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[copybara] Resync with mostrobotpy (#8662)

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This commit is contained in:
PJ Reiniger
2026-03-09 00:38:21 -04:00
committed by GitHub
parent 71cd434699
commit c0f8159540
40 changed files with 181 additions and 79 deletions
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6
WORKSPACE.bzlmod
View File

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

2
apriltag/src/main/python/pyproject.toml
View File

@@ -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",

2
commandsv2/src/main/python/commands2/subsystem.py
View File

@@ -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]:

2
datalog/src/main/python/pyproject.toml
View File

@@ -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",

2
hal/src/main/python/pyproject.toml
View File

@@ -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",

4
hal/src/main/python/semiwrap/SimDevice.yml
View File

@@ -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;

2
ntcore/src/main/python/pyproject.toml
View File

@@ -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",

2
requirements.txt
View File

@@ -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

12
requirements_lock.txt
View File

@@ -394,9 +394,9 @@ protobuf==5.28.3 \
# via
# -r requirements.txt
# grpcio-tools
pybind11==3.0.1 \
--hash=sha256:9c0f40056a016da59bab516efb523089139fcc6f2ba7e4930854c61efb932051 \
--hash=sha256:aa8f0aa6e0a94d3b64adfc38f560f33f15e589be2175e103c0a33c6bce55ee89
pybind11==3.0.2 \
--hash=sha256:432f01aeb68e361a3a7fc7575c2c7f497595bf640f747acd909ff238dd766e06 \
--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 \
--hash=sha256:cc260ac824af2020f87cc95bc25e41d6486783fe886b43d846b801c034a8a0fb \
--hash=sha256:d6ce64193abe8db5743ec27873d65bc53a2a7f35d3c16ce91aa8e9ea21d2d05e
semiwrap==0.3.0 \
--hash=sha256:106a3fc09e31068645bd4c3eab799517bf392ab15a4aa896e947b7a885d79412 \
--hash=sha256:e215261e387169aacb3c8cf39c711fbcaa59fb9b029d4f1d8d81db9d015c68f3
# via -r requirements.txt
sphinxify==0.12 \
--hash=sha256:3ec299e78babac7d3457f47bf263411b48e10b9c8add18d7159fa0327cc4a061 \

12
requirements_windows_lock.txt
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@@ -398,9 +398,9 @@ protobuf==5.28.3 \
# via
# -r requirements.txt
# grpcio-tools
pybind11==3.0.1 \
--hash=sha256:9c0f40056a016da59bab516efb523089139fcc6f2ba7e4930854c61efb932051 \
--hash=sha256:aa8f0aa6e0a94d3b64adfc38f560f33f15e589be2175e103c0a33c6bce55ee89
pybind11==3.0.2 \
--hash=sha256:432f01aeb68e361a3a7fc7575c2c7f497595bf640f747acd909ff238dd766e06 \
--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 \
--hash=sha256:cc260ac824af2020f87cc95bc25e41d6486783fe886b43d846b801c034a8a0fb \
--hash=sha256:d6ce64193abe8db5743ec27873d65bc53a2a7f35d3c16ce91aa8e9ea21d2d05e
semiwrap==0.3.0 \
--hash=sha256:106a3fc09e31068645bd4c3eab799517bf392ab15a4aa896e947b7a885d79412 \
--hash=sha256:e215261e387169aacb3c8cf39c711fbcaa59fb9b029d4f1d8d81db9d015c68f3
# via -r requirements.txt
sphinxify==0.12 \
--hash=sha256:3ec299e78babac7d3457f47bf263411b48e10b9c8add18d7159fa0327cc4a061 \

4
robotpyExamples/DifferentialDriveBot/drivetrain.py
View File

@@ -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.

4
robotpyExamples/DifferentialDrivePoseEstimator/drivetrain.py
View File

@@ -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.

4
robotpyExamples/HatchbotTraditional/commands/complexauto.py
View File

@@ -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,
),
)

4
robotpyExamples/MecanumBot/drivetrain.py
View File

@@ -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(

6
robotpyExamples/MecanumDrivePoseEstimator/drivetrain.py
View File

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

8
robotpyExamples/SimpleDifferentialDriveSimulation/drivetrain.py
View File

@@ -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:

4
robotpyExamples/StateSpaceArm/robot.py
View File

@@ -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.
)
)

4
robotpyExamples/StateSpaceElevator/robot.py
View File

@@ -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.
)
)

4
robotpyExamples/SwerveBot/drivetrain.py
View File

@@ -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)

4
robotpyExamples/SwerveDrivePoseEstimator/drivetrain.py
View File

@@ -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])

4
robotpyExamples/SwerveDrivePoseEstimator/swervemodule.py
View File

@@ -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()),
)

4
robotpyExamples/XrpReference/subsystems/drivetrain.py
View File

@@ -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)

2
romiVendordep/src/main/python/pyproject.toml
View File

@@ -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",

2
simulation/halsim_gui/src/main/python/pyproject.toml
View File

@@ -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",

8
simulation/halsim_gui/src/test/python/test_halsim_gui.py
View File

@@ -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

2
wpilibc/src/main/python/pyproject.toml
View File

@@ -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",

27
wpilibc/src/main/python/wpilib/testing/pytest_isolated_tests_plugin.py
View File

@@ -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

13
wpilibc/src/test/python/test_alert.py
View File

@@ -17,9 +17,7 @@ def group_name(request):
AlertSim.resetData()
def get_active_alerts(
group_name: str, level: Alert.Level
) -> T.List[str]:
def get_active_alerts(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(
group_name: str, text: str, level: Alert.Level
):
def is_alert_active(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

2
wpilibc/src/test/python/test_opmode_robot.py
View File

@@ -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):

20
wpilibc/src/test/python/test_pytest_plugins.py
View File

@@ -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)

2
wpimath/src/main/python/pyproject.toml
View File

@@ -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",

5
wpimath/src/test/python/kinematics/test_chassis_velocities.py
View File

@@ -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)"
)

24
wpimath/src/test/python/kinematics/test_mecanum_drive_kinematics.py
View File

@@ -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)

12
wpimath/src/test/python/kinematics/test_swerve_drive_kinematics.py
View File

@@ -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)

4
wpinet/src/main/python/pyproject.toml
View File

@@ -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",

16
wpiutil/src/main/python/native-pyproject.toml
View File

@@ -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"

2
wpiutil/src/main/python/pyproject.toml
View File

@@ -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",

13
wpiutil/src/main/python/wpiutil/wpistruct/typing.py
View File

@@ -1,15 +1,4 @@
from typing import ClassVar, Protocol
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
from typing import ClassVar, Protocol, TypeGuard
class StructSerializable(Protocol):

4
wpiutil/src/test/python/test_array.py
View File

@@ -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"
)

2
xrpVendordep/src/main/python/pyproject.toml
View File

@@ -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",