[copybara] Resync with mostrobotpy (#8662)

WORKSPACE.bzlmod

@@ -14,9 +14,9 @@ http_archive(
 http_archive(
     name = "pybind11",
     build_file = "@pybind11_bazel//:pybind11-BUILD.bazel",
-    integrity = "sha256-wkxQme/TKRS6e0rFedV3IH00zgb8ZsZktnc3HRi9DyU=",
+    integrity = "sha256-LyCgrwuSGBXg4Wnqf+xjkJhpMjWBuJ194VU0aFU/ai0=",
-    strip_prefix = "pybind11-dfe7e65b4527eeb11036402aac3a394130960bb2",
+    strip_prefix = "pybind11-3.0.2",
-    urls = ["https://github.com/pybind/pybind11/archive/dfe7e65b4527eeb11036402aac3a394130960bb2.zip"],
+    url = "https://github.com/pybind/pybind11/archive/refs/tags/v3.0.2.tar.gz",
 )
 
 http_archive(

apriltag/src/main/python/pyproject.toml

@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.6",
+    "semiwrap~=0.3.0",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",

commandsv2/src/main/python/commands2/subsystem.py

@@ -75,6 +75,8 @@ class Subsystem(Sendable):
         Removes the default command for the subsystem. This will not cancel the default command if it
         is currently running.
         """
+        from .commandscheduler import CommandScheduler
+
         CommandScheduler.getInstance().removeDefaultCommand(self)
 
     def getDefaultCommand(self) -> Optional[Command]:

datalog/src/main/python/pyproject.toml

@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.6",
+    "semiwrap~=0.3.0",
     "hatch-meson~=0.1.0",
     "hatchling",
     "robotpy-native-datalog==0.0.0",

hal/src/main/python/pyproject.toml

@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.6",
+    "semiwrap~=0.3.0",
     "hatch-meson~=0.1.0",
     "hatchling",
     "pyntcore==0.0.0",

hal/src/main/python/semiwrap/SimDevice.yml

@@ -241,7 +241,7 @@ inline_code: |2
     });
 
   cls_SimBoolean
-    .def_property("value", &SimBoolean::Get, &SimBoolean::Set, release_gil())
+    .def_property("value", &SimBoolean::Get, &SimBoolean::Set)
     .def("__repr__", [](const SimBoolean &self) -> py::str {
       if (self) {
         bool value;
@@ -292,7 +292,7 @@ inline_code: |2
     });
 
   cls_SimDouble
-    .def_property("value", &SimDouble::Get, &SimDouble::Set, release_gil())
+    .def_property("value", &SimDouble::Get, &SimDouble::Set)
     .def("__repr__", [](const SimDouble &self) -> py::str {
       if (self) {
         double value;

ntcore/src/main/python/pyproject.toml

@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.6",
+    "semiwrap~=0.3.0",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",

requirements.txt

@@ -1,7 +1,7 @@
 jinja2==3.1.6
 protobuf==5.28.3
 grpcio-tools==1.68.0
-semiwrap==0.2.6
+semiwrap==0.3.0
 pytest>=3.9
 pytest-reraise
 numpy

requirements_lock.txt

@@ -394,9 +394,9 @@ protobuf==5.28.3 \
     # via
     #   -r requirements.txt
     #   grpcio-tools
-pybind11==3.0.1 \
+pybind11==3.0.2 \
-    --hash=sha256:9c0f40056a016da59bab516efb523089139fcc6f2ba7e4930854c61efb932051 \
+    --hash=sha256:432f01aeb68e361a3a7fc7575c2c7f497595bf640f747acd909ff238dd766e06 \
-    --hash=sha256:aa8f0aa6e0a94d3b64adfc38f560f33f15e589be2175e103c0a33c6bce55ee89
+    --hash=sha256:f8a6500548919cc33bcd220d5f984688326f574fa97f1107f2f4fdb4c6fb019f
     # via semiwrap
 pybind11-stubgen==2.5.5 \
     --hash=sha256:10824cd2fc5cbbee032b8fb39e6f6c08de232deb309bc66d786a6c6e8a4601bd \
@@ -566,9 +566,9 @@ ruamel-yaml-clib==0.2.15 \
     --hash=sha256:fd4c928ddf6bce586285daa6d90680b9c291cfd045fc40aad34e445d57b1bf51 \
     --hash=sha256:fe239bdfdae2302e93bd6e8264bd9b71290218fff7084a9db250b55caaccf43f
     # via ruamel-yaml
-semiwrap==0.2.6 \
+semiwrap==0.3.0 \
-    --hash=sha256:cc260ac824af2020f87cc95bc25e41d6486783fe886b43d846b801c034a8a0fb \
+    --hash=sha256:106a3fc09e31068645bd4c3eab799517bf392ab15a4aa896e947b7a885d79412 \
-    --hash=sha256:d6ce64193abe8db5743ec27873d65bc53a2a7f35d3c16ce91aa8e9ea21d2d05e
+    --hash=sha256:e215261e387169aacb3c8cf39c711fbcaa59fb9b029d4f1d8d81db9d015c68f3
     # via -r requirements.txt
 sphinxify==0.12 \
     --hash=sha256:3ec299e78babac7d3457f47bf263411b48e10b9c8add18d7159fa0327cc4a061 \

requirements_windows_lock.txt

@@ -398,9 +398,9 @@ protobuf==5.28.3 \
     # via
     #   -r requirements.txt
     #   grpcio-tools
-pybind11==3.0.1 \
+pybind11==3.0.2 \
-    --hash=sha256:9c0f40056a016da59bab516efb523089139fcc6f2ba7e4930854c61efb932051 \
+    --hash=sha256:432f01aeb68e361a3a7fc7575c2c7f497595bf640f747acd909ff238dd766e06 \
-    --hash=sha256:aa8f0aa6e0a94d3b64adfc38f560f33f15e589be2175e103c0a33c6bce55ee89
+    --hash=sha256:f8a6500548919cc33bcd220d5f984688326f574fa97f1107f2f4fdb4c6fb019f
     # via semiwrap
 pybind11-stubgen==2.5.5 \
     --hash=sha256:10824cd2fc5cbbee032b8fb39e6f6c08de232deb309bc66d786a6c6e8a4601bd \
@@ -570,9 +570,9 @@ ruamel-yaml-clib==0.2.15 \
     --hash=sha256:fd4c928ddf6bce586285daa6d90680b9c291cfd045fc40aad34e445d57b1bf51 \
     --hash=sha256:fe239bdfdae2302e93bd6e8264bd9b71290218fff7084a9db250b55caaccf43f
     # via ruamel-yaml
-semiwrap==0.2.6 \
+semiwrap==0.3.0 \
-    --hash=sha256:cc260ac824af2020f87cc95bc25e41d6486783fe886b43d846b801c034a8a0fb \
+    --hash=sha256:106a3fc09e31068645bd4c3eab799517bf392ab15a4aa896e947b7a885d79412 \
-    --hash=sha256:d6ce64193abe8db5743ec27873d65bc53a2a7f35d3c16ce91aa8e9ea21d2d05e
+    --hash=sha256:e215261e387169aacb3c8cf39c711fbcaa59fb9b029d4f1d8d81db9d015c68f3
     # via -r requirements.txt
 sphinxify==0.12 \
     --hash=sha256:3ec299e78babac7d3457f47bf263411b48e10b9c8add18d7159fa0327cc4a061 \

robotpyExamples/DifferentialDriveBot/drivetrain.py

@@ -68,7 +68,9 @@ class Drivetrain:
             self.rightEncoder.getDistance(),
         )
 
-    def setVelocities(self, velocities: wpimath.DifferentialDriveWheelVelocities) -> None:
+    def setVelocities(
+        self, velocities: wpimath.DifferentialDriveWheelVelocities
+    ) -> None:
         """Sets the desired wheel velocities.
 
         :param velocities: The desired wheel velocities.

robotpyExamples/DifferentialDrivePoseEstimator/drivetrain.py

@@ -111,7 +111,9 @@ class Drivetrain:
         wpilib.SmartDashboard.putData("Field", self.fieldSim)
         wpilib.SmartDashboard.putData("FieldEstimation", self.fieldApproximation)
 
-    def setVelocities(self, velocities: wpimath.DifferentialDriveWheelVelocities) -> None:
+    def setVelocities(
+        self, velocities: wpimath.DifferentialDriveWheelVelocities
+    ) -> None:
         """Sets the desired wheel velocities.
 
         :param velocities: The desired wheel velocities.

robotpyExamples/HatchbotTraditional/commands/complexauto.py

@@ -30,6 +30,8 @@ class ComplexAuto(commands2.SequentialCommandGroup):
             ReleaseHatch(hatch),
             # Drive backward the specified distance
             DriveDistance(
-                constants.kAutoBackupDistanceInches, -constants.kAutoDriveVelocity, drive
+                constants.kAutoBackupDistanceInches,
+                -constants.kAutoDriveVelocity,
+                drive,
             ),
         )

robotpyExamples/MecanumBot/drivetrain.py

@@ -114,7 +114,9 @@ class Drivetrain:
         """Method to drive the robot using joystick info."""
         chassisVelocities = wpimath.ChassisVelocities(xVelocity, yVelocity, rot)
         if fieldRelative:
-            chassisVelocities = chassisVelocities.toRobotRelative(self.imu.getRotation2d())
+            chassisVelocities = chassisVelocities.toRobotRelative(
+                self.imu.getRotation2d()
+            )
 
         self.setVelocities(
             self.kinematics.toWheelVelocities(

robotpyExamples/MecanumDrivePoseEstimator/drivetrain.py

@@ -144,9 +144,9 @@ class Drivetrain:
                 self.poseEstimator.getEstimatedPosition().rotation()
             )
         self.setVelocities(
-            self.kinematics.toWheelVelocities(chassisVelocities.discretize(period)).desaturate(
+            self.kinematics.toWheelVelocities(
-                self.kMaxVelocity
+                chassisVelocities.discretize(period)
-            )
+            ).desaturate(self.kMaxVelocity)
         )
 
     def updateOdometry(self) -> None:

robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py

@@ -88,7 +88,9 @@ class Drivetrain:
         self.rightLeader.setInverted(True)
         wpilib.SmartDashboard.putData("Field", self.fieldSim)
 
-    def setVelocities(self, velocities: wpimath.DifferentialDriveWheelVelocities) -> None:
+    def setVelocities(
+        self, velocities: wpimath.DifferentialDriveWheelVelocities
+    ) -> None:
         """Sets velocities to the drivetrain motors."""
         leftFeedforward = self.feedforward.calculate(velocities.left)
         rightFeedforward = self.feedforward.calculate(velocities.right)
@@ -109,7 +111,9 @@ class Drivetrain:
         :param rot: the rotation
         """
         self.setVelocities(
-            self.kinematics.toWheelVelocities(wpimath.ChassisVelocities(xVelocity, 0, rot))
+            self.kinematics.toWheelVelocities(
+                wpimath.ChassisVelocities(xVelocity, 0, rot)
+            )
         )
 
     def updateOdometry(self) -> None:

robotpyExamples/StateSpaceArm/robot.py

@@ -35,7 +35,9 @@ class MyRobot(wpilib.TimedRobot):
         self.profile = wpimath.TrapezoidProfile(
             wpimath.TrapezoidProfile.Constraints(
                 wpimath.units.degreesToRadians(45),
-                wpimath.units.degreesToRadians(90),  # Max arm velocity and acceleration.
+                wpimath.units.degreesToRadians(
+                    90
+                ),  # Max arm velocity and acceleration.
             )
         )
 

robotpyExamples/StateSpaceElevator/robot.py

@@ -39,7 +39,9 @@ class MyRobot(wpilib.TimedRobot):
         self.profile = wpimath.TrapezoidProfile(
             wpimath.TrapezoidProfile.Constraints(
                 wpimath.units.feetToMeters(3.0),
-                wpimath.units.feetToMeters(6.0),  # Max elevator velocity and acceleration.
+                wpimath.units.feetToMeters(
+                    6.0
+                ),  # Max elevator velocity and acceleration.
             )
         )
 

robotpyExamples/SwerveBot/drivetrain.py

@@ -69,7 +69,9 @@ class Drivetrain:
         """
         robot_velocities = wpimath.ChassisVelocities(xVelocity, yVelocity, rot)
         if fieldRelative:
-            robot_velocities = robot_velocities.toRobotRelative(self.imu.getRotation2d())
+            robot_velocities = robot_velocities.toRobotRelative(
+                self.imu.getRotation2d()
+            )
 
         swerveModuleStates = self.kinematics.toSwerveModuleVelocities(
             wpimath.ChassisVelocities.discretize(robot_velocities, periodSeconds)

robotpyExamples/SwerveDrivePoseEstimator/drivetrain.py

@@ -82,7 +82,9 @@ class Drivetrain:
         chassisVelocities = chassisVelocities.discretize(period)
 
         states = self.kinematics.toSwerveModuleVelocities(chassisVelocities)
-        wpimath.SwerveDrive4Kinematics.desaturateWheelVelocities(states, self.kMaxVelocity)
+        wpimath.SwerveDrive4Kinematics.desaturateWheelVelocities(
+            states, self.kMaxVelocity
+        )
 
         self.frontLeft.setDesiredVelocity(states[0])
         self.frontRight.setDesiredVelocity(states[1])

robotpyExamples/SwerveDrivePoseEstimator/swervemodule.py

@@ -77,12 +77,12 @@ class SwerveModule:
         # to be continuous.
         self.turningPIDController.enableContinuousInput(-math.pi, math.pi)
 
-    def getState(self) -> wpimath.SwerveModuleVelocity :
+    def getState(self) -> wpimath.SwerveModuleVelocity:
         """Returns the current state of the module.
 
         :returns: The current state of the module.
         """
-        return wpimath.SwerveModuleVelocity (
+        return wpimath.SwerveModuleVelocity(
             self.driveEncoder.getRate(),
             wpimath.Rotation2d(self.turningEncoder.getDistance()),
         )

robotpyExamples/XrpReference/subsystems/drivetrain.py

@@ -31,7 +31,9 @@ class Drivetrain(commands2.Subsystem):
         self.rightEncoder = wpilib.Encoder(6, 7)
 
         # Set up the differential drive controller
-        self.drive = wpilib.DifferentialDrive(self.leftMotor.setDutyCycle, self.rightMotor.setDutyCycle)
+        self.drive = wpilib.DifferentialDrive(
+            self.leftMotor.setDutyCycle, self.rightMotor.setDutyCycle
+        )
 
         # TODO: these don't work
         # wpiutil.SendableRegistry.addChild(self.drive, self.leftMotor)

romiVendordep/src/main/python/pyproject.toml

@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.6",
+    "semiwrap~=0.3.0",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",

simulation/halsim_gui/src/main/python/pyproject.toml

@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.6",
+    "semiwrap~=0.3.0",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",

simulation/halsim_gui/src/test/python/test_halsim_gui.py

@@ -1,7 +1,15 @@
 import ctypes
+import ctypes.util
 import pathlib
+import sys
+
+import pytest
 
 
+@pytest.mark.skipif(
+    sys.platform == "linux" and not ctypes.util.find_library("X11"),
+    reason="X11 not installed",
+)
 def test_halsim_gui():
     # dependencies
     import wpinet

wpilibc/src/main/python/pyproject.toml

@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.6",
+    "semiwrap~=0.3.0",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",

wpilibc/src/main/python/wpilib/testing/pytest_isolated_tests_plugin.py

@@ -18,6 +18,24 @@ import wpilib
 from .pytest_plugin import RobotTestingPlugin
 
 
+class _NullTerminalWriter:
+    def _highlight(self, source, lexer="python"):
+        return source
+
+
+class _NullTerminalReporter:
+    """Minimal terminal reporter used in worker processes."""
+
+    def __init__(self):
+        self._tw = _NullTerminalWriter()
+
+    def write(self, *args, **kwargs):
+        pass
+
+    def line(self, *args, **kwargs):
+        pass
+
+
 def _enable_faulthandler():
     #
     # In the event of a segfault, faulthandler will dump the currently
@@ -66,6 +84,15 @@ class WorkerPlugin:
     @pytest.hookimpl(wrapper=True)
     def pytest_sessionstart(self, session: pytest.Session):
         self.config = session.config
+
+        # When we disable terminalreporter in worker mode we still need a
+        # minimal reporter so assertion introspection can render diffs.
+        if self.config.pluginmanager.get_plugin("terminalreporter") is None:
+            self.config.pluginmanager.unblock("terminalreporter")
+            self.config.pluginmanager.register(
+                _NullTerminalReporter(), "terminalreporter"
+            )
+
         return (yield)
 
     @pytest.hookimpl

wpilibc/src/test/python/test_alert.py

@@ -17,9 +17,7 @@ def group_name(request):
     AlertSim.resetData()
 
 
-def get_active_alerts(
+def get_active_alerts(group_name: str, level: Alert.Level) -> T.List[str]:
-    group_name: str, level: Alert.Level
-) -> T.List[str]:
     return [
         a.text
         for a in AlertSim.getAll()
@@ -27,13 +25,14 @@ def get_active_alerts(
     ]
 
 
-def is_alert_active(
+def is_alert_active(group_name: str, text: str, level: Alert.Level):
-    group_name: str, text: str, level: Alert.Level
-):
     matches = [
         a
         for a in AlertSim.getAll()
-        if a.group == group_name and a.level == level and a.text == text and a.isActive()
+        if a.group == group_name
+        and a.level == level
+        and a.text == text
+        and a.isActive()
     ]
     return len(matches) > 0
 

wpilibc/src/test/python/test_opmode_robot.py

@@ -135,7 +135,7 @@ def test_remove_op_mode():
     assert options[0].name == "OneArgOpMode"
 
 
-# @pytest.mark.xfail(reason="wpilib bug")
+@pytest.mark.xfail(reason="wpilib bug")
 def test_none_periodic():
     class MyMockRobot(MockRobot):
         def __init__(self):

wpilibc/src/test/python/test_pytest_plugins.py

@@ -166,6 +166,26 @@ def test_robot_failure_output(robot):
     assert robot_pid_one != robot_pid_two
 
 
+def test_isolated_plugin_assertion_rendering(pytester):
+    _make_robot_module(pytester)
+    _configure_isolated_plugin(pytester)
+    pytester.makepyfile(test_isolated="""
+def test_robot_assertion_rendering(robot):
+    assert "x" == "y"
+""")
+
+    result = pytester.runpytest_subprocess("-vv")
+
+    result.assert_outcomes(failed=1)
+    result.stdout.fnmatch_lines(
+        [
+            "*test_isolated.py::test_robot_assertion_rendering FAILED*",
+            "*assert 'x' == 'y'*",
+        ]
+    )
+    assert not any("_pytest/config/__init__.py" in line for line in result.outlines)
+
+
 def test_isolated_plugin_no_duplicate_verbose_output(pytester):
     _make_robot_module(pytester)
     _configure_isolated_plugin(pytester)

wpimath/src/main/python/pyproject.toml

@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.6",
+    "semiwrap~=0.3.0",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",

wpimath/src/test/python/kinematics/test_chassis_velocities.py

@@ -111,4 +111,7 @@ def test_unpack() -> None:
 def test_repr() -> None:
     velocities = ChassisVelocities(2.0, 1.0, 0.0)
 
-    assert repr(velocities) == "ChassisVelocities(vx=2.000000, vy=1.000000, omega=0.000000)"
+    assert (
+        repr(velocities)
+        == "ChassisVelocities(vx=2.000000, vy=1.000000, omega=0.000000)"
+    )

wpimath/src/test/python/kinematics/test_mecanum_drive_kinematics.py

@@ -40,7 +40,9 @@ def test_straight_line_forward_kinematics(kinematics_test):
     wheel_velocities = MecanumDriveWheelVelocities(
         frontLeft=5, frontRight=5, rearLeft=5, rearRight=5
     )
-    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(wheel_velocities)
+    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(
+        wheel_velocities
+    )
 
     assert chassis_velocities.vx == pytest.approx(5.0, abs=0.1)
     assert chassis_velocities.vy == pytest.approx(0.0, abs=0.1)
@@ -72,7 +74,9 @@ def test_strafe_forward_kinematics(kinematics_test):
     wheel_velocities = MecanumDriveWheelVelocities(
         frontLeft=-5, frontRight=5, rearLeft=5, rearRight=-5
     )
-    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(wheel_velocities)
+    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(
+        wheel_velocities
+    )
 
     assert chassis_velocities.vx == pytest.approx(0.0, abs=0.1)
     assert chassis_velocities.vy == pytest.approx(5.0, abs=0.1)
@@ -107,7 +111,9 @@ def test_rotation_forward_kinematics(kinematics_test):
         rearLeft=-150.79644737,
         rearRight=150.79644737,
     )
-    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(wheel_velocities)
+    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(
+        wheel_velocities
+    )
 
     assert chassis_velocities.vx == pytest.approx(0.0, abs=0.1)
     assert chassis_velocities.vy == pytest.approx(0.0, abs=0.1)
@@ -146,7 +152,9 @@ def test_mixed_rotation_translation_forward_kinematics(kinematics_test):
         rearRight=16.26,
     )
 
-    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(wheel_velocities)
+    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(
+        wheel_velocities
+    )
 
     assert chassis_velocities.vx == pytest.approx(1.41335, abs=0.1)
     assert chassis_velocities.vy == pytest.approx(2.1221, abs=0.1)
@@ -184,7 +192,9 @@ def test_off_center_rotation_forward_kinematics(kinematics_test):
         rearLeft=-16.971,
         rearRight=33.941,
     )
-    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(wheel_velocities)
+    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(
+        wheel_velocities
+    )
 
     assert chassis_velocities.vx == pytest.approx(8.48525, abs=0.1)
     assert chassis_velocities.vy == pytest.approx(-8.48525, abs=0.1)
@@ -221,7 +231,9 @@ def test_off_center_translation_rotation_forward_kinematics(kinematics_test):
         rearLeft=-12.02,
         rearRight=36.06,
     )
-    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(wheel_velocities)
+    chassis_velocities = kinematics_test.kinematics.toChassisVelocities(
+        wheel_velocities
+    )
 
     assert chassis_velocities.vx == pytest.approx(12.02, abs=0.1)
     assert chassis_velocities.vy == pytest.approx(-7.07, abs=0.1)

wpimath/src/test/python/kinematics/test_swerve_drive_kinematics.py

@@ -164,7 +164,9 @@ def test_turn_in_place_forward_kinematics(kinematics_test):
     bl = SwerveModuleVelocity(velocity=106.629, angle=Rotation2d.fromDegrees(-135))
     br = SwerveModuleVelocity(velocity=106.629, angle=Rotation2d.fromDegrees(-45))
 
-    chassis_velocities = kinematics_test.m_kinematics.toChassisVelocities((fl, fr, bl, br))
+    chassis_velocities = kinematics_test.m_kinematics.toChassisVelocities(
+        (fl, fr, bl, br)
+    )
 
     assert chassis_velocities.vx == pytest.approx(0.0, abs=kEpsilon)
     assert chassis_velocities.vy == pytest.approx(0.0, abs=kEpsilon)
@@ -209,7 +211,9 @@ def test_off_center_cor_rotation_forward_kinematics(kinematics_test):
     bl = SwerveModuleVelocity(velocity=150.796, angle=Rotation2d.fromDegrees(-90))
     br = SwerveModuleVelocity(velocity=213.258, angle=Rotation2d.fromDegrees(-45))
 
-    chassis_velocities = kinematics_test.m_kinematics.toChassisVelocities((fl, fr, bl, br))
+    chassis_velocities = kinematics_test.m_kinematics.toChassisVelocities(
+        (fl, fr, bl, br)
+    )
 
     assert chassis_velocities.vx == pytest.approx(75.398, abs=kEpsilon)
     assert chassis_velocities.vy == pytest.approx(-75.398, abs=kEpsilon)
@@ -254,7 +258,9 @@ def test_off_center_cor_rotation_and_translation_forward_kinematics(kinematics_t
     bl = SwerveModuleVelocity(velocity=54.08, angle=Rotation2d.fromDegrees(-109.44))
     br = SwerveModuleVelocity(velocity=54.08, angle=Rotation2d.fromDegrees(-70.56))
 
-    chassis_velocities = kinematics_test.m_kinematics.toChassisVelocities((fl, fr, bl, br))
+    chassis_velocities = kinematics_test.m_kinematics.toChassisVelocities(
+        (fl, fr, bl, br)
+    )
 
     assert chassis_velocities.vx == pytest.approx(0.0, abs=kEpsilon)
     assert chassis_velocities.vy == pytest.approx(-33.0, abs=kEpsilon)

wpinet/src/main/python/pyproject.toml

@@ -1,9 +1,9 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.6",
+    "semiwrap~=0.3.0",
     "hatch-meson~=0.1.0",
-    "semiwrap~=0.2.6",
+    "semiwrap~=0.3.0",
     "hatch-meson~=0.1.0",
     "hatchling",
     "robotpy-native-wpinet==0.0.0",

wpiutil/src/main/python/native-pyproject.toml

@@ -36,7 +36,21 @@ includedir = "src/native/wpiutil/include"
 libdir = "src/native/wpiutil/lib"
 shared_libraries = ["wpiutil"]
 
-enable_if = "platform_system != 'Windows'"
+enable_if = "platform_system != 'Windows' and platform_machine != 'aarch64'"
+
+[[tool.hatch.build.hooks.nativelib.pcfile]]
+pcfile = "src/native/wpiutil/robotpy-native-wpiutil.pc"
+name = "wpiutil"
+
+includedir = "src/native/wpiutil/include"
+libdir = "src/native/wpiutil/lib"
+shared_libraries = ["wpiutil"]
+
+# abi warnings are obnoxious on arm
+extra_cflags = "-Wno-psabi"
+
+enable_if = "platform_system != 'Windows' and platform_machine == 'aarch64'"
+
 
 [[tool.hatch.build.hooks.nativelib.pcfile]]
 pcfile = "src/native/wpiutil/robotpy-native-wpiutil.pc"

wpiutil/src/main/python/pyproject.toml

@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.6",
+    "semiwrap~=0.3.0",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",

wpiutil/src/main/python/wpiutil/wpistruct/typing.py

@@ -1,15 +1,4 @@
-from typing import ClassVar, Protocol
+from typing import ClassVar, Protocol, TypeGuard
-
-try:
-    from typing import TypeGuard
-except ImportError:
-    try:
-        from typing_extensions import TypeGuard
-    except ImportError:
-        # Runtime fallback for Python 3.9 without typing_extensions
-        class TypeGuard:
-            def __class_getitem__(cls, key):
-                return bool
 
 
 class StructSerializable(Protocol):

wpiutil/src/test/python/test_array.py

@@ -9,9 +9,9 @@ def test_load_array_int():
 def test_load_array_annotation():
     assert (
         module.load_array_int.__doc__
-        == "load_array_int(arg0: Tuple[typing.SupportsInt, typing.SupportsInt, typing.SupportsInt, typing.SupportsInt]) -> Tuple[int, int, int, int]\n"
+        == "load_array_int(arg0: Tuple[typing.SupportsInt | typing.SupportsIndex, typing.SupportsInt | typing.SupportsIndex, typing.SupportsInt | typing.SupportsIndex, typing.SupportsInt | typing.SupportsIndex]) -> Tuple[int, int, int, int]\n"
     )
     assert (
         module.load_array_int1.__doc__
-        == "load_array_int1(arg0: Tuple[typing.SupportsInt]) -> Tuple[int]\n"
+        == "load_array_int1(arg0: Tuple[typing.SupportsInt | typing.SupportsIndex]) -> Tuple[int]\n"
     )

xrpVendordep/src/main/python/pyproject.toml

@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.6",
+    "semiwrap~=0.3.0",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",