HAND FIX: Fix robotpy yaml files

hal/src/main/python/pyproject.toml

@@ -41,8 +41,6 @@ packages = ["hal"]
 [tool.semiwrap]
 update_init = []
 scan_headers_ignore = [
-    "hal/ChipObject.h",
-    "hal/DMA.h",
     "wpi/hal/Errors.h",
     "wpi/hal/HAL.h",
     "wpi/hal/IMU.h",
@@ -51,8 +49,6 @@ scan_headers_ignore = [
     "wpi/hal/Types.h",
     "wpi/hal/Value.h",
 
-    "hal/cpp/SerialHelper.h",
-    "hal/cpp/UnsafeDIO.h",
     "wpi/hal/cpp/fpga_clock.h",
 
     "wpi/hal/handles/DigitalHandleResource.h",
@@ -62,15 +58,11 @@ scan_headers_ignore = [
     "wpi/hal/handles/LimitedHandleResource.h",
     "wpi/hal/handles/UnlimitedHandleResource.h",
 
-    "hal/proto/*",
-
-    "hal/roborio/HMB.h",
-    "hal/roborio/InterruptManager.h",
+    "wpi/hal/proto/*",
 
     "wpi/hal/simulation/CanData.h",
     "wpi/hal/simulation/I2CData.h",
     "wpi/hal/simulation/NotifyListener.h",
-    "hal/simulation/SPIData.h",
     "wpi/hal/simulation/SimCallbackRegistry.h",
     "wpi/hal/simulation/SimDataValue.h",
 

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

@@ -26,7 +26,6 @@ functions:
         WPI_FreeString(&name);
         return sname;
       }
-  HAL_GetJoystickAxisType:
   HAL_SetJoystickOutputs:
   HAL_GetMatchTime:
   HAL_GetOutputsEnabled:

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

@@ -21,27 +21,24 @@ classes:
       fmsAttached:
       dsAttached:
       control_reserved:
+      watchdogEnabled:
   HAL_JoystickAxes:
     attributes:
-      count:
       axes:
       raw:
+      available:
   HAL_JoystickPOVs:
     attributes:
-      count:
       povs:
+      available:
   HAL_JoystickButtons:
     attributes:
       buttons:
-      count:
+      available:
   HAL_JoystickDescriptor:
     attributes:
       type:
       name:
-      axisCount:
-      axisTypes:
-      buttonCount:
-      povCount:
       isGamepad:
   HAL_MatchInfo:
     attributes:

hal/src/main/python/semiwrap/simulation/DriverStationData.yml

@@ -77,10 +77,6 @@ functions:
   HALSIM_SetJoystickAxis:
   HALSIM_SetJoystickPOV:
   HALSIM_SetJoystickButtonsValue:
-  HALSIM_SetJoystickAxisCount:
-  HALSIM_SetJoystickPOVCount:
-  HALSIM_SetJoystickButtonCount:
-  HALSIM_GetJoystickCounts:
   HALSIM_SetJoystickType:
   HALSIM_SetJoystickName:
     cpp_code: |
@@ -88,7 +84,6 @@ functions:
         auto s = wpi::make_string(sv);
         HALSIM_SetJoystickName(stick, &s);
       }
-  HALSIM_SetJoystickAxisType:
   HALSIM_SetGameSpecificMessage:
     cpp_code: |
       [](std::string_view sv) {
@@ -111,3 +106,7 @@ functions:
   HALSIM_CancelDriverStationNewDataCallback:
   HALSIM_NotifyDriverStationNewData:
   HALSIM_SetJoystickIsGamepad:
+  HALSIM_SetJoystickAxesAvailable:
+  HALSIM_SetJoystickPOVsAvailable:
+  HALSIM_SetJoystickButtonsAvailable:
+  HALSIM_GetJoystickAvailables:

wpilibc/src/main/python/pyproject.toml

@@ -112,7 +112,12 @@ DutyCycle = "wpi/hardware/rotation/DutyCycle.hpp"
 DutyCycleEncoder = "wpi/hardware/rotation/DutyCycleEncoder.hpp"
 Encoder = "wpi/hardware/rotation/Encoder.hpp"
 Errors = "wpi/system/Errors.hpp"
+ExpansionHub = "wpi/ExpansionHub.hpp"
+ExpansionHubMotor = "wpi/ExpansionHubMotor.hpp"
+ExpansionHubPidConstants = "wpi/ExpansionHubPidConstants.hpp"
+ExpansionHubServo = "wpi/ExpansionHubServo.hpp"
 Filesystem = "rpy/Filesystem.h"
+Gamepad = "wpi/driverstation/Gamepad.hpp"
 I2C = "wpi/hardware/bus/I2C.hpp"
 IterativeRobotBase = "wpi/opmode/IterativeRobotBase.hpp"
 Joystick = "wpi/driverstation/Joystick.hpp"
@@ -256,6 +261,7 @@ DutyCycleSim = "wpi/simulation/DutyCycleSim.hpp"
 ElevatorSim = "wpi/simulation/ElevatorSim.hpp"
 EncoderSim = "wpi/simulation/EncoderSim.hpp"
 FlywheelSim = "wpi/simulation/FlywheelSim.hpp"
+GamepadSim = "wpi/simulation/GamepadSim.hpp"
 GenericHIDSim = "wpi/simulation/GenericHIDSim.hpp"
 JoystickSim = "wpi/simulation/JoystickSim.hpp"
 LinearSystemSim = "wpi/simulation/LinearSystemSim.hpp"

wpilibc/src/main/python/semiwrap/DriverStation.yml

@@ -17,12 +17,8 @@ classes:
       GetStickAxis:
       GetStickPOV:
       GetStickButtons:
-      GetStickAxisCount:
-      GetStickPOVCount:
-      GetStickButtonCount:
       GetJoystickType:
       GetJoystickName:
-      GetJoystickAxisType:
       IsJoystickConnected:
       IsEnabled:
       IsDisabled:
@@ -52,6 +48,14 @@ classes:
       StartDataLog:
       GetAngle:
       GetJoystickIsGamepad:
+      GetStickButtonIfAvailable:
+      GetStickAxisIfAvailable:
+      GetStickAxesMaximumIndex:
+      GetStickAxesAvailable:
+      GetStickPOVsMaximumIndex:
+      GetStickPOVsAvailable:
+      GetStickButtonsMaximumIndex:
+      GetStickButtonsAvailable:
     inline_code: |
       .def("getControlState",
         [](DriverStation *self) -> std::tuple<bool, bool, bool> {

wpilibc/src/main/python/semiwrap/ExpansionHub.yml

@@ -0,0 +1,16 @@
+extra_includes:
+- wpi/ExpansionHubMotor.hpp
+- wpi/ExpansionHubServo.hpp
+
+classes:
+  frc::ExpansionHub:
+    attributes:
+      NumUsbPorts:
+      NumServoPorts:
+      NumMotorPorts:
+    methods:
+      ExpansionHub:
+      MakeServo:
+      MakeMotor:
+      IsHubConnected:
+      GetUsbId:

wpilibc/src/main/python/semiwrap/ExpansionHubMotor.yml

@@ -0,0 +1,20 @@
+classes:
+  frc::ExpansionHubMotor:
+    methods:
+      ExpansionHubMotor:
+      SetPercentagePower:
+      SetVoltage:
+      SetPositionSetpoint:
+      SetVelocitySetpoint:
+      SetEnabled:
+      SetFloatOn0:
+      GetCurrent:
+      SetDistancePerCount:
+      GetEncoderVelocity:
+      GetEncoderPosition:
+      SetReversed:
+      ResetEncoder:
+      GetVelocityPidConstants:
+      GetPositionPidConstants:
+      IsHubConnected:
+      Follow:

wpilibc/src/main/python/semiwrap/ExpansionHubPidConstants.yml

@@ -0,0 +1,7 @@
+classes:
+  frc::ExpansionHubPidConstants:
+    methods:
+      SetPID:
+      SetFF:
+      EnableContinousInput:
+      DisableContinousInput:

wpilibc/src/main/python/semiwrap/ExpansionHubServo.yml

@@ -0,0 +1,14 @@
+classes:
+  frc::ExpansionHubServo:
+    methods:
+      ExpansionHubServo:
+      Set:
+      SetAngle:
+      SetPulseWidth:
+      SetEnabled:
+      SetFramePeriod:
+      IsHubConnected:
+      SetAngleRange:
+      SetPWMRange:
+      SetReversed:
+      SetContinousRotationMode:

wpilibc/src/main/python/semiwrap/Gamepad.yml

@@ -0,0 +1,161 @@
+classes:
+  frc::Gamepad:
+    ignored_bases:
+    - wpi::SendableHelper<Gamepad>
+    methods:
+      Gamepad:
+      GetLeftX:
+      GetLeftY:
+      GetRightX:
+      GetRightY:
+      GetLeftTriggerAxis:
+      LeftTrigger:
+        overloads:
+          double, EventLoop* [const]:
+          EventLoop* [const]:
+      GetRightTriggerAxis:
+      RightTrigger:
+        overloads:
+          double, EventLoop* [const]:
+          EventLoop* [const]:
+      GetSouthFaceButton:
+      GetSouthFaceButtonPressed:
+      GetSouthFaceButtonReleased:
+      SouthFace:
+      GetEastFaceButton:
+      GetEastFaceButtonPressed:
+      GetEastFaceButtonReleased:
+      EastFace:
+      GetWestFaceButton:
+      GetWestFaceButtonPressed:
+      GetWestFaceButtonReleased:
+      WestFace:
+      GetNorthFaceButton:
+      GetNorthFaceButtonPressed:
+      GetNorthFaceButtonReleased:
+      NorthFace:
+      GetBackButton:
+      GetBackButtonPressed:
+      GetBackButtonReleased:
+      Back:
+      GetGuideButton:
+      GetGuideButtonPressed:
+      GetGuideButtonReleased:
+      Guide:
+      GetStartButton:
+      GetStartButtonPressed:
+      GetStartButtonReleased:
+      Start:
+      GetLeftStickButton:
+      GetLeftStickButtonPressed:
+      GetLeftStickButtonReleased:
+      LeftStick:
+      GetRightStickButton:
+      GetRightStickButtonPressed:
+      GetRightStickButtonReleased:
+      RightStick:
+      GetLeftShoulderButton:
+      GetLeftShoulderButtonPressed:
+      GetLeftShoulderButtonReleased:
+      LeftShoulder:
+      GetRightShoulderButton:
+      GetRightShoulderButtonPressed:
+      GetRightShoulderButtonReleased:
+      RightShoulder:
+      GetDpadUpButton:
+      GetDpadUpButtonPressed:
+      GetDpadUpButtonReleased:
+      DpadUp:
+      GetDpadDownButton:
+      GetDpadDownButtonPressed:
+      GetDpadDownButtonReleased:
+      DpadDown:
+      GetDpadLeftButton:
+      GetDpadLeftButtonPressed:
+      GetDpadLeftButtonReleased:
+      DpadLeft:
+      GetDpadRightButton:
+      GetDpadRightButtonPressed:
+      GetDpadRightButtonReleased:
+      DpadRight:
+      GetMisc1Button:
+      GetMisc1ButtonPressed:
+      GetMisc1ButtonReleased:
+      Misc1:
+      GetRightPaddle1Button:
+      GetRightPaddle1ButtonPressed:
+      GetRightPaddle1ButtonReleased:
+      RightPaddle1:
+      GetLeftPaddle1Button:
+      GetLeftPaddle1ButtonPressed:
+      GetLeftPaddle1ButtonReleased:
+      LeftPaddle1:
+      GetRightPaddle2Button:
+      GetRightPaddle2ButtonPressed:
+      GetRightPaddle2ButtonReleased:
+      RightPaddle2:
+      GetLeftPaddle2Button:
+      GetLeftPaddle2ButtonPressed:
+      GetLeftPaddle2ButtonReleased:
+      LeftPaddle2:
+      GetTouchpadButton:
+      GetTouchpadButtonPressed:
+      GetTouchpadButtonReleased:
+      Touchpad:
+      GetMisc2Button:
+      GetMisc2ButtonPressed:
+      GetMisc2ButtonReleased:
+      Misc2:
+      GetMisc3Button:
+      GetMisc3ButtonPressed:
+      GetMisc3ButtonReleased:
+      Misc3:
+      GetMisc4Button:
+      GetMisc4ButtonPressed:
+      GetMisc4ButtonReleased:
+      Misc4:
+      GetMisc5Button:
+      GetMisc5ButtonPressed:
+      GetMisc5ButtonReleased:
+      Misc5:
+      GetMisc6Button:
+      GetMisc6ButtonPressed:
+      GetMisc6ButtonReleased:
+      Misc6:
+      InitSendable:
+  frc::Gamepad::Button:
+    attributes:
+      kSouthFace:
+      kEastFace:
+      kWestFace:
+      kNorthFace:
+      kBack:
+      kGuide:
+      kStart:
+      kLeftStick:
+      kRightStick:
+      kLeftShoulder:
+      kRightShoulder:
+      kDpadUp:
+      kDpadDown:
+      kDpadLeft:
+      kDpadRight:
+      kMisc1:
+      kRightPaddle1:
+      kLeftPaddle1:
+      kRightPaddle2:
+      kLeftPaddle2:
+      kTouchpad:
+      kMisc2:
+      kMisc3:
+      kMisc4:
+      kMisc5:
+      kMisc6:
+  frc::Gamepad::Axis:
+    attributes:
+      kLeftX:
+      kLeftY:
+      kRightX:
+      kRightY:
+      kLeftTrigger:
+      kRightTrigger:

wpilibc/src/main/python/semiwrap/GenericHID.yml

@@ -33,17 +33,19 @@ classes:
       POVCenter:
       AxisLessThan:
       AxisGreaterThan:
-      GetAxisCount:
-      GetPOVCount:
-      GetButtonCount:
       IsConnected:
       GetType:
       GetName:
-      GetAxisType:
       GetPort:
       SetOutput:
       SetOutputs:
       SetRumble:
+      GetAxesMaximumIndex:
+      GetAxesAvailable:
+      GetPOVsMaximumIndex:
+      GetPOVsAvailable:
+      GetButtonsMaximumIndex:
+      GetButtonsAvailable:
 
 inline_code: |
   cls_GenericHID

wpilibc/src/main/python/semiwrap/TimedRobot.yml

@@ -12,6 +12,5 @@ classes:
             default: 0_s
       TimedRobot:
         overloads:
-          double:
-            ignore: true
           units::second_t:
+          units::hertz_t:

wpilibc/src/main/python/semiwrap/simulation/DriverStationSim.yml

@@ -35,13 +35,8 @@ classes:
       SetJoystickButton:
       SetJoystickAxis:
       SetJoystickPOV:
-      SetJoystickButtons:
-      SetJoystickAxisCount:
-      SetJoystickPOVCount:
-      SetJoystickButtonCount:
       SetJoystickType:
       SetJoystickName:
-      SetJoystickAxisType:
       SetGameSpecificMessage:
       SetEventName:
       SetMatchType:
@@ -49,3 +44,9 @@ classes:
       SetReplayNumber:
       ResetData:
       SetJoystickIsGamepad:
+      SetJoystickAxesMaximumIndex:
+      SetJoystickAxesAvailable:
+      SetJoystickPOVsMaximumIndex:
+      SetJoystickPOVsAvailable:
+      SetJoystickButtonsMaximumIndex:
+      SetJoystickButtonsAvailable:

wpilibc/src/main/python/semiwrap/simulation/GamepadSim.yml

@@ -0,0 +1,43 @@
+extra_includes:
+- wpi/driverstation/Gamepad.hpp
+
+classes:
+  frc::sim::GamepadSim:
+    force_no_trampoline: true
+    methods:
+      GamepadSim:
+        overloads:
+          const Gamepad&:
+          int:
+      SetLeftX:
+      SetLeftY:
+      SetRightX:
+      SetRightY:
+      SetLeftTriggerAxis:
+      SetRightTriggerAxis:
+      SetSouthFaceButton:
+      SetEastFaceButton:
+      SetWestFaceButton:
+      SetNorthFaceButton:
+      SetBackButton:
+      SetGuideButton:
+      SetStartButton:
+      SetLeftStickButton:
+      SetRightStickButton:
+      SetLeftShoulderButton:
+      SetRightShoulderButton:
+      SetDpadUpButton:
+      SetDpadDownButton:
+      SetDpadLeftButton:
+      SetDpadRightButton:
+      SetMisc1Button:
+      SetRightPaddle1Button:
+      SetLeftPaddle1Button:
+      SetRightPaddle2Button:
+      SetLeftPaddle2Button:
+      SetTouchpadButton:
+      SetMisc2Button:
+      SetMisc3Button:
+      SetMisc4Button:
+      SetMisc5Button:
+      SetMisc6Button:

wpilibc/src/main/python/semiwrap/simulation/GenericHIDSim.yml

@@ -12,12 +12,14 @@ classes:
         overloads:
           int, DriverStation::POVDirection:
           DriverStation::POVDirection:
-      SetAxisCount:
-      SetPOVCount:
-      SetButtonCount:
       SetType:
       SetName:
-      SetAxisType:
       GetOutput:
       GetOutputs:
       GetRumble:
+      SetAxesMaximumIndex:
+      SetAxesAvailable:
+      SetPOVsMaximumIndex:
+      SetPOVsAvailable:
+      SetButtonsMaximumIndex:
+      SetButtonsAvailable:

wpilibc/src/main/python/wpilib/__init__.py

@@ -27,8 +27,13 @@ from ._wpilib import (
     DutyCycle,
     DutyCycleEncoder,
     Encoder,
+    ExpansionHub,
+    ExpansionHubMotor,
+    ExpansionHubPidConstants,
+    ExpansionHubServo,
     Field2d,
     FieldObject2d,
+    Gamepad,
     I2C,
     IterativeRobotBase,
     Joystick,
@@ -114,8 +119,13 @@ __all__ = [
     "DutyCycle",
     "DutyCycleEncoder",
     "Encoder",
+    "ExpansionHub",
+    "ExpansionHubMotor",
+    "ExpansionHubPidConstants",
+    "ExpansionHubServo",
     "Field2d",
     "FieldObject2d",
+    "Gamepad",
     "I2C",
     "IterativeRobotBase",
     "Joystick",

wpilibc/src/main/python/wpilib/simulation/__init__.py

@@ -23,6 +23,7 @@ from ._simulation import (
     ElevatorSim,
     EncoderSim,
     FlywheelSim,
+    GamepadSim,
     GenericHIDSim,
     JoystickSim,
     LinearSystemSim_1_1_1,
@@ -77,6 +78,7 @@ __all__ = [
     "ElevatorSim",
     "EncoderSim",
     "FlywheelSim",
+    "GamepadSim",
     "GenericHIDSim",
     "JoystickSim",
     "LinearSystemSim_1_1_1",

wpimath/src/main/python/pyproject.toml

@@ -81,11 +81,11 @@ scan_headers_ignore = [
     "wpi/math/system/NumericalIntegration.hpp",
     "wpi/math/system/NumericalJacobian.hpp",
 
-    "frc/proto/*",
-    "frc/*/proto/*",
+    "wpi/math/proto/*",
+    "wpi/math/*/proto/*",
     
-    "frc/struct/*",
-    "frc/*/struct/*",
+    "wpi/math/struct/*",
+    "wpi/math/*/struct/*",
     
     "[eE]igen/*",
 
@@ -96,7 +96,7 @@ scan_headers_ignore = [
     "sleipnir/*",
     "type_casters/*",
     "unsupported/*",
-    "units/*",
+    "wpi/units/*",
     "wpimath/protobuf/*",
 
     "wpi/math/util/MathShared.hpp",

wpimath/src/main/python/semiwrap/controls/DCMotor.yml

@@ -41,6 +41,9 @@ classes:
       KrakenX60:
       KrakenX60FOC:
       NeoVortex:
+      KrakenX44:
+      KrakenX44FOC:
+      Minion:
 
 inline_code: |
   SetupWPyStruct<frc::DCMotor>(cls_DCMotor);

wpimath/src/test/python/cpp/semiwrap/module.yml

@@ -1,4 +1,3 @@
-
 classes:
   SomeClass:
     attributes: