`SetNowImpl` is used somewhat often in unit tests. It is a little bit
goofier to wrap because it takes a C function, so a little bit more work
has to be done to get that wrapped in pybind.
Claude helped.
The initial build file generation for robotpy projects was relatively
naive and purpose built to get `allwpilib` compiling, without supporting
all the available features.
This modifies the generation scripts to be able to support multiple
embedded libraries, which will be necessary for #8858, since `mrclib.so`
will need to be bundled along with the hal libraries. In addition some
cleanup was done to get the wheels looking more like what is in pypi.
There were 3 cases failing before.
1. An OpModeRobot with no annotation.
2. An OpModeRobot with an annotation but a parameterless constructor.
3. An OpMode with a UserControls constructor
This PR solves both of these issues. The first one is solved by adding
the null check before setting the user controls instance. That one will
never have an opmode instance.
The second one is solved by falling back to a parameterless constructor
if one with a parameter is not found.
The 3rd one is solved by using the annotation type rather than the
instance for constructor lookup.
Also fixes ExpansionHubSample's missing annotations.
This lets us remove the unmaintained StackWalker library and its hacky
upstream_utils script.
@Gold856 reported that StackWalker gives blank stacktraces:
https://discord.com/channels/176186766946992128/368993897495527424/1261940029287301150.
They also reported an earlier version of this PR giving the following
stacktrace instead:
```
D:\allwpilib\developerRobot\src\main\native\cpp\Robot.cpp(18): developerRobotCpp!Robot::RobotInit+0xB6
D:\allwpilib\wpilibc\src\main\native\cpp\TimedRobot.cpp(22): wpilibcd!frc::TimedRobot::StartCompetition+0x4F
D:\allwpilib\wpilibc\src\main\native\include\frc\RobotBase.h(36): developerRobotCpp!frc::impl::RunRobot<Robot>+0xC8
D:\allwpilib\wpilibc\src\main\native\include\frc\RobotBase.h(106): developerRobotCpp!frc::StartRobot<Robot>+0x17E
D:\allwpilib\developerRobot\src\main\native\cpp\Robot.cpp(60): developerRobotCpp!main+0xB
D:\a\_work\1\s\src\vctools\crt\vcstartup\src\startup\exe_common.inl(79): developerRobotCpp!invoke_main+0x39
D:\a\_work\1\s\src\vctools\crt\vcstartup\src\startup\exe_common.inl(288): developerRobotCpp!__scrt_common_main_seh+0x132
D:\a\_work\1\s\src\vctools\crt\vcstartup\src\startup\exe_common.inl(331): developerRobotCpp!__scrt_common_main+0xE
D:\a\_work\1\s\src\vctools\crt\vcstartup\src\startup\exe_main.cpp(17): developerRobotCpp!mainCRTStartup+0xE
KERNEL32!BaseThreadInitThunk+0x1D
ntdll!RtlUserThreadStart+0x28
```
People generally have expressed a dislike for the Hungarian notation
used in member variables, especially in examples/templates, and our
styleguide shouldn't be forced on downstream consumers, so this removes
all Hungarian notation from the examples/templates.
There are _some_ benefits to Hungarian for private member variables
(like knowing what's a member vs. local in a PR review) so we'll keep
private member variables the same for now, but public variables should
no longer use Hungarian notation, since it looks much worse. A new PMD
XPath rule has been added to accomplish this goal. Some other
non-compliant variables were fixed for the new rule.
Part of the `semiwrap` process that hasn't been ported over yet is
generating pyi stubs. It is possible to not have your semiwrap setup
correctly and "leak" native types into the generated python docstrings,
which causes the process to
[fail](https://github.com/pjreiniger/mostrobotpy/actions/runs/24618640845/job/71985311682#step:12:3652).
semiwrap also has a tool you can run, 'create-imports' that will read
the symbols from a build pybind library and automatically create and
sort the imports in the `__init__.py` file. This step is not enforced by
CI, which is why it hasn't been failing in `mostrobotpy` land.
This PR fixes the stubgen problems and runs reorganizes the imports. I
will have a follow up PR that can bring these automatically into the
build system after this lands. I'd do a fancy new `gh stack` but I can't
figure out if it works on forks.
Commands v3 had a few changes due to the upgrade:
- Java 24 removed the Pinned: MONITOR IllegalStateException when
yielding in a synchronized block, so we no longer need to special case
for it
- Lambda method name generation was tweaked, requiring tests to be
updated
- Bazel java_rules needed to be bumped to support Java 25
Closes#8425
`Color::FromHSV` didn't match the Java `Color.fromHSV` in some saturated
edge cases, introducing an off-by-one error when the HSV color should
correspond complete saturation of one or two of the primary colors.
Example:
- Java: `Color.fromHSV(0, 255, 255) -> (255, 0, 0)`
- C++: `Color::FromHSV(0, 255, 255) -> (255, 1, 1)`
This also means the following methods are also transitively affected:
- `AddressableLED::LEDData::SetHSV`
- `LEDPattern::Rainbow`
This off-by-one error is introduced by a rounding error from the chroma
calculation, which was dividing by 256 rather than the appropriate
maximum value of 255 like in Java:
7ca35e5678/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java (L176-L177)
Also port appropriate tests from Java to C++ to catch this bug.
I found this bug when I tried to port `AddressableLEDBuffer` to RobotPy.
Codex found the root cause :)
Some discussion with the tech team showed that there were some real
advantages to being able to pass a 2nd type. It allows separating the DS
and Robot. Additionally, we can make the DriverStationBase class
actually usable instead of the existing DriverStation class which is
impossible to handle in intellisense because it has too much.
This won't fully be doable in C++, but we will need to implement
something similar in python.
Semiwrap / meson / robotpy define `NDEBUG` when building their software
in all modes, while `allwplib` only does it when building debug. This
causes the size of `DenseMap` to differ between the shared libraries
built here, and the extension modules built in `mostrobotpy`, causing
segfaults when you try to execute code that uses `DenseMap`. This is not
a problem with the robotpy code in `allwpilib`, because bazel uses the
exact same compiler flags when building the shared libraries and
pybind11 extensions.
Resync with `mostrobotpy`
This mostly involves the big "ignore almost everything in the HAL
project" and some fixups for the Addressable LED classes.
Required two small hand fixes to get it building over here with bazel,
and with more compiler warnings on.
I also manually zeroed out the `repo_url` field in the toml files to
avoid unnecessary churn whenever it goes from a release build to a
development build. I already did this with `version` field in there, and
will do a follow up PR that updates the copybara script to do it
automatically.
---------
Co-authored-by: Default email <default@default.com>
