Rename FRC to WPILib (#8637)

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 <robotpy@googlegroups.com>",
         requires = ["pyntcore==0.0.0", "robotpy-native-wpihal==0.0.0", "robotpy-wpiutil==0.0.0"],

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.
    *
    * <p>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.
    *
    * <p>This enum represents different manufacturer IDs for CAN devices. Teams are encouraged to use
    * the kTeamUse manufacturer ID for custom or team-specific devices.

hal/src/main/native/cpp/jni/HAL.cpp

@@ -6,7 +6,7 @@
 
 #include <jni.h>
 
-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
 #include <signal.h>
 #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
 }

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

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;
   }

hal/src/main/native/sim/DriverStation.cpp

@@ -54,8 +54,8 @@ static_assert(std::is_standard_layout_v<JoystickDataCache>);
 
 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

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

hal/src/main/native/systemcore/HAL.cpp

@@ -47,7 +47,7 @@ void InitializeHAL() {
   InitializeDIO();
   InitializeDutyCycle();
   InitializeEncoder();
-  InitializeFRCDriverStation();
+  InitializeFIRSTDriverStation();
   InitializeI2C();
   InitializeIMU();
   InitializeMain();

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();

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());
-}
+}

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"

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

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"},
 ]

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

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 "<invalid>";
       #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 "<SimDevice (invalid)>";
       #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 "<SimEnum (invalid)>";
       #else
         if (self) {