[romi/xrp] Add Romi and XRP Vendordeps (#5644)

romiVendordep/.styleguide

@@ -0,0 +1,31 @@
+cppHeaderFileInclude {
+  \.h$
+  \.hpp$
+  \.inc$
+}
+
+cppSrcFileInclude {
+  \.cpp$
+}
+
+repoRootNameOverride {
+  wpilib
+}
+
+includeOtherLibs {
+  ^cameraserver/
+  ^cscore
+  ^fmt/
+  ^frc/
+  ^gtest/
+  ^hal/
+  ^imgui
+  ^mockdata/
+  ^networktables/
+  ^ntcore
+  ^opencv2/
+  ^support/
+  ^units/
+  ^vision/
+  ^wpi/
+}

romiVendordep/CMakeLists.txt

@@ -0,0 +1,59 @@
+project(romiVendordep)
+
+include(SubDirList)
+include(CompileWarnings)
+include(AddTest)
+
+if (WITH_JAVA)
+  find_package(Java REQUIRED)
+  include(UseJava)
+  set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
+
+  file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+  add_jar(romiVendordep_jar ${JAVA_SOURCES} INCLUDE_JARS hal_jar ntcore_jar cscore_jar cameraserver_jar wpimath_jar wpiutil_jar wpilibj_jar OUTPUT_NAME romiVendordep)
+
+  get_property(ROMIVENDORDEP_JAR_FILE TARGET romiVendordep_jar PROPERTY JAR_FILE)
+  install(FILES ${ROMIVENDORDEP_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+  set_property(TARGET romiVendordep_jar PROPERTY FOLDER "java")
+
+  if (WITH_FLAT_INSTALL)
+      set (romiVendordep_config_dir ${wpilib_dest})
+  else()
+      set (romiVendordep_config_dir share/romiVendordep)
+  endif()
+
+  install(FILES romiVendordep-config.cmake DESTINATION ${romiVendordep_config_dir})
+endif()
+
+file(GLOB_RECURSE romiVendordep_native_src src/main/native/cpp/*.cpp)
+add_library(romiVendordep ${romiVendordep_native_src})
+set_target_properties(romiVendordep PROPERTIES DEBUG_POSTFIX "d")
+set_property(TARGET romiVendordep PROPERTY FOLDER "libraries")
+
+target_compile_features(romiVendordep PUBLIC cxx_std_20)
+wpilib_target_warnings(romiVendordep)
+target_link_libraries(romiVendordep wpilibc)
+
+target_include_directories(romiVendordep PUBLIC
+                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+                            $<INSTALL_INTERFACE:${include_dest}/romiVendordep>)
+
+install(TARGETS romiVendordep EXPORT romiVendordep DESTINATION "${main_lib_dest}")
+install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/romiVendordep")
+
+if (FLAT_INSTALL_WPILIB)
+     set(romiVendordep_config_dir ${wpilib_dest})
+ else()
+     set(romiVendordep_config_dir share/romiVendordep)
+ endif()
+
+ configure_file(romiVendordep-config.cmake.in ${WPILIB_BINARY_DIR}/romiVendordep-config.cmake)
+ install(FILES ${WPILIB_BINARY_DIR}/romiVendordep-config.cmake DESTINATION ${romiVendordep_config_dir})
+ install(EXPORT romiVendordep DESTINATION ${romiVendordep_config_dir})
+
+ if (WITH_TESTS)
+     wpilib_add_test(romiVendordep src/test/native/cpp)
+     target_include_directories(romiVendordep_test PRIVATE src/test/native/include)
+     target_link_libraries(romiVendordep_test romiVendordep gmock_main)
+ endif()

romiVendordep/README.md

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+# romi-vendordep
+WPILib Romi Vendordep

romiVendordep/RomiVendordep.json

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+{
+  "fileName": "RomiVendordep.json",
+  "name": "Romi-Vendordep",
+  "version": "1.0.0",
+  "uuid": "1010372a-b446-46f4-b229-61e53a26a7dc",
+  "mavenUrls": [],
+  "jsonUrl": "",
+  "javaDependencies": [
+    {
+      "groupId": "edu.wpi.first.romiVendordep",
+      "artifactId": "romiVendordep-java",
+      "version": "wpilib"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "edu.wpi.first.romiVendordep",
+      "artifactId": "romiVendordep-cpp",
+      "version": "vendordep",
+      "libName": "romiVendordep",
+      "headerClassifier": "headers",
+      "sourcesClassifier": "sources",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "linuxarm32",
+        "linuxarm64",
+        "windowsx86-64",
+        "windowsx86",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ]
+}

romiVendordep/build.gradle

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+ext {
+    nativeName = 'romiVendordep'
+    devMain = 'edu.wpi.first.wpilibj.romi.DevMain'
+}
+
+evaluationDependsOn(":ntcore")
+evaluationDependsOn(":cscore")
+evaluationDependsOn(":hal")
+evaluationDependsOn(":wpimath")
+evaluationDependsOn(":wpilibc")
+evaluationDependsOn(":cameraserver")
+evaluationDependsOn(":wpilibj")
+
+apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
+
+dependencies {
+    implementation project(":wpiutil")
+    implementation project(":wpinet")
+    implementation project(":ntcore")
+    implementation project(":cscore")
+    implementation project(":hal")
+    implementation project(":wpimath")
+    implementation project(":wpilibj")
+}
+
+nativeUtils.exportsConfigs {
+    // Main library is just default empty. This will export everything
+    romiVendordep {
+        x64ExcludeSymbols = [
+            '_CT??_R0?AV_System_error',
+            '_CT??_R0?AVexception',
+            '_CT??_R0?AVfailure',
+            '_CT??_R0?AVruntime_error',
+            '_CT??_R0?AVsystem_error',
+            '_CTA5?AVfailure',
+            '_TI5?AVfailure',
+            '_CT??_R0?AVout_of_range',
+            '_CTA3?AVout_of_range',
+            '_TI3?AVout_of_range',
+            '_CT??_R0?AVbad_cast'
+        ]
+    }
+}
+
+model {
+    components {}
+    binaries {
+        all {
+            if (!it.buildable || !(it instanceof NativeBinarySpec)) {
+                return
+            }
+            lib project: ":wpilibc", library: "wpilibc", linkage: "shared"
+            project(":ntcore").addNtcoreDependency(it, "shared")
+            project(":hal").addHalDependency(it, "shared")
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+            lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
+
+            if (it.component.name == "${nativeName}Dev") {
+                project(":ntcore").addNtcoreJniDependency(it)
+                lib project: ":wpinet", library: "wpinetJNIShared", linkage: "shared"
+                lib project: ":wpiutil", library: "wpiutilJNIShared", linkage: "shared"
+                lib project: ":wpimath", library: "wpimathJNIShared", linkage: "shared"
+                project(":hal").addHalJniDependency(it)
+            }
+
+            if (it instanceof GoogleTestTestSuiteBinarySpec) {
+                nativeUtils.useRequiredLibrary(it, "opencv_shared")
+                lib project: ":cscore", library: "cscore", linkage: "shared"
+            }
+        }
+    }
+    tasks {
+        def c = $.components
+        def found = false
+        def systemArch = getCurrentArch()
+        c.each {
+            if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
+                it.binaries.each {
+                    if (!found) {
+                        def arch = it.targetPlatform.name
+                        if (arch == systemArch) {
+                            def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + "lib"
+                            found = true
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+test {
+    testLogging {
+        outputs.upToDateWhen {false}
+        showStandardStreams = true
+    }
+}

romiVendordep/romiVendordep-config.cmake.in

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+include(CMakeFindDependencyMacro)
+ @WPIUTIL_DEP_REPLACE@
+ @NTCORE_DEP_REPLACE@
+ @CSCORE_DEP_REPLACE@
+ @CAMERASERVER_DEP_REPLACE@
+ @HAL_DEP_REPLACE@
+ @WPILIBC_DEP_REPLACE@
+ @WPIMATH_DEP_REPLACE@
+
+ @FILENAME_DEP_REPLACE@
+ include(${SELF_DIR}/romiVendordep.cmake)

romiVendordep/src/dev/java/edu/wpi/first/wpilibj/romi/DevMain.java

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+// 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.romi;
+
+import edu.wpi.first.hal.HALUtil;
+import edu.wpi.first.networktables.NetworkTablesJNI;
+import edu.wpi.first.util.RuntimeDetector;
+
+public final class DevMain {
+  /** Main entry point. */
+  public static void main(String[] args) {
+    System.out.println("Hello World!");
+    System.out.println(RuntimeDetector.getPlatformPath());
+    System.out.println(NetworkTablesJNI.now());
+    System.out.println(HALUtil.getHALRuntimeType());
+  }
+
+  private DevMain() {}
+}

romiVendordep/src/dev/native/cpp/main.cpp

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+// 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.
+
+int main() {}

romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/OnBoardIO.java

@@ -0,0 +1,150 @@
+// 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.romi;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * This class represents the onboard IO of the Romi reference robot. This includes the pushbuttons
+ * and LEDs.
+ *
+ * <p>DIO 0 - Button A (input only) DIO 1 - Button B (input) or Green LED (output) DIO 2 - Button C
+ * (input) or Red LED (output) DIO 3 - Yellow LED (output only)
+ */
+public class OnBoardIO {
+  private final DigitalInput m_buttonA = new DigitalInput(0);
+  private final DigitalOutput m_yellowLed = new DigitalOutput(3);
+
+  // DIO 1
+  private final DigitalInput m_buttonB;
+  private final DigitalOutput m_greenLed;
+
+  // DIO 2
+  private final DigitalInput m_buttonC;
+  private final DigitalOutput m_redLed;
+
+  private static final double MESSAGE_INTERVAL = 1.0;
+  private double m_nextMessageTime;
+
+  public enum ChannelMode {
+    INPUT,
+    OUTPUT
+  }
+
+  /**
+   * Constructor.
+   *
+   * @param dio1 Mode for DIO 1 (input = Button B, output = green LED)
+   * @param dio2 Mode for DIO 2 (input = Button C, output = red LED)
+   */
+  public OnBoardIO(ChannelMode dio1, ChannelMode dio2) {
+    if (dio1 == ChannelMode.INPUT) {
+      m_buttonB = new DigitalInput(1);
+      m_greenLed = null;
+    } else {
+      m_greenLed = new DigitalOutput(1);
+      m_buttonB = null;
+    }
+
+    if (dio2 == ChannelMode.INPUT) {
+      m_buttonC = new DigitalInput(2);
+      m_redLed = null;
+    } else {
+      m_redLed = new DigitalOutput(2);
+      m_buttonC = null;
+    }
+  }
+
+  /**
+   * Gets if the A button is pressed.
+   *
+   * @return Whether or not Button A is pressed
+   */
+  public boolean getButtonAPressed() {
+    return m_buttonA.get();
+  }
+
+  /**
+   * Gets if the B button is pressed.
+   *
+   * @return Whether or not Button B is pressed
+   */
+  public boolean getButtonBPressed() {
+    if (m_buttonB != null) {
+      return m_buttonB.get();
+    }
+
+    double currentTime = Timer.getFPGATimestamp();
+    if (currentTime > m_nextMessageTime) {
+      DriverStation.reportError("Button B was not configured", true);
+      m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
+    }
+    return false;
+  }
+
+  /**
+   * Gets if the C button is pressed.
+   *
+   * @return Whether or not Button C is pressed
+   */
+  public boolean getButtonCPressed() {
+    if (m_buttonC != null) {
+      return m_buttonC.get();
+    }
+
+    double currentTime = Timer.getFPGATimestamp();
+    if (currentTime > m_nextMessageTime) {
+      DriverStation.reportError("Button C was not configured", true);
+      m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
+    }
+    return false;
+  }
+
+  /**
+   * Sets the green LED.
+   *
+   * @param value Set whether or not to turn the Green LED on
+   */
+  public void setGreenLed(boolean value) {
+    if (m_greenLed != null) {
+      m_greenLed.set(value);
+    } else {
+      double currentTime = Timer.getFPGATimestamp();
+      if (currentTime > m_nextMessageTime) {
+        DriverStation.reportError("Green LED was not configured", true);
+        m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
+      }
+    }
+  }
+
+  /**
+   * Sets the red LED.
+   *
+   * @param value Set whether or not to turn the Red LED on
+   */
+  public void setRedLed(boolean value) {
+    if (m_redLed != null) {
+      m_redLed.set(value);
+    } else {
+      double currentTime = Timer.getFPGATimestamp();
+      if (currentTime > m_nextMessageTime) {
+        DriverStation.reportError("Red LED was not configured", true);
+        m_nextMessageTime = currentTime + MESSAGE_INTERVAL;
+      }
+    }
+  }
+
+  /**
+   * Sets the yellow LED.
+   *
+   * @param value Set whether or not to turn the Yellow LED on
+   */
+  public void setYellowLed(boolean value) {
+    m_yellowLed.set(value);
+  }
+}

romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/RomiGyro.java

@@ -0,0 +1,147 @@
+// 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.romi;
+
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDevice.Direction;
+import edu.wpi.first.hal.SimDouble;
+
+public class RomiGyro {
+  private final SimDevice m_simDevice;
+  private final SimDouble m_simRateX;
+  private final SimDouble m_simRateY;
+  private final SimDouble m_simRateZ;
+  private final SimDouble m_simAngleX;
+  private final SimDouble m_simAngleY;
+  private final SimDouble m_simAngleZ;
+
+  private double m_angleXOffset;
+  private double m_angleYOffset;
+  private double m_angleZOffset;
+
+  /** Create a new RomiGyro. */
+  public RomiGyro() {
+    m_simDevice = SimDevice.create("Gyro:RomiGyro");
+    if (m_simDevice != null) {
+      m_simDevice.createBoolean("init", Direction.kOutput, true);
+      m_simRateX = m_simDevice.createDouble("rate_x", Direction.kInput, 0.0);
+      m_simRateY = m_simDevice.createDouble("rate_y", Direction.kInput, 0.0);
+      m_simRateZ = m_simDevice.createDouble("rate_z", Direction.kInput, 0.0);
+
+      m_simAngleX = m_simDevice.createDouble("angle_x", Direction.kInput, 0.0);
+      m_simAngleY = m_simDevice.createDouble("angle_y", Direction.kInput, 0.0);
+      m_simAngleZ = m_simDevice.createDouble("angle_z", Direction.kInput, 0.0);
+    } else {
+      m_simRateX = null;
+      m_simRateY = null;
+      m_simRateZ = null;
+      m_simAngleX = null;
+      m_simAngleY = null;
+      m_simAngleZ = null;
+    }
+  }
+
+  /**
+   * Get the rate of turn in degrees-per-second around the X-axis.
+   *
+   * @return rate of turn in degrees-per-second
+   */
+  public double getRateX() {
+    if (m_simRateX != null) {
+      return m_simRateX.get();
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the rate of turn in degrees-per-second around the Y-axis.
+   *
+   * @return rate of turn in degrees-per-second
+   */
+  public double getRateY() {
+    if (m_simRateY != null) {
+      return m_simRateY.get();
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the rate of turn in degrees-per-second around the Z-axis.
+   *
+   * @return rate of turn in degrees-per-second
+   */
+  public double getRateZ() {
+    if (m_simRateZ != null) {
+      return m_simRateZ.get();
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the currently reported angle around the X-axis.
+   *
+   * @return current angle around X-axis in degrees
+   */
+  public double getAngleX() {
+    if (m_simAngleX != null) {
+      return m_simAngleX.get() - m_angleXOffset;
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the currently reported angle around the X-axis.
+   *
+   * @return current angle around Y-axis in degrees
+   */
+  public double getAngleY() {
+    if (m_simAngleY != null) {
+      return m_simAngleY.get() - m_angleYOffset;
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the currently reported angle around the Z-axis.
+   *
+   * @return current angle around Z-axis in degrees
+   */
+  public double getAngleZ() {
+    if (m_simAngleZ != null) {
+      return m_simAngleZ.get() - m_angleZOffset;
+    }
+
+    return 0.0;
+  }
+
+  /** Reset the gyro angles to 0. */
+  public void reset() {
+    if (m_simAngleX != null) {
+      m_angleXOffset = m_simAngleX.get();
+      m_angleYOffset = m_simAngleY.get();
+      m_angleZOffset = m_simAngleZ.get();
+    }
+  }
+
+  public double getAngle() {
+    return getAngleZ();
+  }
+
+  public double getRate() {
+    return getRateZ();
+  }
+
+  /** Close out the SimDevice. */
+  public void close() {
+    if (m_simDevice != null) {
+      m_simDevice.close();
+    }
+  }
+}

romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/RomiMotor.java

@@ -0,0 +1,33 @@
+// 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.romi;
+
+import edu.wpi.first.wpilibj.PWM;
+import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
+
+/**
+ * RomiMotor.
+ *
+ * <p>A general use PWM motor controller representing the motors on a Romi robot
+ */
+public class RomiMotor extends PWMMotorController {
+  /** Common initialization code called by all constructors. */
+  protected void initRomiMotor() {
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
+  }
+
+  /**
+   * Constructor.
+   *
+   * @param channel The PWM channel that the RomiMotor is attached to. 0 is the left motor, 1 is the
+   *     right.
+   */
+  public RomiMotor(final int channel) {
+    super("Romi Motor", channel);
+    initRomiMotor();
+  }
+}

romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp

@@ -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.
+
+#include <frc/DigitalInput.h>
+#include <frc/DigitalOutput.h>
+#include <frc/Errors.h>
+#include <frc/Timer.h>
+#include <frc/romi/OnBoardIO.h>
+
+using namespace frc;
+
+OnBoardIO::OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2) {
+  if (dio1 == ChannelMode::INPUT) {
+    m_buttonB = std::make_unique<frc::DigitalInput>(1);
+  } else {
+    m_greenLed = std::make_unique<frc::DigitalOutput>(1);
+  }
+  if (dio2 == ChannelMode::INPUT) {
+    m_buttonC = std::make_unique<frc::DigitalInput>(2);
+  } else {
+    m_redLed = std::make_unique<frc::DigitalOutput>(2);
+  }
+}
+
+bool OnBoardIO::GetButtonAPressed() {
+  return m_buttonA.Get();
+}
+
+bool OnBoardIO::GetButtonBPressed() {
+  if (m_buttonB) {
+    return m_buttonB->Get();
+  }
+
+  auto currentTime = frc::Timer::GetFPGATimestamp();
+  if (currentTime > m_nextMessageTime) {
+    FRC_ReportError(frc::err::Error, "{}", "Button B was not configured");
+    m_nextMessageTime = currentTime + kMessageInterval;
+  }
+  return false;
+}
+
+bool OnBoardIO::GetButtonCPressed() {
+  if (m_buttonC) {
+    return m_buttonC->Get();
+  }
+
+  auto currentTime = frc::Timer::GetFPGATimestamp();
+  if (currentTime > m_nextMessageTime) {
+    FRC_ReportError(frc::err::Error, "{}", "Button C was not configured");
+    m_nextMessageTime = currentTime + kMessageInterval;
+  }
+  return false;
+}
+
+void OnBoardIO::SetGreenLed(bool value) {
+  if (m_greenLed) {
+    m_greenLed->Set(value);
+  } else {
+    auto currentTime = frc::Timer::GetFPGATimestamp();
+    if (currentTime > m_nextMessageTime) {
+      FRC_ReportError(frc::err::Error, "{}", "Green LED was not configured");
+      m_nextMessageTime = currentTime + kMessageInterval;
+    }
+  }
+}
+
+void OnBoardIO::SetRedLed(bool value) {
+  if (m_redLed) {
+    m_redLed->Set(value);
+  } else {
+    auto currentTime = frc::Timer::GetFPGATimestamp();
+    if (currentTime > m_nextMessageTime) {
+      FRC_ReportError(frc::err::Error, "{}", "Red LED was not configured");
+      m_nextMessageTime = currentTime + kMessageInterval;
+    }
+  }
+}
+
+void OnBoardIO::SetYellowLed(bool value) {
+  m_yellowLed.Set(value);
+}

romiVendordep/src/main/native/cpp/romi/RomiGyro.cpp

@@ -0,0 +1,89 @@
+// 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/romi/RomiGyro.h>
+
+using namespace frc;
+
+RomiGyro::RomiGyro() : m_simDevice("Gyro:RomiGyro") {
+  if (m_simDevice) {
+    m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
+    m_simRateX =
+        m_simDevice.CreateDouble("rate_x", hal::SimDevice::kInput, 0.0);
+    m_simRateY =
+        m_simDevice.CreateDouble("rate_y", hal::SimDevice::kInput, 0.0);
+    m_simRateZ =
+        m_simDevice.CreateDouble("rate_z", hal::SimDevice::kInput, 0.0);
+    m_simAngleX =
+        m_simDevice.CreateDouble("angle_x", hal::SimDevice::kInput, 0.0);
+    m_simAngleY =
+        m_simDevice.CreateDouble("angle_y", hal::SimDevice::kInput, 0.0);
+    m_simAngleZ =
+        m_simDevice.CreateDouble("angle_z", hal::SimDevice::kInput, 0.0);
+  }
+}
+
+double RomiGyro::GetAngle() const {
+  return GetAngleZ();
+}
+
+double RomiGyro::GetRate() const {
+  return GetRateZ();
+}
+
+double RomiGyro::GetRateX() const {
+  if (m_simRateX) {
+    return m_simRateX.Get();
+  }
+
+  return 0.0;
+}
+
+double RomiGyro::GetRateY() const {
+  if (m_simRateY) {
+    return m_simRateY.Get();
+  }
+
+  return 0.0;
+}
+
+double RomiGyro::GetRateZ() const {
+  if (m_simRateZ) {
+    return m_simRateZ.Get();
+  }
+
+  return 0.0;
+}
+
+double RomiGyro::GetAngleX() const {
+  if (m_simAngleX) {
+    return m_simAngleX.Get() - m_angleXOffset;
+  }
+
+  return 0.0;
+}
+
+double RomiGyro::GetAngleY() const {
+  if (m_simAngleY) {
+    return m_simAngleY.Get() - m_angleYOffset;
+  }
+
+  return 0.0;
+}
+
+double RomiGyro::GetAngleZ() const {
+  if (m_simAngleZ) {
+    return m_simAngleZ.Get() - m_angleZOffset;
+  }
+
+  return 0.0;
+}
+
+void RomiGyro::Reset() {
+  if (m_simAngleX) {
+    m_angleXOffset = m_simAngleX.Get();
+    m_angleYOffset = m_simAngleY.Get();
+    m_angleZOffset = m_simAngleZ.Get();
+  }
+}

romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp

@@ -0,0 +1,13 @@
+// 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/romi/RomiMotor.h>
+
+using namespace frc;
+
+RomiMotor::RomiMotor(int channel) : PWMMotorController("Romi Motor", channel) {
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
+}

romiVendordep/src/main/native/include/frc/romi/OnBoardIO.h

@@ -0,0 +1,76 @@
+// 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 <memory>
+
+#include <frc/DigitalInput.h>
+#include <frc/DigitalOutput.h>
+#include <units/time.h>
+
+namespace frc {
+
+/**
+ * This class represents the onboard IO of the Romi
+ * reference robot. This includes the pushbuttons and
+ * LEDs.
+ *
+ * <p>DIO 0 - Button A (input only)
+ * DIO 1 - Button B (input) or Green LED (output)
+ * DIO 2 - Button C (input) or Red LED (output)
+ * DIO 3 - Yellow LED (output only)
+ */
+class OnBoardIO {
+ public:
+  enum ChannelMode { INPUT, OUTPUT };
+  OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2);
+
+  static constexpr auto kMessageInterval = 1_s;
+  units::second_t m_nextMessageTime = 0_s;
+
+  /**
+   * Gets if the A button is pressed.
+   */
+  bool GetButtonAPressed();
+
+  /**
+   * Gets if the B button is pressed.
+   */
+  bool GetButtonBPressed();
+
+  /**
+   * Gets if the C button is pressed.
+   */
+  bool GetButtonCPressed();
+
+  /**
+   * Sets the green LED.
+   */
+  void SetGreenLed(bool value);
+
+  /**
+   * Sets the red LED.
+   */
+  void SetRedLed(bool value);
+
+  /**
+   * Sets the yellow LED.
+   */
+  void SetYellowLed(bool value);
+
+ private:
+  frc::DigitalInput m_buttonA{0};
+  frc::DigitalOutput m_yellowLed{3};
+
+  // DIO 1
+  std::unique_ptr<frc::DigitalInput> m_buttonB;
+  std::unique_ptr<frc::DigitalOutput> m_greenLed;
+
+  // DIO 2
+  std::unique_ptr<frc::DigitalInput> m_buttonC;
+  std::unique_ptr<frc::DigitalOutput> m_redLed;
+};
+
+}  // namespace frc

romiVendordep/src/main/native/include/frc/romi/RomiGyro.h

@@ -0,0 +1,91 @@
+// 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 <hal/SimDevice.h>
+
+namespace frc {
+
+/**
+ * Use a rate gyro to return the robots heading relative to a starting position.
+ *
+ * This class is for the Romi onboard gyro, and will only work in
+ * simulation/Romi mode. Only one instance of a RomiGyro is supported.
+ */
+class RomiGyro {
+ public:
+  RomiGyro();
+
+  /**
+   * Return the actual angle in degrees that the robot is currently facing.
+   *
+   * The angle is based on integration of the returned rate form the gyro.
+   * The angle is continuous, that is, it will continue from 360->361 degrees.
+   * This allows algorithms that wouldn't want to see a discontinuity in the
+   * gyro output as it sweeps from 360 to 0 on the second time around.
+   *
+   * @return the current heading of the robot in degrees.
+   */
+  double GetAngle() const;
+
+  /**
+   * Return the rate of rotation of the gyro
+   *
+   * The rate is based on the most recent reading of the gyro.
+   *
+   * @return the current rate in degrees per second
+   */
+  double GetRate() const;
+
+  /**
+   * Gets the rate of turn in degrees-per-second around the X-axis
+   */
+  double GetRateX() const;
+
+  /**
+   * Gets the rate of turn in degrees-per-second around the Y-axis
+   */
+  double GetRateY() const;
+
+  /**
+   * Gets the rate of turn in degrees-per-second around the Z-axis
+   */
+  double GetRateZ() const;
+
+  /**
+   * Gets the currently reported angle around the X-axis
+   */
+  double GetAngleX() const;
+
+  /**
+   * Gets the currently reported angle around the X-axis
+   */
+  double GetAngleY() const;
+
+  /**
+   * Gets the currently reported angle around the X-axis
+   */
+  double GetAngleZ() const;
+
+  /**
+   * Resets the gyro
+   */
+  void Reset();
+
+ private:
+  hal::SimDevice m_simDevice;
+  hal::SimDouble m_simRateX;
+  hal::SimDouble m_simRateY;
+  hal::SimDouble m_simRateZ;
+  hal::SimDouble m_simAngleX;
+  hal::SimDouble m_simAngleY;
+  hal::SimDouble m_simAngleZ;
+
+  double m_angleXOffset = 0;
+  double m_angleYOffset = 0;
+  double m_angleZOffset = 0;
+};
+
+}  // namespace frc

romiVendordep/src/main/native/include/frc/romi/RomiMotor.h

@@ -0,0 +1,30 @@
+// 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 <frc/motorcontrol/PWMMotorController.h>
+
+namespace frc {
+
+/**
+ * RomiMotor
+ *
+ * A general use PWM motor controller representing the motors on a Romi robot
+ */
+class RomiMotor : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a RomiMotor.
+   *
+   * @param channel The PWM channel that the RomiMotor is attached to.
+   *                0 is left, 1 is right
+   */
+  explicit RomiMotor(int channel);
+
+  RomiMotor(RomiMotor&&) = default;
+  RomiMotor& operator=(RomiMotor&&) = default;
+};
+
+}  // namespace frc

romiVendordep/src/test/native/cpp/main.cpp

@@ -0,0 +1,10 @@
+// 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 <gtest/gtest.h>
+
+int main(int argc, char** argv) {
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

settings.gradle

@@ -49,6 +49,8 @@ include 'simulation:halsim_xrp'
 include 'cameraserver'
 include 'cameraserver:multiCameraServer'
 include 'wpilibNewCommands'
+include 'romiVendordep'
+include 'xrpVendordep'
 include 'myRobot'
 include 'docs'
 include 'msvcruntime'

xrpVendordep/CMakeLists.txt

@@ -0,0 +1,59 @@
+project(xrpVendordep)
+
+include(SubDirList)
+include(CompileWarnings)
+include(AddTest)
+
+if (WITH_JAVA)
+  find_package(Java REQUIRED)
+  include(UseJava)
+  set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
+
+  file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+  add_jar(xrpVendordep_jar ${JAVA_SOURCES} INCLUDE_JARS hal_jar ntcore_jar cscore_jar cameraserver_jar wpimath_jar wpiutil_jar wpilibj_jar OUTPUT_NAME xrpVendordep)
+
+  get_property(xrpVendordep_JAR_FILE TARGET xrpVendordep_jar PROPERTY JAR_FILE)
+  install(FILES ${xrpVendordep_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+  set_property(TARGET xrpVendordep_jar PROPERTY FOLDER "java")
+
+  if (WITH_FLAT_INSTALL)
+      set (xrpVendordep_config_dir ${wpilib_dest})
+  else()
+      set (xrpVendordep_config_dir share/xrpVendordep)
+  endif()
+
+  install(FILES xrpVendordep-config.cmake DESTINATION ${xrpVendordep_config_dir})
+endif()
+
+file(GLOB_RECURSE xrpVendordep_native_src src/main/native/cpp/*.cpp)
+add_library(xrpVendordep ${xrpVendordep_native_src})
+set_target_properties(xrpVendordep PROPERTIES DEBUG_POSTFIX "d")
+set_property(TARGET xrpVendordep PROPERTY FOLDER "libraries")
+
+target_compile_features(xrpVendordep PUBLIC cxx_std_20)
+wpilib_target_warnings(xrpVendordep)
+target_link_libraries(xrpVendordep wpilibc)
+
+target_include_directories(xrpVendordep PUBLIC
+                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+                            $<INSTALL_INTERFACE:${include_dest}/xrpVendordep>)
+
+install(TARGETS xrpVendordep EXPORT xrpVendordep DESTINATION "${main_lib_dest}")
+install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/xrpVendordep")
+
+if (FLAT_INSTALL_WPILIB)
+     set(xrpVendordep_config_dir ${wpilib_dest})
+ else()
+     set(xrpVendordep_config_dir share/xrpVendordep)
+ endif()
+
+ configure_file(xrpVendordep-config.cmake.in ${WPILIB_BINARY_DIR}/xrpVendordep-config.cmake)
+ install(FILES ${WPILIB_BINARY_DIR}/xrpVendordep-config.cmake DESTINATION ${xrpVendordep_config_dir})
+ install(EXPORT xrpVendordep DESTINATION ${xrpVendordep_config_dir})
+
+ if (WITH_TESTS)
+     wpilib_add_test(xrpVendordep src/test/native/cpp)
+     target_include_directories(xrpVendordep_test PRIVATE src/test/native/include)
+     target_link_libraries(xrpVendordep_test xrpVendordep gmock_main)
+ endif()

xrpVendordep/README.md

@@ -0,0 +1,2 @@
+# XRP-vendordep
+WPILib XRP Vendordep

xrpVendordep/XRPVendordep.json

@@ -0,0 +1,36 @@
+{
+  "fileName": "XRPVendordep.json",
+  "name": "XRP-Vendordep",
+  "version": "1.0.0",
+  "uuid": "1571a1a5-ed3f-4f07-b7eb-b2beb17394e0",
+  "mavenUrls": [],
+  "jsonUrl": "",
+  "javaDependencies": [
+    {
+      "groupId": "edu.wpi.first.xrpVendordep",
+      "artifactId": "xrpVendordep-java",
+      "version": "wpilib"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "edu.wpi.first.xrpVendordep",
+      "artifactId": "xrpVendordep-cpp",
+      "version": "vendordep",
+      "libName": "xrpVendordep",
+      "headerClassifier": "headers",
+      "sourcesClassifier": "sources",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "linuxarm32",
+        "linuxarm64",
+        "windowsx86-64",
+        "windowsx86",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ]
+}

xrpVendordep/build.gradle

@@ -0,0 +1,98 @@
+ext {
+    nativeName = 'xrpVendordep'
+    devMain = 'edu.wpi.first.wpilibj.xrp.DevMain'
+}
+
+evaluationDependsOn(":ntcore")
+evaluationDependsOn(":cscore")
+evaluationDependsOn(":hal")
+evaluationDependsOn(":wpimath")
+evaluationDependsOn(":wpilibc")
+evaluationDependsOn(":cameraserver")
+evaluationDependsOn(":wpilibj")
+
+apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
+
+dependencies {
+    implementation project(":wpiutil")
+    implementation project(":wpinet")
+    implementation project(":ntcore")
+    implementation project(":cscore")
+    implementation project(":hal")
+    implementation project(":wpimath")
+    implementation project(":wpilibj")
+}
+
+nativeUtils.exportsConfigs {
+    // Main library is just default empty. This will export everything
+    xrpVendordep {
+        x64ExcludeSymbols = [
+            '_CT??_R0?AV_System_error',
+            '_CT??_R0?AVexception',
+            '_CT??_R0?AVfailure',
+            '_CT??_R0?AVruntime_error',
+            '_CT??_R0?AVsystem_error',
+            '_CTA5?AVfailure',
+            '_TI5?AVfailure',
+            '_CT??_R0?AVout_of_range',
+            '_CTA3?AVout_of_range',
+            '_TI3?AVout_of_range',
+            '_CT??_R0?AVbad_cast'
+        ]
+    }
+}
+
+model {
+    components {}
+    binaries {
+        all {
+            if (!it.buildable || !(it instanceof NativeBinarySpec)) {
+                return
+            }
+            lib project: ":wpilibc", library: "wpilibc", linkage: "shared"
+            project(":ntcore").addNtcoreDependency(it, "shared")
+            project(":hal").addHalDependency(it, "shared")
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+            lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
+
+            if (it.component.name == "${nativeName}Dev") {
+                project(":ntcore").addNtcoreJniDependency(it)
+                lib project: ":wpinet", library: "wpinetJNIShared", linkage: "shared"
+                lib project: ":wpiutil", library: "wpiutilJNIShared", linkage: "shared"
+                lib project: ":wpimath", library: "wpimathJNIShared", linkage: "shared"
+                project(":hal").addHalJniDependency(it)
+            }
+
+            if (it instanceof GoogleTestTestSuiteBinarySpec) {
+                nativeUtils.useRequiredLibrary(it, "opencv_shared")
+                lib project: ":cscore", library: "cscore", linkage: "shared"
+            }
+        }
+    }
+    tasks {
+        def c = $.components
+        def found = false
+        def systemArch = getCurrentArch()
+        c.each {
+            if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
+                it.binaries.each {
+                    if (!found) {
+                        def arch = it.targetPlatform.name
+                        if (arch == systemArch) {
+                            def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + "lib"
+                            found = true
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+test {
+    testLogging {
+        outputs.upToDateWhen {false}
+        showStandardStreams = true
+    }
+}

xrpVendordep/src/dev/java/edu/wpi/first/wpilibj/xrp/DevMain.java

@@ -0,0 +1,21 @@
+// 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.xrp;
+
+import edu.wpi.first.hal.HALUtil;
+import edu.wpi.first.networktables.NetworkTablesJNI;
+import edu.wpi.first.util.RuntimeDetector;
+
+public final class DevMain {
+  /** Main entry point. */
+  public static void main(String[] args) {
+    System.out.println("Hello World!");
+    System.out.println(RuntimeDetector.getPlatformPath());
+    System.out.println(NetworkTablesJNI.now());
+    System.out.println(HALUtil.getHALRuntimeType());
+  }
+
+  private DevMain() {}
+}

xrpVendordep/src/dev/native/cpp/main.cpp

@@ -0,0 +1,5 @@
+// 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.
+
+int main() {}

xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPGyro.java

@@ -0,0 +1,147 @@
+// 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.xrp;
+
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDevice.Direction;
+import edu.wpi.first.hal.SimDouble;
+
+public class XRPGyro {
+  private final SimDevice m_simDevice;
+  private final SimDouble m_simRateX;
+  private final SimDouble m_simRateY;
+  private final SimDouble m_simRateZ;
+  private final SimDouble m_simAngleX;
+  private final SimDouble m_simAngleY;
+  private final SimDouble m_simAngleZ;
+
+  private double m_angleXOffset;
+  private double m_angleYOffset;
+  private double m_angleZOffset;
+
+  /** Create a new XRPGyro. */
+  public XRPGyro() {
+    m_simDevice = SimDevice.create("Gyro:XRPGyro");
+    if (m_simDevice != null) {
+      m_simDevice.createBoolean("init", Direction.kOutput, true);
+      m_simRateX = m_simDevice.createDouble("rate_x", Direction.kInput, 0.0);
+      m_simRateY = m_simDevice.createDouble("rate_y", Direction.kInput, 0.0);
+      m_simRateZ = m_simDevice.createDouble("rate_z", Direction.kInput, 0.0);
+
+      m_simAngleX = m_simDevice.createDouble("angle_x", Direction.kInput, 0.0);
+      m_simAngleY = m_simDevice.createDouble("angle_y", Direction.kInput, 0.0);
+      m_simAngleZ = m_simDevice.createDouble("angle_z", Direction.kInput, 0.0);
+    } else {
+      m_simRateX = null;
+      m_simRateY = null;
+      m_simRateZ = null;
+      m_simAngleX = null;
+      m_simAngleY = null;
+      m_simAngleZ = null;
+    }
+  }
+
+  /**
+   * Get the rate of turn in degrees-per-second around the X-axis.
+   *
+   * @return rate of turn in degrees-per-second
+   */
+  public double getRateX() {
+    if (m_simRateX != null) {
+      return m_simRateX.get();
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the rate of turn in degrees-per-second around the Y-axis.
+   *
+   * @return rate of turn in degrees-per-second
+   */
+  public double getRateY() {
+    if (m_simRateY != null) {
+      return m_simRateY.get();
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the rate of turn in degrees-per-second around the Z-axis.
+   *
+   * @return rate of turn in degrees-per-second
+   */
+  public double getRateZ() {
+    if (m_simRateZ != null) {
+      return m_simRateZ.get();
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the currently reported angle around the X-axis.
+   *
+   * @return current angle around X-axis in degrees
+   */
+  public double getAngleX() {
+    if (m_simAngleX != null) {
+      return m_simAngleX.get() - m_angleXOffset;
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the currently reported angle around the X-axis.
+   *
+   * @return current angle around Y-axis in degrees
+   */
+  public double getAngleY() {
+    if (m_simAngleY != null) {
+      return m_simAngleY.get() - m_angleYOffset;
+    }
+
+    return 0.0;
+  }
+
+  /**
+   * Get the currently reported angle around the Z-axis.
+   *
+   * @return current angle around Z-axis in degrees
+   */
+  public double getAngleZ() {
+    if (m_simAngleZ != null) {
+      return m_simAngleZ.get() - m_angleZOffset;
+    }
+
+    return 0.0;
+  }
+
+  /** Reset the gyro angles to 0. */
+  public void reset() {
+    if (m_simAngleX != null) {
+      m_angleXOffset = m_simAngleX.get();
+      m_angleYOffset = m_simAngleY.get();
+      m_angleZOffset = m_simAngleZ.get();
+    }
+  }
+
+  public double getAngle() {
+    return getAngleZ();
+  }
+
+  public double getRate() {
+    return getRateZ();
+  }
+
+  /** Close out the SimDevice. */
+  public void close() {
+    if (m_simDevice != null) {
+      m_simDevice.close();
+    }
+  }
+}

xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPMotor.java

@@ -0,0 +1,109 @@
+// 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.xrp;
+
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDevice.Direction;
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+import java.util.HashMap;
+import java.util.HashSet;
+
+/**
+ * XRPMotor.
+ *
+ * <p>A SimDevice based motor controller representing the motors on an XRP robot
+ */
+public class XRPMotor implements MotorController {
+  private static HashMap<Integer, String> s_simDeviceNameMap = new HashMap<>();
+  private static HashSet<Integer> s_registeredDevices = new HashSet<>();
+
+  private static void checkDeviceAllocation(int deviceNum) {
+    if (!s_simDeviceNameMap.containsKey(deviceNum)) {
+      throw new IllegalArgumentException("Invalid XRPMotor device number. Should be 0-3");
+    }
+
+    if (s_registeredDevices.contains(deviceNum)) {
+      throw new IllegalArgumentException("XRPMotor " + deviceNum + " already allocated");
+    }
+
+    s_registeredDevices.add(deviceNum);
+  }
+
+  static {
+    s_simDeviceNameMap.put(0, "motorL");
+    s_simDeviceNameMap.put(1, "motorR");
+    s_simDeviceNameMap.put(2, "motor3");
+    s_simDeviceNameMap.put(3, "motor4");
+  }
+
+  private final SimDouble m_simSpeed;
+  private final SimBoolean m_simInverted;
+
+  /** XRPMotor. */
+  public XRPMotor(int deviceNum) {
+    checkDeviceAllocation(deviceNum);
+
+    // We want this to appear on the WS messages as type: "XRPMotor", device: <motor name>
+    String simDeviceName = "XRPMotor:" + s_simDeviceNameMap.get(deviceNum);
+    SimDevice xrpMotorSimDevice = SimDevice.create(simDeviceName);
+
+    if (xrpMotorSimDevice != null) {
+      xrpMotorSimDevice.createBoolean("init", Direction.kOutput, true);
+      m_simInverted = xrpMotorSimDevice.createBoolean("inverted", Direction.kInput, false);
+      m_simSpeed = xrpMotorSimDevice.createDouble("speed", Direction.kOutput, 0.0);
+    } else {
+      m_simInverted = null;
+      m_simSpeed = null;
+    }
+  }
+
+  @Override
+  public void set(double speed) {
+    if (m_simSpeed != null) {
+      boolean invert = false;
+      if (m_simInverted != null) {
+        invert = m_simInverted.get();
+      }
+
+      m_simSpeed.set(invert ? -speed : speed);
+    }
+  }
+
+  @Override
+  public double get() {
+    if (m_simSpeed != null) {
+      return m_simSpeed.get();
+    }
+
+    return 0.0;
+  }
+
+  @Override
+  public void setInverted(boolean isInverted) {
+    if (m_simInverted != null) {
+      m_simInverted.set(isInverted);
+    }
+  }
+
+  @Override
+  public boolean getInverted() {
+    if (m_simInverted != null) {
+      return m_simInverted.get();
+    }
+    return false;
+  }
+
+  @Override
+  public void disable() {
+    set(0.0);
+  }
+
+  @Override
+  public void stopMotor() {
+    set(0.0);
+  }
+}

xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPOnBoardIO.java

@@ -0,0 +1,41 @@
+// 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.xrp;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DigitalOutput;
+
+/**
+ * This class represents the onboard IO of the XRP Reference Robot. This includes the USER
+ * pushbutton and LED
+ */
+public class XRPOnBoardIO {
+  private final DigitalInput m_button = new DigitalInput(0);
+  private final DigitalOutput m_led = new DigitalOutput(1);
+
+  /** Constructor. */
+  public XRPOnBoardIO() {
+    // No need to do anything else. Unlike the Romi, there are no other configurable
+    // I/O ports
+  }
+
+  /**
+   * Gets if the USER button is pressed.
+   *
+   * @return True if the USER button is currently pressed.
+   */
+  public boolean getUserButtonPressed() {
+    return m_button.get();
+  }
+
+  /**
+   * Sets the onboard LED.
+   *
+   * @param value True to activate LED, false otherwise.
+   */
+  public void setLed(boolean value) {
+    m_led.set(value);
+  }
+}

xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPServo.java

@@ -0,0 +1,123 @@
+// 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.xrp;
+
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDevice.Direction;
+import edu.wpi.first.hal.SimDouble;
+import java.util.HashMap;
+import java.util.HashSet;
+
+/**
+ * XRPServo.
+ *
+ * <p>A SimDevice based servo
+ */
+public class XRPServo {
+  private static HashMap<Integer, String> s_simDeviceNameMap = new HashMap<>();
+  private static HashSet<Integer> s_registeredDevices = new HashSet<>();
+
+  private static void checkDeviceAllocation(int deviceNum) {
+    if (!s_simDeviceNameMap.containsKey(deviceNum)) {
+      throw new IllegalArgumentException("Invalid XRPServo device number. Should be 4-5");
+    }
+
+    if (s_registeredDevices.contains(deviceNum)) {
+      throw new IllegalArgumentException("XRPServo " + deviceNum + " already allocated");
+    }
+
+    s_registeredDevices.add(deviceNum);
+  }
+
+  static {
+    s_simDeviceNameMap.put(4, "servo1");
+    s_simDeviceNameMap.put(5, "servo2");
+  }
+
+  private final SimDouble m_simPosition;
+
+  /** XRPServo. */
+  public XRPServo(int deviceNum) {
+    checkDeviceAllocation(deviceNum);
+
+    // We want this to appear on WS as type: "XRPServo", device: <servo name>
+    String simDeviceName = "XRPServo:" + s_simDeviceNameMap.get(deviceNum);
+    SimDevice xrpServoSimDevice = SimDevice.create(simDeviceName);
+
+    if (xrpServoSimDevice != null) {
+      xrpServoSimDevice.createBoolean("init", Direction.kOutput, true);
+      // This should mimic PWM position [0.0, 1.0]
+      m_simPosition = xrpServoSimDevice.createDouble("position", Direction.kOutput, 0.5);
+    } else {
+      m_simPosition = null;
+    }
+  }
+
+  /**
+   * Set the servo angle.
+   *
+   * @param angle Desired angle in degrees
+   */
+  public void setAngle(double angle) {
+    if (angle < 0.0) {
+      angle = 0.0;
+    }
+
+    if (angle > 180.0) {
+      angle = 180.0;
+    }
+
+    double pos = angle / 180.0;
+
+    if (m_simPosition != null) {
+      m_simPosition.set(pos);
+    }
+  }
+
+  /**
+   * Get the servo angle.
+   *
+   * @return Current servo angle
+   */
+  public double getAngle() {
+    if (m_simPosition != null) {
+      return m_simPosition.get() * 180.0;
+    }
+
+    return 90.0;
+  }
+
+  /**
+   * Set the servo position.
+   *
+   * @param pos Desired position (Between 0.0 and 1.0)
+   */
+  public void setPosition(double pos) {
+    if (pos < 0.0) {
+      pos = 0.0;
+    }
+
+    if (pos > 1.0) {
+      pos = 1.0;
+    }
+
+    if (m_simPosition != null) {
+      m_simPosition.set(pos);
+    }
+  }
+
+  /**
+   * Get the servo position.
+   *
+   * @return Current servo position
+   */
+  public double getPosition() {
+    if (m_simPosition != null) {
+      return m_simPosition.get();
+    }
+
+    return 0.5;
+  }
+}

xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp

@@ -0,0 +1,89 @@
+// 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/xrp/XRPGyro.h"
+
+using namespace frc;
+
+XRPGyro::XRPGyro() : m_simDevice("Gyro:XRPGyro") {
+  if (m_simDevice) {
+    m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
+    m_simRateX =
+        m_simDevice.CreateDouble("rate_x", hal::SimDevice::kInput, 0.0);
+    m_simRateY =
+        m_simDevice.CreateDouble("rate_y", hal::SimDevice::kInput, 0.0);
+    m_simRateZ =
+        m_simDevice.CreateDouble("rate_z", hal::SimDevice::kInput, 0.0);
+    m_simAngleX =
+        m_simDevice.CreateDouble("angle_x", hal::SimDevice::kInput, 0.0);
+    m_simAngleY =
+        m_simDevice.CreateDouble("angle_y", hal::SimDevice::kInput, 0.0);
+    m_simAngleZ =
+        m_simDevice.CreateDouble("angle_z", hal::SimDevice::kInput, 0.0);
+  }
+}
+
+double XRPGyro::GetAngle() const {
+  return GetAngleZ();
+}
+
+double XRPGyro::GetRate() const {
+  return GetRateZ();
+}
+
+double XRPGyro::GetRateX() const {
+  if (m_simRateX) {
+    return m_simRateX.Get();
+  }
+
+  return 0.0;
+}
+
+double XRPGyro::GetRateY() const {
+  if (m_simRateY) {
+    return m_simRateY.Get();
+  }
+
+  return 0.0;
+}
+
+double XRPGyro::GetRateZ() const {
+  if (m_simRateZ) {
+    return m_simRateZ.Get();
+  }
+
+  return 0.0;
+}
+
+double XRPGyro::GetAngleX() const {
+  if (m_simAngleX) {
+    return m_simAngleX.Get() - m_angleXOffset;
+  }
+
+  return 0.0;
+}
+
+double XRPGyro::GetAngleY() const {
+  if (m_simAngleY) {
+    return m_simAngleY.Get() - m_angleYOffset;
+  }
+
+  return 0.0;
+}
+
+double XRPGyro::GetAngleZ() const {
+  if (m_simAngleZ) {
+    return m_simAngleZ.Get() - m_angleZOffset;
+  }
+
+  return 0.0;
+}
+
+void XRPGyro::Reset() {
+  if (m_simAngleX) {
+    m_angleXOffset = m_simAngleX.Get();
+    m_angleYOffset = m_simAngleY.Get();
+    m_angleZOffset = m_simAngleZ.Get();
+  }
+}

xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp

@@ -0,0 +1,88 @@
+// 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/xrp/XRPMotor.h"
+
+#include <frc/Errors.h>
+
+using namespace frc;
+
+std::map<int, std::string> XRPMotor::s_simDeviceMap = {
+    {0, "motorL"}, {1, "motorR"}, {2, "motor3"}, {3, "motor4"}};
+
+std::set<int> XRPMotor::s_registeredDevices = {};
+
+void XRPMotor::CheckDeviceAllocation(int deviceNum) {
+  if (s_simDeviceMap.count(deviceNum) == 0) {
+    throw FRC_MakeError(frc::err::ChannelIndexOutOfRange, "Channel {}",
+                        deviceNum);
+  }
+
+  if (s_registeredDevices.count(deviceNum) > 0) {
+    throw FRC_MakeError(frc::err::ResourceAlreadyAllocated, "Channel {}",
+                        deviceNum);
+  }
+
+  s_registeredDevices.insert(deviceNum);
+}
+
+XRPMotor::XRPMotor(int deviceNum) {
+  CheckDeviceAllocation(deviceNum);
+
+  m_deviceName = "XRPMotor:" + s_simDeviceMap[deviceNum];
+  m_simDevice = hal::SimDevice(m_deviceName.c_str());
+
+  if (m_simDevice) {
+    m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
+    m_simInverted =
+        m_simDevice.CreateBoolean("inverted", hal::SimDevice::kInput, false);
+    m_simSpeed =
+        m_simDevice.CreateDouble("speed", hal::SimDevice::kOutput, 0.0);
+  }
+}
+
+void XRPMotor::Set(double speed) {
+  if (m_simSpeed) {
+    bool invert = false;
+    if (m_simInverted) {
+      invert = m_simInverted.Get();
+    }
+
+    m_simSpeed.Set(invert ? -speed : speed);
+  }
+}
+
+double XRPMotor::Get() const {
+  if (m_simSpeed) {
+    return m_simSpeed.Get();
+  }
+
+  return 0.0;
+}
+
+void XRPMotor::SetInverted(bool isInverted) {
+  if (m_simInverted) {
+    m_simInverted.Set(isInverted);
+  }
+}
+
+bool XRPMotor::GetInverted() const {
+  if (m_simInverted) {
+    return m_simInverted.Get();
+  }
+
+  return false;
+}
+
+void XRPMotor::Disable() {
+  Set(0.0);
+}
+
+void XRPMotor::StopMotor() {
+  Set(0.0);
+}
+
+std::string XRPMotor::GetDescription() const {
+  return m_deviceName;
+}

xrpVendordep/src/main/native/cpp/xrp/XRPOnBoardIO.cpp

@@ -0,0 +1,20 @@
+// 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/xrp/XRPOnBoardIO.h"
+
+#include <frc/DigitalInput.h>
+#include <frc/DigitalOutput.h>
+#include <frc/Errors.h>
+#include <frc/Timer.h>
+
+using namespace frc;
+
+bool XRPOnBoardIO::GetUserButtonPressed() {
+  return m_userButton.Get();
+}
+
+void XRPOnBoardIO::SetLed(bool value) {
+  m_led.Set(value);
+}

xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp

@@ -0,0 +1,87 @@
+// 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/xrp/XRPServo.h"
+
+#include <frc/Errors.h>
+
+using namespace frc;
+
+std::map<int, std::string> XRPServo::s_simDeviceMap = {{4, "servo1"},
+                                                       {5, "servo2"}};
+
+std::set<int> XRPServo::s_registeredDevices = {};
+
+void XRPServo::CheckDeviceAllocation(int deviceNum) {
+  if (s_simDeviceMap.count(deviceNum) == 0) {
+    throw FRC_MakeError(frc::err::ChannelIndexOutOfRange, "Channel {}",
+                        deviceNum);
+  }
+
+  if (s_registeredDevices.count(deviceNum) > 0) {
+    throw FRC_MakeError(frc::err::ResourceAlreadyAllocated, "Channel {}",
+                        deviceNum);
+  }
+
+  s_registeredDevices.insert(deviceNum);
+}
+
+XRPServo::XRPServo(int deviceNum) {
+  CheckDeviceAllocation(deviceNum);
+
+  m_deviceName = "XRPServo:" + s_simDeviceMap[deviceNum];
+  m_simDevice = hal::SimDevice(m_deviceName.c_str());
+
+  if (m_simDevice) {
+    m_simDevice.CreateBoolean("init", hal::SimDevice::kOutput, true);
+    m_simPosition =
+        m_simDevice.CreateDouble("position", hal::SimDevice::kOutput, 0.5);
+  }
+}
+
+void XRPServo::SetAngle(double angleDegrees) {
+  if (angleDegrees < 0.0) {
+    angleDegrees = 0.0;
+  }
+
+  if (angleDegrees > 180.0) {
+    angleDegrees = 180.0;
+  }
+
+  double pos = (angleDegrees / 180.0);
+
+  if (m_simPosition) {
+    m_simPosition.Set(pos);
+  }
+}
+
+double XRPServo::GetAngle() const {
+  if (m_simPosition) {
+    return m_simPosition.Get() * 180.0;
+  }
+
+  return 90.0;
+}
+
+void XRPServo::SetPosition(double pos) {
+  if (pos < 0.0) {
+    pos = 0.0;
+  }
+
+  if (pos > 1.0) {
+    pos = 1.0;
+  }
+
+  if (m_simPosition) {
+    m_simPosition.Set(pos);
+  }
+}
+
+double XRPServo::GetPosition() const {
+  if (m_simPosition) {
+    return m_simPosition.Get();
+  }
+
+  return 0.5;
+}

xrpVendordep/src/main/native/include/frc/xrp/XRPGyro.h

@@ -0,0 +1,91 @@
+// 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 <hal/SimDevice.h>
+
+namespace frc {
+
+/**
+ * Use a rate gyro to return the robots heading relative to a starting position.
+ *
+ * This class is for the XRP onboard gyro, and will only work in
+ * simulation/XRP mode. Only one instance of a XRPGyro is supported.
+ */
+class XRPGyro {
+ public:
+  XRPGyro();
+
+  /**
+   * Return the actual angle in degrees that the robot is currently facing.
+   *
+   * The angle is based on integration of the returned rate form the gyro.
+   * The angle is continuous, that is, it will continue from 360->361 degrees.
+   * This allows algorithms that wouldn't want to see a discontinuity in the
+   * gyro output as it sweeps from 360 to 0 on the second time around.
+   *
+   * @return the current heading of the robot in degrees.
+   */
+  double GetAngle() const;
+
+  /**
+   * Return the rate of rotation of the gyro
+   *
+   * The rate is based on the most recent reading of the gyro.
+   *
+   * @return the current rate in degrees per second
+   */
+  double GetRate() const;
+
+  /**
+   * Gets the rate of turn in degrees-per-second around the X-axis
+   */
+  double GetRateX() const;
+
+  /**
+   * Gets the rate of turn in degrees-per-second around the Y-axis
+   */
+  double GetRateY() const;
+
+  /**
+   * Gets the rate of turn in degrees-per-second around the Z-axis
+   */
+  double GetRateZ() const;
+
+  /**
+   * Gets the currently reported angle around the X-axis
+   */
+  double GetAngleX() const;
+
+  /**
+   * Gets the currently reported angle around the X-axis
+   */
+  double GetAngleY() const;
+
+  /**
+   * Gets the currently reported angle around the X-axis
+   */
+  double GetAngleZ() const;
+
+  /**
+   * Resets the gyro
+   */
+  void Reset();
+
+ private:
+  hal::SimDevice m_simDevice;
+  hal::SimDouble m_simRateX;
+  hal::SimDouble m_simRateY;
+  hal::SimDouble m_simRateZ;
+  hal::SimDouble m_simAngleX;
+  hal::SimDouble m_simAngleY;
+  hal::SimDouble m_simAngleZ;
+
+  double m_angleXOffset = 0;
+  double m_angleYOffset = 0;
+  double m_angleZOffset = 0;
+};
+
+}  // namespace frc

xrpVendordep/src/main/native/include/frc/xrp/XRPMotor.h

@@ -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.
+
+#pragma once
+
+#include <frc/MotorSafety.h>
+#include <frc/motorcontrol/MotorController.h>
+
+#include <map>
+#include <set>
+#include <string>
+
+#include <hal/SimDevice.h>
+
+namespace frc {
+
+class XRPMotor : public frc::MotorController, public frc::MotorSafety {
+ public:
+  explicit XRPMotor(int deviceNum);
+
+  void Set(double value) override;
+  double Get() const override;
+
+  void SetInverted(bool isInverted) override;
+  bool GetInverted() const override;
+
+  void Disable() override;
+
+  void StopMotor() override;
+  std::string GetDescription() const override;
+
+ private:
+  hal::SimDevice m_simDevice;
+  hal::SimDouble m_simSpeed;
+  hal::SimBoolean m_simInverted;
+
+  std::string m_deviceName;
+
+  static std::map<int, std::string> s_simDeviceMap;
+  static std::set<int> s_registeredDevices;
+
+  static void CheckDeviceAllocation(int deviceNum);
+};
+
+}  // namespace frc

xrpVendordep/src/main/native/include/frc/xrp/XRPOnBoardIO.h

@@ -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.
+
+#pragma once
+
+#include <frc/DigitalInput.h>
+#include <frc/DigitalOutput.h>
+
+#include <memory>
+
+#include <units/time.h>
+
+namespace frc {
+
+/**
+ * This class represents the onboard IO of the XRP
+ * reference robot. This the USER push button and
+ * LED.
+ *
+ * <p>DIO 0 - USER Button (input only)
+ * DIO 1 - LED (output only)
+ */
+class XRPOnBoardIO {
+ public:
+  XRPOnBoardIO() {}  // No need to do anything. No configurable IO
+
+  static constexpr auto kMessageInterval = 1_s;
+  units::second_t m_nextMessageTime = 0_s;
+
+  /**
+   * Gets if the USER button is pressed.
+   */
+  bool GetUserButtonPressed();
+
+  /**
+   * Sets the yellow LED.
+   */
+  void SetLed(bool value);
+
+ private:
+  frc::DigitalInput m_userButton{0};
+  frc::DigitalOutput m_led{1};
+};
+
+}  // namespace frc

xrpVendordep/src/main/native/include/frc/xrp/XRPServo.h

@@ -0,0 +1,37 @@
+// 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 <map>
+#include <set>
+#include <string>
+
+#include <hal/SimDevice.h>
+
+namespace frc {
+
+class XRPServo {
+ public:
+  explicit XRPServo(int deviceNum);
+
+  void SetAngle(double angleDegrees);
+  double GetAngle() const;
+
+  void SetPosition(double position);
+  double GetPosition() const;
+
+ private:
+  hal::SimDevice m_simDevice;
+  hal::SimDouble m_simPosition;
+
+  std::string m_deviceName;
+
+  static std::map<int, std::string> s_simDeviceMap;
+  static std::set<int> s_registeredDevices;
+
+  static void CheckDeviceAllocation(int deviceNum);
+};
+
+}  // namespace frc

xrpVendordep/src/test/native/cpp/main.cpp

@@ -0,0 +1,10 @@
+// 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 <gtest/gtest.h>
+
+int main(int argc, char** argv) {
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

xrpVendordep/xrpVendordep-config.cmake.in

@@ -0,0 +1,11 @@
+include(CMakeFindDependencyMacro)
+ @WPIUTIL_DEP_REPLACE@
+ @NTCORE_DEP_REPLACE@
+ @CSCORE_DEP_REPLACE@
+ @CAMERASERVER_DEP_REPLACE@
+ @HAL_DEP_REPLACE@
+ @WPILIBC_DEP_REPLACE@
+ @WPIMATH_DEP_REPLACE@
+
+ @FILENAME_DEP_REPLACE@
+ include(${SELF_DIR}/xrpVendordep.cmake)