*.so.*.debug') @@ -130,7 +130,7 @@ deploy { developerRobotJava(JavaArtifact) { jarTask = shadowJar postdeploy << { ctx -> - ctx.execute("echo '/usr/bin/java -XX:+UseG1GC -Djava.library.path=/home/systemcore/frc/third-party/lib -jar /home/systemcore/developerRobot-all.jar' > /home/systemcore/robotCommand") + ctx.execute("echo '/usr/bin/java -XX:+UseG1GC -Djava.library.path=/home/systemcore/wpilib/third-party/lib -jar /home/systemcore/developerRobot-all.jar' > /home/systemcore/robotCommand") ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand") } } diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml index c111a5caa7..6ce6db342d 100644 --- a/gradle/libs.versions.toml +++ b/gradle/libs.versions.toml @@ -28,7 +28,7 @@ mockito-core = { module = "org.mockito:mockito-core", version = "4.1.0" } # Note that these are also Gradle plugins and cannot be used with the plugin specification # due to their presence on the classpath without version information. wpilib-gradle-vscode = { module = "org.wpilib:gradle-cpp-vscode", version = "2027.0.0" } -wpilib-native-utils = { module = "org.wpilib:native-utils", version = "2027.1.1" } +wpilib-native-utils = { module = "org.wpilib:native-utils", version = "2027.4.1" } [bundles] ejml = ["ejml-simple"] @@ -48,6 +48,6 @@ wpilib-gradle-jni = { id = "org.wpilib.GradleJni", version = "2027.0.0" } # Note: these plugins can't be used. Their JARs are on the classpath for buildSrc, # which doesn't retain version information. # wpilib-gradle-vscode = { id = "org.wpilib.GradleVsCode", version = "2027.0.0" } -# wpilib-native-utils = { id = "org.wpilib.NativeUtils", version = "2027.1.1" } +# wpilib-native-utils = { id = "org.wpilib.NativeUtils", version = "2027.4.1" } wpilib-repositories = { id = "org.wpilib.WPILibRepositoriesPlugin", version = "2027.0.0" } wpilib-versioning = { id = "org.wpilib.WPILibVersioningPlugin", version = "2027.0.1" } diff --git a/hal/robotpy_pybind_build_info.bzl b/hal/robotpy_pybind_build_info.bzl index 69784c6d51..da541e5a23 100644 --- a/hal/robotpy_pybind_build_info.bzl +++ b/hal/robotpy_pybind_build_info.bzl @@ -422,7 +422,7 @@ def define_pybind_library(name, pkgcfgs = []): "//wpiutil:robotpy-wpiutil", ], strip_path_prefixes = ["hal/src/main/python", "hal"], - summary = "Binary wrapper for FRC HAL", + summary = "Binary wrapper for WPILib HAL", project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"}, author_email = "RobotPy Development Team ", requires = ["pyntcore==0.0.0", "robotpy-native-wpihal==0.0.0", "robotpy-wpiutil==0.0.0"], diff --git a/hal/src/main/java/org/wpilib/hardware/hal/CANAPITypes.java b/hal/src/main/java/org/wpilib/hardware/hal/CANAPITypes.java index 63ed1015d6..97d6c48ed2 100644 --- a/hal/src/main/java/org/wpilib/hardware/hal/CANAPITypes.java +++ b/hal/src/main/java/org/wpilib/hardware/hal/CANAPITypes.java @@ -13,7 +13,7 @@ package org.wpilib.hardware.hal; @SuppressWarnings("PMD.MissingStaticMethodInNonInstantiatableClass") public final class CANAPITypes { /** - * FRC CAN device type. + * FIRST CAN device type. * *

This enum represents different types of CAN devices. Teams are encouraged to use the * kMiscellaneous for custom or miscellaneous devices. @@ -64,7 +64,7 @@ public final class CANAPITypes { } /** - * FRC CAN manufacturer ID. + * FIRST CAN manufacturer ID. * *

This enum represents different manufacturer IDs for CAN devices. Teams are encouraged to use * the kTeamUse manufacturer ID for custom or team-specific devices. diff --git a/hal/src/main/native/cpp/jni/HAL.cpp b/hal/src/main/native/cpp/jni/HAL.cpp index a113725e30..06b8f1cbce 100644 --- a/hal/src/main/native/cpp/jni/HAL.cpp +++ b/hal/src/main/native/cpp/jni/HAL.cpp @@ -6,7 +6,7 @@ #include -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ #include #endif @@ -95,7 +95,7 @@ JNIEXPORT void JNICALL Java_org_wpilib_hardware_hal_HAL_terminate (JNIEnv*, jclass) { -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ ::raise(SIGKILL); #endif } diff --git a/hal/src/main/native/include/wpi/hal/Errors.h b/hal/src/main/native/include/wpi/hal/Errors.h index 6dc461b02c..a86a8d2412 100644 --- a/hal/src/main/native/include/wpi/hal/Errors.h +++ b/hal/src/main/native/include/wpi/hal/Errors.h @@ -40,11 +40,6 @@ #define HAL_WARN_CANSessionMux_SocketBufferFull_MESSAGE \ "CAN: Socket Buffer full. Generally caused by sending too many packets." -#define ERR_FRCSystem_NetCommNotResponding_MESSAGE \ - "FRCSystem: NetComm not responding" -#define ERR_FRCSystem_NoDSConnection_MESSAGE \ - "FRCSystem: No driver station connected" - #define HAL_SUCCESS 0 #define SAMPLE_RATE_TOO_HIGH 1001 diff --git a/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.hpp b/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.hpp index 35a721ed00..1ba0564ba5 100644 --- a/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.hpp +++ b/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.hpp @@ -137,7 +137,7 @@ inline int16_t getHandleTypedIndex(HAL_Handle handle, HAL_HandleEnum enumType, if (!isHandleType(handle, enumType)) { return InvalidHandleIndex; } -#if !defined(__FRC_SYSTEMCORE__) +#if !defined(__FIRST_SYSTEMCORE__) if (!isHandleCorrectVersion(handle, version)) { return InvalidHandleIndex; } diff --git a/hal/src/main/native/sim/DriverStation.cpp b/hal/src/main/native/sim/DriverStation.cpp index 8bfbb7c9bb..ad324e70be 100644 --- a/hal/src/main/native/sim/DriverStation.cpp +++ b/hal/src/main/native/sim/DriverStation.cpp @@ -54,8 +54,8 @@ static_assert(std::is_standard_layout_v); static std::atomic_bool gShutdown{false}; -struct FRCDriverStation { - ~FRCDriverStation() { gShutdown = true; } +struct FIRSTDriverStation { + ~FIRSTDriverStation() { gShutdown = true; } wpi::util::EventVector newDataEvents; wpi::util::mutex cacheMutex; wpi::util::mutex tcpCacheMutex; @@ -114,11 +114,11 @@ void TcpCache::Update() { } } -static ::FRCDriverStation* driverStation; +static ::FIRSTDriverStation* driverStation; namespace wpi::hal::init { void InitializeDriverStation() { - static FRCDriverStation ds; + static FIRSTDriverStation ds; driverStation = &ds; } } // namespace wpi::hal::init diff --git a/hal/src/main/native/systemcore/FRCDriverStation.cpp b/hal/src/main/native/systemcore/FIRSTDriverStation.cpp similarity index 99% rename from hal/src/main/native/systemcore/FRCDriverStation.cpp rename to hal/src/main/native/systemcore/FIRSTDriverStation.cpp index 811c8821bc..8c7bcb231c 100644 --- a/hal/src/main/native/systemcore/FRCDriverStation.cpp +++ b/hal/src/main/native/systemcore/FIRSTDriverStation.cpp @@ -200,13 +200,13 @@ struct SystemServerDriverStation { ~SystemServerDriverStation() { ntInst.RemoveListener(controlDataListener); } }; -struct FRCDriverStation { +struct FIRSTDriverStation { wpi::util::EventVector newDataEvents; }; } // namespace static ::SystemServerDriverStation* systemServerDs; -static ::FRCDriverStation* driverStation; +static ::FIRSTDriverStation* driverStation; void SystemServerDriverStation::HandleListener(const wpi::nt::Event& event) { auto valueEvent = event.GetValueEventData(); @@ -378,10 +378,10 @@ void TcpCache::Update() { } namespace wpi::hal::init { -void InitializeFRCDriverStation() { +void InitializeFIRSTDriverStation() { InitializeDashboardOpMode(); newestControlWord.value = 0; - static FRCDriverStation ds; + static FIRSTDriverStation ds; driverStation = &ds; } } // namespace wpi::hal::init diff --git a/hal/src/main/native/systemcore/HAL.cpp b/hal/src/main/native/systemcore/HAL.cpp index 21002e2eea..c69fffffc5 100644 --- a/hal/src/main/native/systemcore/HAL.cpp +++ b/hal/src/main/native/systemcore/HAL.cpp @@ -47,7 +47,7 @@ void InitializeHAL() { InitializeDIO(); InitializeDutyCycle(); InitializeEncoder(); - InitializeFRCDriverStation(); + InitializeFIRSTDriverStation(); InitializeI2C(); InitializeIMU(); InitializeMain(); diff --git a/hal/src/main/native/systemcore/HALInitializer.hpp b/hal/src/main/native/systemcore/HALInitializer.hpp index 070f0ac955..90777bb6ef 100644 --- a/hal/src/main/native/systemcore/HALInitializer.hpp +++ b/hal/src/main/native/systemcore/HALInitializer.hpp @@ -29,7 +29,7 @@ extern void InitializeDigitalInternal(); extern void InitializeDIO(); extern void InitializeDutyCycle(); extern void InitializeEncoder(); -extern void InitializeFRCDriverStation(); +extern void InitializeFIRSTDriverStation(); extern void InitializeHAL(); extern void InitializeI2C(); extern void InitializeIMU(); diff --git a/hal/src/main/python/hal/simulation/main.cpp b/hal/src/main/python/hal/simulation/main.cpp index e7f1868697..a43c783b5c 100644 --- a/hal/src/main/python/hal/simulation/main.cpp +++ b/hal/src/main/python/hal/simulation/main.cpp @@ -22,9 +22,9 @@ SEMIWRAP_PYBIND11_MODULE(m) { m.def( "resetGlobalHandles", []() { -#ifndef __FRC_SYSTEMCORE__ +#ifndef __FIRST_SYSTEMCORE__ HALSIM_ResetGlobalHandles(); #endif }, release_gil()); -} \ No newline at end of file +} diff --git a/hal/src/main/python/hal/simulation/resethandles.cpp b/hal/src/main/python/hal/simulation/resethandles.cpp index 77222fd02a..39f650a9fd 100644 --- a/hal/src/main/python/hal/simulation/resethandles.cpp +++ b/hal/src/main/python/hal/simulation/resethandles.cpp @@ -1,6 +1,4 @@ - - -#ifndef __FRC_SYSTEMCORE__ +#ifndef __FIRST_SYSTEMCORE__ #include "wpi/hal/Notifier.hpp" #include "wpi/hal/handles/HandlesInternal.hpp" #include "wpi/hal/simulation/NotifierData.h" diff --git a/hal/src/main/python/hal/src/hal.cpp b/hal/src/main/python/hal/src/hal.cpp index 0a1ba505bc..176ec66d37 100644 --- a/hal/src/main/python/hal/src/hal.cpp +++ b/hal/src/main/python/hal/src/hal.cpp @@ -60,7 +60,7 @@ SEMIWRAP_PYBIND11_MODULE(m) { initWrapper(m); -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ m.attr("__halplatform__") = "Systemcore"; m.attr("__hal_simulation__") = false; #else diff --git a/hal/src/main/python/pyproject.toml b/hal/src/main/python/pyproject.toml index 4bff193413..9658a67bcd 100644 --- a/hal/src/main/python/pyproject.toml +++ b/hal/src/main/python/pyproject.toml @@ -12,7 +12,7 @@ requires = [ [project] name = "robotpy-hal" version = "0.0.0" -description = "Binary wrapper for FRC HAL" +description = "Binary wrapper for WPILib HAL" authors = [ {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"}, ] diff --git a/hal/src/main/python/semiwrap/Extensions.yml b/hal/src/main/python/semiwrap/Extensions.yml index d864791720..112cf47748 100644 --- a/hal/src/main/python/semiwrap/Extensions.yml +++ b/hal/src/main/python/semiwrap/Extensions.yml @@ -3,14 +3,14 @@ strip_prefixes: functions: HAL_LoadOneExtension: - ifndef: __FRC_SYSTEMCORE__ + ifndef: __FIRST_SYSTEMCORE__ HAL_LoadExtensions: - ifndef: __FRC_SYSTEMCORE__ + ifndef: __FIRST_SYSTEMCORE__ HAL_RegisterExtension: ignore: true HAL_RegisterExtensionListener: ignore: true HAL_SetShowExtensionsNotFoundMessages: - ifndef: __FRC_SYSTEMCORE__ + ifndef: __FIRST_SYSTEMCORE__ HAL_OnShutdown: ignore: true diff --git a/hal/src/main/python/semiwrap/SimDevice.yml b/hal/src/main/python/semiwrap/SimDevice.yml index 8cbd2a45f0..c9366b633c 100644 --- a/hal/src/main/python/semiwrap/SimDevice.yml +++ b/hal/src/main/python/semiwrap/SimDevice.yml @@ -200,7 +200,7 @@ inline_code: |2 return py::int_(value.data.v_int); case HAL_LONG: return py::int_(value.data.v_long); - default: + default: return py::none(); } }) @@ -260,7 +260,7 @@ inline_code: |2 return (bool)self; }) .def_property_readonly("name", [](const wpi::hal::SimDevice &self) -> py::str { - #ifdef __FRC_SYSTEMCORE__ + #ifdef __FIRST_SYSTEMCORE__ return ""; #else if (!self) { @@ -276,7 +276,7 @@ inline_code: |2 #endif }) .def("__repr__", [](const wpi::hal::SimDevice &self) -> py::str { - #ifdef __FRC_SYSTEMCORE__ + #ifdef __FIRST_SYSTEMCORE__ return ""; #else if (!self) { @@ -309,7 +309,7 @@ inline_code: |2 cls_SimEnum .def_property("value", &SimEnum::Get, &SimEnum::Set) .def("__repr__", [](const SimEnum &self) -> py::str { - #ifdef __FRC_SYSTEMCORE__ + #ifdef __FIRST_SYSTEMCORE__ return ""; #else if (self) { diff --git a/ntcore/doc/networktables2.adoc b/ntcore/doc/networktables2.adoc index e090801846..7f1e3a104e 100644 --- a/ntcore/doc/networktables2.adoc +++ b/ntcore/doc/networktables2.adoc @@ -7,7 +7,7 @@ Protocol Revision 2.0 (0x0200), 1/8/2013 This document defines a network protocol for a key-value store that may be read from and written to by multiple remote clients. A central server, most often -running on a FIRST FRC robot controller, is responsible for providing +running on a FIRST robot controller, is responsible for providing information consistency and for facilitating communication between clients. This document describes protocol revision 2.0 (0x0200). diff --git a/ntcore/doc/networktables3.adoc b/ntcore/doc/networktables3.adoc index 2850168ff6..c8de230a25 100644 --- a/ntcore/doc/networktables3.adoc +++ b/ntcore/doc/networktables3.adoc @@ -7,7 +7,7 @@ Protocol Revision 3.0 (0x0300), 6/12/2015 This document defines a network protocol for a key-value store that may be read from and written to by multiple remote clients. A central server, most often -running on a FIRST FRC robot controller, is responsible for providing +running on a FIRST robot controller, is responsible for providing information consistency and for facilitating communication between clients. This document describes protocol revision 3.0 (0x0300). diff --git a/ntcore/doc/networktables4.adoc b/ntcore/doc/networktables4.adoc index e41bbdc3e7..67f84d0218 100644 --- a/ntcore/doc/networktables4.adoc +++ b/ntcore/doc/networktables4.adoc @@ -863,7 +863,7 @@ This was considered, but rejected for two reasons: encoding overhead and spec/im [[trade-timestamp]] === Timestamp format -The spec uses integer microseconds. This seems to be a reasonable enough resolution for FRC use and is common with the FPGA clock resolution. +The spec uses integer microseconds. This seems to be a reasonable enough resolution for FIRST use and is common with the unix clock resolution. [[unresolved-questions]] == Unresolved Questions diff --git a/ntcore/robotpy_pybind_build_info.bzl b/ntcore/robotpy_pybind_build_info.bzl index 2aaa686891..75eed60537 100644 --- a/ntcore/robotpy_pybind_build_info.bzl +++ b/ntcore/robotpy_pybind_build_info.bzl @@ -486,7 +486,7 @@ def define_pybind_library(name, pkgcfgs = []): "//wpiutil:robotpy-wpiutil", ], strip_path_prefixes = ["ntcore/src/main/python", "ntcore"], - summary = "Binary wrappers for the FRC ntcore library", + summary = "Binary wrappers for the FIRST ntcore library", project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"}, author_email = "RobotPy Development Team ", requires = ["robotpy-native-ntcore==0.0.0", "robotpy-wpiutil==0.0.0", "robotpy-wpinet==0.0.0", "robotpy-wpilog==0.0.0"], diff --git a/ntcore/src/main/python/pyproject.toml b/ntcore/src/main/python/pyproject.toml index 92662eb2ba..7f8db55348 100644 --- a/ntcore/src/main/python/pyproject.toml +++ b/ntcore/src/main/python/pyproject.toml @@ -15,7 +15,7 @@ requires = [ [project] name = "pyntcore" version = "0.0.0" -description = "Binary wrappers for the FRC ntcore library" +description = "Binary wrappers for the FIRST ntcore library" authors = [ {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"}, ] diff --git a/ntcoreffi/src/main/native/cpp/DataLogManager.cpp b/ntcoreffi/src/main/native/cpp/DataLogManager.cpp index c49be76b4c..cbb7d1d33e 100644 --- a/ntcoreffi/src/main/native/cpp/DataLogManager.cpp +++ b/ntcoreffi/src/main/native/cpp/DataLogManager.cpp @@ -37,7 +37,7 @@ void ReportErrorV(int32_t status, const char* fileName, int lineNumber, const char* funcName, fmt::string_view format, fmt::format_args args) { // TODO when we get a low level interface - // #ifdef __FRC_SYSTEMCORE__ + // #ifdef __FIRST_SYSTEMCORE__ // if (status == 0) { // return; // } @@ -69,7 +69,7 @@ inline void ReportError(int32_t status, const char* fileName, int lineNumber, namespace RobotController { inline bool IsSystemTimeValid() { -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ // TODO when we get a proper low level library, and time setting return false; // uint8_t timeWasSet = 0; @@ -83,7 +83,7 @@ inline bool IsSystemTimeValid() { namespace filesystem { inline std::string GetOperatingDirectory() { -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ return "/home/systemcore"; #else return fs::current_path().string(); @@ -92,7 +92,7 @@ inline std::string GetOperatingDirectory() { } // namespace filesystem namespace DriverStation { -// #ifdef __FRC_SYSTEMCORE__ +// #ifdef __FIRST_SYSTEMCORE__ // using MatchType = MatchType_t; // constexpr int kNone = kMatchType_none; // constexpr int kPractice = kMatchType_practice; @@ -109,7 +109,7 @@ enum MatchType { kNone, kPractice, kQualification, kElimination }; // #endif inline void UpdateMatchInfo() { - // #ifdef __FRC_SYSTEMCORE__ + // #ifdef __FIRST_SYSTEMCORE__ // gGameSpecificMessageSize = sizeof(gGameSpecificMessage); // WPILIB_NetworkCommunication_getMatchInfo(gEventName, &gMatchType, // &gMatchNumber, @@ -120,7 +120,7 @@ inline void UpdateMatchInfo() { } inline MatchType GetMatchType() { - // #ifdef __FRC_SYSTEMCORE__ + // #ifdef __FIRST_SYSTEMCORE__ // return gMatchType; // #else return kNone; @@ -128,7 +128,7 @@ inline MatchType GetMatchType() { } inline std::string_view GetEventName() { - // #ifdef __FRC_SYSTEMCORE__ + // #ifdef __FIRST_SYSTEMCORE__ // return gEventName; // #else return ""; @@ -136,7 +136,7 @@ inline std::string_view GetEventName() { } inline uint16_t GetMatchNumber() { - // #ifdef __FRC_SYSTEMCORE__ + // #ifdef __FIRST_SYSTEMCORE__ // return gMatchNumber; // #else return 0; @@ -144,7 +144,7 @@ inline uint16_t GetMatchNumber() { } inline bool IsDSAttached() { - // #ifdef __FRC_SYSTEMCORE__ + // #ifdef __FIRST_SYSTEMCORE__ // struct ControlWord_t cw; // WPILIB_NetworkCommunication_getControlWord(&cw); // return cw.dsAttached; @@ -154,7 +154,7 @@ inline bool IsDSAttached() { } inline bool IsFMSAttached() { - // #ifdef __FRC_SYSTEMCORE__ + // #ifdef __FIRST_SYSTEMCORE__ // struct ControlWord_t cw; // WPILIB_NetworkCommunication_getControlWord(&cw); // return cw.fmsAttached; @@ -173,7 +173,7 @@ inline void RemoveRefreshedDataEventHandle(WPI_EventHandle event) {} } // namespace DriverStation -// #ifdef __FRC_SYSTEMCORE__ +// #ifdef __FIRST_SYSTEMCORE__ // static constexpr int kRoboRIO = 0; // namespace RobotBase { // inline int GetRuntimeType() { @@ -225,7 +225,7 @@ static std::string MakeLogDir(std::string_view dir) { if (!dir.empty()) { return std::string{dir}; } -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ // prefer a mounted USB drive if one is accessible std::error_code ec; auto s = fs::status("/u", ec); diff --git a/robotpyExamples/QuickVision/robot.py b/robotpyExamples/QuickVision/robot.py index 00d05968f4..8cfd55808a 100644 --- a/robotpyExamples/QuickVision/robot.py +++ b/robotpyExamples/QuickVision/robot.py @@ -12,7 +12,7 @@ from wpilib.cameraserver import CameraServer class MyRobot(wpilib.TimedRobot): """ Uses the CameraServer class to automatically capture video from a USB webcam and send it to the - FRC dashboard without doing any vision processing. This is the easiest way to get camera images + dashboard without doing any vision processing. This is the easiest way to get camera images to the dashboard. Just add this to the robotInit() method in your program. """ diff --git a/robotpyExamples/StateSpaceFlywheelSysId/robot.py b/robotpyExamples/StateSpaceFlywheelSysId/robot.py index 8d6b51a613..ed9997d757 100644 --- a/robotpyExamples/StateSpaceFlywheelSysId/robot.py +++ b/robotpyExamples/StateSpaceFlywheelSysId/robot.py @@ -38,7 +38,7 @@ class MyRobot(wpilib.TimedRobot): # Inputs (what we can "put in"): [voltage], in volts. # Outputs (what we can measure): [velocity], in radians per second. # - # The Kv and Ka constants are found using the FRC Characterization toolsuite. + # The Kv and Ka constants are found using the SysID tool. self.flywheelPlant = wpimath.Models.flywheelFromSysId(kFlywheelKv, kFlywheelKa) # The observer fuses our encoder data and voltage inputs to reject noise. diff --git a/romiVendordep/RomiVendordep.json b/romiVendordep/RomiVendordep.json index 81436e86fa..0f854da12f 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": "2027_alpha1", + "wpilibYear": "2027_alpha4", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ diff --git a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp index fd1d16e205..8b998ee609 100644 --- a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp +++ b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp @@ -505,7 +505,7 @@ void GlfwSystemJoystick::GetData(HALJoystickData* data, bool mapGamepad) const { } if (m_isGamepad && mapGamepad) { - // the FRC DriverStation maps gamepad (XInput) trigger values to 0-1 range + // the FIRST DriverStation maps gamepad (XInput) trigger values to 0-1 range // on axis 2 and 3. data->axes.axes[0] = sysAxes[0]; data->axes.axes[1] = sysAxes[1]; diff --git a/wpilibc/robotpy_pybind_build_info.bzl b/wpilibc/robotpy_pybind_build_info.bzl index f7c2f566a5..42c76e1fb8 100644 --- a/wpilibc/robotpy_pybind_build_info.bzl +++ b/wpilibc/robotpy_pybind_build_info.bzl @@ -1643,7 +1643,7 @@ def define_pybind_library(name, pkgcfgs = []): requirement("robotpy-cli"), ], strip_path_prefixes = ["wpilibc/src/main/python", "wpilibc"], - summary = "Binary wrapper for FRC WPILib", + summary = "Binary wrapper for WPILib", project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"}, author_email = "RobotPy Development Team ", requires = ["robotpy-native-wpilib==0.0.0", "robotpy-wpiutil==0.0.0", "robotpy-wpimath==0.0.0", "robotpy-hal==0.0.0", "pyntcore==0.0.0", "robotpy-cli~=2027.0.0a1", "pytest>=3.9", "pytest-reraise"], diff --git a/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp b/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp index 041bdf47ee..eb84ab58eb 100644 --- a/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp +++ b/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp @@ -68,7 +68,7 @@ static MotorSafetyManager& GetManager() { return manager; } -#ifndef __FRC_SYSTEMCORE__ +#ifndef __FIRST_SYSTEMCORE__ namespace wpi::impl { void ResetMotorSafety() { auto& manager = GetManager(); diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp index 63a2b433a2..d81acc9553 100644 --- a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp +++ b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp @@ -40,7 +40,7 @@ static Instance& GetInstance() { return *GetInstanceHolder(); } -#ifndef __FRC_SYSTEMCORE__ +#ifndef __FIRST_SYSTEMCORE__ namespace wpi::impl { void ResetSmartDashboardInstance() { std::make_unique().swap(GetInstanceHolder()); diff --git a/wpilibc/src/main/native/cpp/system/DataLogManager.cpp b/wpilibc/src/main/native/cpp/system/DataLogManager.cpp index 06492d1601..8e8bf0657f 100644 --- a/wpilibc/src/main/native/cpp/system/DataLogManager.cpp +++ b/wpilibc/src/main/native/cpp/system/DataLogManager.cpp @@ -70,7 +70,7 @@ static std::string MakeLogDir(std::string_view dir) { if (!dir.empty()) { return std::string{dir}; } -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ // prefer a mounted USB drive if one is accessible std::error_code ec; auto s = fs::status("/u", ec); diff --git a/wpilibc/src/main/native/cpp/util/Preferences.cpp b/wpilibc/src/main/native/cpp/util/Preferences.cpp index e1350410d4..ec79c3e473 100644 --- a/wpilibc/src/main/native/cpp/util/Preferences.cpp +++ b/wpilibc/src/main/native/cpp/util/Preferences.cpp @@ -45,7 +45,7 @@ static Instance& GetInstance() { return instance; } -#ifndef __FRC_SYSTEMCORE__ +#ifndef __FIRST_SYSTEMCORE__ namespace wpi::impl { void ResetPreferencesInstance() { GetInstance() = Instance(); diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp index 1010eeb7a8..223e2dd3d5 100644 --- a/wpilibc/src/main/native/cppcs/RobotBase.cpp +++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp @@ -6,7 +6,7 @@ #include -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ #include #endif @@ -107,7 +107,7 @@ class WPILibMathShared : public wpi::math::MathShared { } // namespace static void SetupCameraServerShared() { -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ #ifdef DYNAMIC_CAMERA_SERVER #ifdef DYNAMIC_CAMERA_SERVER_DEBUG auto cameraServerLib = dlopen("libcameraserverd.so", RTLD_NOW); diff --git a/wpilibc/src/main/native/include/wpi/framework/RobotBase.hpp b/wpilibc/src/main/native/include/wpi/framework/RobotBase.hpp index 832498957e..b7f39ecb82 100644 --- a/wpilibc/src/main/native/include/wpi/framework/RobotBase.hpp +++ b/wpilibc/src/main/native/include/wpi/framework/RobotBase.hpp @@ -24,7 +24,7 @@ namespace wpi { int RunHALInitialization(); namespace impl { -#ifndef __FRC_SYSTEMCORE__ +#ifndef __FIRST_SYSTEMCORE__ void ResetMotorSafety(); #endif @@ -124,7 +124,7 @@ int StartRobot() { impl::RunRobot(m, &robot); } -#ifndef __FRC_SYSTEMCORE__ +#ifndef __FIRST_SYSTEMCORE__ wpi::impl::ResetMotorSafety(); #endif HAL_Shutdown(); @@ -254,7 +254,7 @@ class RobotBase { * @return If the robot is running in the real world. */ static constexpr bool IsReal() { -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ return true; #else return false; @@ -267,7 +267,7 @@ class RobotBase { * @return If the robot is running in simulation. */ static constexpr bool IsSimulation() { -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ return false; #else return true; diff --git a/wpilibc/src/main/python/README.rst b/wpilibc/src/main/python/README.rst index 76c5d84917..81a6bcf421 100644 --- a/wpilibc/src/main/python/README.rst +++ b/wpilibc/src/main/python/README.rst @@ -1,7 +1,7 @@ RobotPy WPILib ============== -Python version of WPILib - the standard library used for programming FRC +Python version of WPILib - the standard library used for programming FIRST robots. Installation diff --git a/wpilibc/src/main/python/pyproject.toml b/wpilibc/src/main/python/pyproject.toml index 0c4e92d425..2df9f6e608 100644 --- a/wpilibc/src/main/python/pyproject.toml +++ b/wpilibc/src/main/python/pyproject.toml @@ -15,7 +15,7 @@ requires = [ [project] name = "wpilib" version = "0.0.0" -description = "Binary wrapper for FRC WPILib" +description = "Binary wrapper for WPILib" authors = [ {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"}, ] diff --git a/wpilibc/src/main/python/wpilib/simulation/simulation.cpp b/wpilibc/src/main/python/wpilib/simulation/simulation.cpp index c562e91cb3..7b949bd7a6 100644 --- a/wpilibc/src/main/python/wpilib/simulation/simulation.cpp +++ b/wpilibc/src/main/python/wpilib/simulation/simulation.cpp @@ -1,7 +1,7 @@ #include "semiwrap_init.wpilib.simulation._simulation.hpp" -#ifndef __FRC_SYSTEMCORE__ +#ifndef __FIRST_SYSTEMCORE__ namespace wpi::impl { void ResetSmartDashboardInstance(); diff --git a/wpilibc/src/main/python/wpilib/src/rpy/Filesystem.inc b/wpilibc/src/main/python/wpilib/src/rpy/Filesystem.inc index 4aad136dab..61317990ad 100644 --- a/wpilibc/src/main/python/wpilib/src/rpy/Filesystem.inc +++ b/wpilibc/src/main/python/wpilib/src/rpy/Filesystem.inc @@ -30,7 +30,7 @@ static fs::path getMainPath() { if (locals.contains("main_path")) { return fs::path(py::cast(locals["main_path"])); } else { -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ return fs::path("/home/systemcore/py"); #else return fs::current_path(); @@ -51,4 +51,4 @@ inline fs::path GetOperatingDirectoryFs() { inline fs::path GetDeployDirectoryFs() { return GetOperatingDirectoryFs() / "deploy"; } -} // namespace robotpy::filesystem \ No newline at end of file +} // namespace robotpy::filesystem diff --git a/wpilibc/src/test/native/cpp/main.cpp b/wpilibc/src/test/native/cpp/main.cpp index 6117636bc5..28d8213d78 100644 --- a/wpilibc/src/test/native/cpp/main.cpp +++ b/wpilibc/src/test/native/cpp/main.cpp @@ -6,7 +6,7 @@ #include "wpi/hal/HAL.h" -#ifndef __FRC_SYSTEMCORE__ +#ifndef __FIRST_SYSTEMCORE__ namespace wpi::impl { void ResetMotorSafety(); } @@ -16,7 +16,7 @@ int main(int argc, char** argv) { HAL_Initialize(500, 0); ::testing::InitGoogleTest(&argc, argv); int ret = RUN_ALL_TESTS(); -#ifndef __FRC_SYSTEMCORE__ +#ifndef __FIRST_SYSTEMCORE__ wpi::impl::ResetMotorSafety(); #endif return ret; diff --git a/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp index bc8e6d86da..5f02095307 100644 --- a/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp @@ -9,9 +9,9 @@ /** * Uses the CameraServer class to automatically capture video from a USB webcam - * and send it to the FRC dashboard without doing any vision processing. This is - * the easiest way to get camera images to the dashboard. Just add this to the - * robot class constructor. + * and send it to the dashboard without doing any vision processing. This is + * the easiest way to get camera images to the dashboard. Just add this to + * the robot class constructor. */ class Robot : public wpi::TimedRobot { public: diff --git a/wpilibcExamples/src/main/cpp/examples/Xrptimed/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/Xrptimed/cpp/Robot.cpp index 5ea68bdcc2..9dc34d9a0a 100644 --- a/wpilibcExamples/src/main/cpp/examples/Xrptimed/cpp/Robot.cpp +++ b/wpilibcExamples/src/main/cpp/examples/Xrptimed/cpp/Robot.cpp @@ -49,7 +49,7 @@ void Robot::TeleopPeriodic() { m_drive.ArcadeDrive(-m_controller.GetRawAxis(2), -m_controller.GetRawAxis(1)); } -#ifndef RUNNING_FRC_TESTS +#ifndef RUNNING_WPILIB_TESTS int main() { return wpi::StartRobot(); } diff --git a/wpilibj/src/main/java/org/wpilib/package.html b/wpilibj/src/main/java/org/wpilib/package.html index fdef7b43fc..64132252f8 100644 --- a/wpilibj/src/main/java/org/wpilib/package.html +++ b/wpilibj/src/main/java/org/wpilib/package.html @@ -8,7 +8,7 @@ The WPI Robotics library (WPILibJ) is a set of Java classes that interfaces - to the hardware in the FRC control system and your robot. There are classes + to the hardware in the FIRST control system and your robot. There are classes to handle sensors, motors, the driver station, and a number of other utility functions like timing and field management. The library is designed to: diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/quickvision/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/examples/quickvision/Robot.java index 3c2554b97f..b1b859b61a 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/quickvision/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/quickvision/Robot.java @@ -9,8 +9,8 @@ import org.wpilib.vision.stream.CameraServer; /** * Uses the CameraServer class to automatically capture video from a USB webcam and send it to the - * FRC dashboard without doing any vision processing. This is the easiest way to get camera images - * to the dashboard. Just add this to the robot class constructor. + * dashboard without doing any vision processing. This is the easiest way to get camera images to + * the dashboard. Just add this to the robot class constructor. */ public class Robot extends TimedRobot { public Robot() { diff --git a/wpimath/robotpy_pybind_build_info.bzl b/wpimath/robotpy_pybind_build_info.bzl index 13036c0430..337c9e9168 100644 --- a/wpimath/robotpy_pybind_build_info.bzl +++ b/wpimath/robotpy_pybind_build_info.bzl @@ -1297,7 +1297,7 @@ def define_pybind_library(name, pkgcfgs = []): "//wpiutil:robotpy-wpiutil", ], strip_path_prefixes = ["wpimath/src/main/python", "wpimath"], - summary = "Binary wrapper for FRC WPIMath library", + summary = "Binary wrapper for WPILib Math library", project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"}, author_email = "RobotPy Development Team ", requires = ["robotpy-native-wpimath==0.0.0", "robotpy-wpiutil==0.0.0"], diff --git a/wpimath/src/main/java/org/wpilib/math/util/Units.java b/wpimath/src/main/java/org/wpilib/math/util/Units.java index 53def5ffb3..719b155596 100644 --- a/wpimath/src/main/java/org/wpilib/math/util/Units.java +++ b/wpimath/src/main/java/org/wpilib/math/util/Units.java @@ -4,7 +4,7 @@ package org.wpilib.math.util; -/** Utility class that converts between commonly used units in FRC. */ +/** Utility class that converts between commonly used units in FIRST. */ public final class Units { private static final double kInchesPerFoot = 12.0; private static final double kMetersPerInch = 0.0254; diff --git a/wpimath/src/main/python/pyproject.toml b/wpimath/src/main/python/pyproject.toml index c9c33e7884..083ed401ff 100644 --- a/wpimath/src/main/python/pyproject.toml +++ b/wpimath/src/main/python/pyproject.toml @@ -13,7 +13,7 @@ requires = [ [project] name = "robotpy-wpimath" version = "0.0.0" -description = "Binary wrapper for FRC WPIMath library" +description = "Binary wrapper for WPILib Math library" authors = [ {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"}, ] @@ -44,7 +44,7 @@ update_init = [ ] scan_headers_ignore = [ - + "wpi/math/linalg/ct_matrix.hpp", "wpi/math/linalg/DARE.hpp", "wpi/math/linalg/EigenCore.hpp", @@ -1438,7 +1438,7 @@ types = [ default_arg_cast = false [[tool.semiwrap.export_type_casters.wpimath-casters.headers]] -header = "frc_eigen.h" +header = "wpi_eigen.h" types = [ "wpi::math::Vectord", "wpi::math::Matrixd", diff --git a/wpimath/src/main/python/semiwrap/NumericalIntegration.yml b/wpimath/src/main/python/semiwrap/NumericalIntegration.yml index d607f204c8..cae48fc740 100644 --- a/wpimath/src/main/python/semiwrap/NumericalIntegration.yml +++ b/wpimath/src/main/python/semiwrap/NumericalIntegration.yml @@ -1,5 +1,5 @@ extra_includes: -- frc_eigen.h +- wpi_eigen.h - wpi/math/linalg/EigenCore.hpp - pybind11/functional.h diff --git a/wpimath/src/main/python/semiwrap/NumericalJacobian.yml b/wpimath/src/main/python/semiwrap/NumericalJacobian.yml index a214282e65..f225250f80 100644 --- a/wpimath/src/main/python/semiwrap/NumericalJacobian.yml +++ b/wpimath/src/main/python/semiwrap/NumericalJacobian.yml @@ -1,5 +1,5 @@ extra_includes: -- frc_eigen.h +- wpi_eigen.h - wpi/math/linalg/EigenCore.hpp - pybind11/functional.h - pybind11/typing.h diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/frc_eigen.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/frc_eigen.h deleted file mode 100644 index d1c219aa1b..0000000000 --- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/frc_eigen.h +++ /dev/null @@ -1,4 +0,0 @@ -#pragma once - -// the FRC types are just aliases for Eigen types, so use that -#include diff --git a/wpimath/src/main/python/wpimath/_impl/src/type_casters/wpi_eigen.h b/wpimath/src/main/python/wpimath/_impl/src/type_casters/wpi_eigen.h new file mode 100644 index 0000000000..fdcad25894 --- /dev/null +++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/wpi_eigen.h @@ -0,0 +1,4 @@ +#pragma once + +// the WPILib types are just aliases for Eigen types, so use that +#include diff --git a/wpinet/robotpy_pybind_build_info.bzl b/wpinet/robotpy_pybind_build_info.bzl index dcbedf1493..30f59718e2 100644 --- a/wpinet/robotpy_pybind_build_info.bzl +++ b/wpinet/robotpy_pybind_build_info.bzl @@ -157,7 +157,7 @@ def define_pybind_library(name, pkgcfgs = []): "//wpiutil:robotpy-wpiutil", ], strip_path_prefixes = ["wpinet/src/main/python", "wpinet"], - summary = "Binary wrapper for FRC wpinet library", + summary = "Binary wrapper for WPILib networking library", project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"}, author_email = "RobotPy Development Team ", requires = ["robotpy-native-wpinet==0.0.0", "robotpy-wpiutil==0.0.0"], diff --git a/wpinet/src/main/python/pyproject.toml b/wpinet/src/main/python/pyproject.toml index 5891eb014f..e3989e65d3 100644 --- a/wpinet/src/main/python/pyproject.toml +++ b/wpinet/src/main/python/pyproject.toml @@ -13,7 +13,7 @@ requires = [ [project] name = "robotpy-wpinet" version = "0.0.0" -description = "Binary wrapper for FRC wpinet library" +description = "Binary wrapper for WPILib networking library" authors = [ {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"}, ] diff --git a/wpiutil/robotpy_pybind_build_info.bzl b/wpiutil/robotpy_pybind_build_info.bzl index b220828821..7266380fa7 100644 --- a/wpiutil/robotpy_pybind_build_info.bzl +++ b/wpiutil/robotpy_pybind_build_info.bzl @@ -253,7 +253,7 @@ def define_pybind_library(name, pkgcfgs = []): "//wpiutil:robotpy-native-wpiutil", ], strip_path_prefixes = ["wpiutil/src/main/python", "wpiutil"], - summary = "Binary wrapper for FRC WPIUtil library", + summary = "Binary wrapper for WPILib utilities library", project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"}, author_email = "RobotPy Development Team ", requires = ["robotpy-native-wpiutil==0.0.0"], diff --git a/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp b/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp index fef2aae484..e0fb58f375 100644 --- a/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp +++ b/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp @@ -130,7 +130,7 @@ JNIEXPORT void JNICALL Java_org_wpilib_util_WPIUtilJNI_enableMockTime (JNIEnv*, jclass) { -#ifdef __FRC_SYSTEMCORE__ +#ifdef __FIRST_SYSTEMCORE__ wpi::util::print(stderr, "WPIUtil: Mocking time is not available on systemcore\n"); #else diff --git a/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp b/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp index 51f5e5cdce..f6a3605f49 100644 --- a/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp +++ b/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp @@ -71,7 +71,7 @@ static SendableRegistryInst& GetInstance() { return *GetInstanceHolder(); } -#ifndef __FRC_SYSTEMCORE__ +#ifndef __FIRST_SYSTEMCORE__ namespace wpi::util::impl { void ResetSendableRegistry() { std::make_unique().swap(GetInstanceHolder()); diff --git a/wpiutil/src/main/native/cpp/timestamp.cpp b/wpiutil/src/main/native/cpp/timestamp.cpp index 8c23b8879a..f5809334ec 100644 --- a/wpiutil/src/main/native/cpp/timestamp.cpp +++ b/wpiutil/src/main/native/cpp/timestamp.cpp @@ -83,7 +83,7 @@ uint64_t wpi::util::NowDefault() { // delta by 1,000,000 uint64_t delta_in_us = delta * 1000000ull / frequency_val; return delta_in_us + zerotime_val; -#elif defined(__FRC_SYSTEMCORE__) +#elif defined(__FIRST_SYSTEMCORE__) // We want clock synchronized across the system, so just use steady_clock. return timestamp(); #else diff --git a/wpiutil/src/main/native/include/wpi/util/priority_mutex.hpp b/wpiutil/src/main/native/include/wpi/util/priority_mutex.hpp index 3451c0ddfc..32d84755a5 100644 --- a/wpiutil/src/main/native/include/wpi/util/priority_mutex.hpp +++ b/wpiutil/src/main/native/include/wpi/util/priority_mutex.hpp @@ -13,7 +13,7 @@ namespace wpi::util { -#if defined(__FRC_SYSTEMCORE__) && !defined(WPI_USE_PRIORITY_MUTEX) +#if defined(__FIRST_SYSTEMCORE__) && !defined(WPI_USE_PRIORITY_MUTEX) #define WPI_USE_PRIORITY_MUTEX #endif diff --git a/wpiutil/src/main/python/pyproject.toml b/wpiutil/src/main/python/pyproject.toml index 8662238636..2a06d0ff18 100644 --- a/wpiutil/src/main/python/pyproject.toml +++ b/wpiutil/src/main/python/pyproject.toml @@ -11,7 +11,7 @@ requires = [ [project] name = "robotpy-wpiutil" version = "0.0.0" -description = "Binary wrapper for FRC WPIUtil library" +description = "Binary wrapper for WPILib utilities library" authors = [ {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"}, ] diff --git a/wpiutil/src/main/python/wpiutil/src/main.cpp b/wpiutil/src/main/python/wpiutil/src/main.cpp index 9422c8a2f8..785c8cdc5a 100644 --- a/wpiutil/src/main/python/wpiutil/src/main.cpp +++ b/wpiutil/src/main/python/wpiutil/src/main.cpp @@ -7,7 +7,7 @@ void cleanup_stack_trace_hook(); void setup_safethread_gil(); void cleanup_safethread_gil(); -#ifndef __FRC_SYSTEMCORE__ +#ifndef __FIRST_SYSTEMCORE__ namespace wpi::util::impl { void ResetSendableRegistry(); @@ -38,4 +38,4 @@ SEMIWRAP_PYBIND11_MODULE(m) { m.def("_setup_stack_trace_hook", &setup_stack_trace_hook); m.add_object("_st_cleanup", cleanup); -} \ No newline at end of file +} diff --git a/xrpVendordep/XRPVendordep.json b/xrpVendordep/XRPVendordep.json index 9bdd7a01e5..7b0f4e23eb 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": "2027_alpha1", + "wpilibYear": "2027_alpha4", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [