[copybara] allwpilib to mostrobotpy

examples/robot/DSGamepadChooser/robot.py

@@ -0,0 +1,85 @@
+#!/usr/bin/env python3
+#
+# 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.
+#
+
+from hal import RobotMode
+import wpilib
+from wpilib.opmoderobot import OpModeRobot
+
+
+class DoNothingTeleop(wpilib.PeriodicOpMode):
+    """A teleop opmode that intentionally does nothing."""
+
+
+class ScoreAuto(wpilib.PeriodicOpMode):
+    """An autonomous opmode with selectable scoring parameters."""
+
+    def __init__(self) -> None:
+        super().__init__()
+        wpilib.DriverStationDisplay.setMode(wpilib.DriverStationDisplay.Mode.Line)
+        self.chooser = wpilib.DSGamepadChooser(0)
+        self.chooser.addOptions("Target", ["High", "Mid", "Low"])
+        self.chooser.addIntegerOptions("Delay", 0, 5, 1)
+        self.chooser.addDoubleOptions("Speed", 0.25, 1.0, 0.25)
+        self.target = "High"
+        self.delay = 0
+        self.speed = 0.25
+
+    def disabledPeriodic(self) -> None:
+        self.chooser.update()
+        wpilib.DriverStationDisplay.updateLines()
+
+    def start(self) -> None:
+        self.target = self.chooser.getSelected("Target")
+        self.delay = self.chooser.getSelectedInteger("Delay")
+        self.speed = self.chooser.getSelectedDouble("Speed")
+
+    def periodic(self) -> None:
+        wpilib.DriverStationDisplay.addData("Selected Auto", "Score")
+        wpilib.DriverStationDisplay.addData("Target", self.target)
+        wpilib.DriverStationDisplay.addData("Delay", self.delay)
+        wpilib.DriverStationDisplay.addData("Speed", self.speed)
+        wpilib.DriverStationDisplay.updateLines()
+
+
+class BalanceAuto(wpilib.PeriodicOpMode):
+    """An autonomous opmode with selectable balance parameters."""
+
+    def __init__(self) -> None:
+        super().__init__()
+        wpilib.DriverStationDisplay.setMode(wpilib.DriverStationDisplay.Mode.Line)
+        self.chooser = wpilib.DSGamepadChooser(0)
+        self.chooser.addOptions("Approach", ["Left", "Center", "Right"])
+        self.chooser.addIntegerOptions("Attempts", 1, 3, 1)
+        self.chooser.addDoubleOptions("Turn Scale", 0.2, 1.0, 0.2)
+        self.approach = "Center"
+        self.attempts = 1
+        self.turnScale = 0.5
+
+    def disabledPeriodic(self) -> None:
+        self.chooser.update()
+        wpilib.DriverStationDisplay.updateLines()
+
+    def start(self) -> None:
+        self.approach = self.chooser.getSelected("Approach")
+        self.attempts = self.chooser.getSelectedInteger("Attempts")
+        self.turnScale = self.chooser.getSelectedDouble("Turn Scale")
+
+    def periodic(self) -> None:
+        wpilib.DriverStationDisplay.addData("Selected Auto", "Balance")
+        wpilib.DriverStationDisplay.addData("Approach", self.approach)
+        wpilib.DriverStationDisplay.addData("Attempts", self.attempts)
+        wpilib.DriverStationDisplay.addData("Turn Scale", self.turnScale)
+        wpilib.DriverStationDisplay.updateLines()
+
+
+class MyRobot(OpModeRobot):
+    def __init__(self) -> None:
+        super().__init__()
+        self.add_opmode(DoNothingTeleop, RobotMode.TELEOPERATED, "Do Nothing Teleop")
+        self.add_opmode(ScoreAuto, RobotMode.AUTONOMOUS, "Score Auto")
+        self.add_opmode(BalanceAuto, RobotMode.AUTONOMOUS, "Balance Auto")
+        self.publish_opmodes()

examples/robot/examples.toml

@@ -15,6 +15,7 @@ base = [
   "Encoder",
   "GettingStarted",
   "Gyro",
+  "DSGamepadChooser",
   "HatchbotInlined",
   "HatchbotTraditional",
   "MecanumBot",

rdev.toml

@@ -22,7 +22,7 @@ wrapper = "2027.0.0a6.post4"
 
 [params]
 
-wpilib_bin_version = "2027.0.0-alpha-6-139-g34fee9a73"
+wpilib_bin_version = "2027.0.0-alpha-6-167-gdb3a9c428"
 wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 # wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 

subprojects/pyntcore/ntcore/src/py2value.h

@@ -1,6 +1,7 @@
 #pragma once
 
-#include <fmt/format.h>
+#include <format>
+
 #include <semiwrap.h>
 
 #include "wpi/nt/NetworkTableType.hpp"
@@ -18,7 +19,7 @@ py::function valueFactoryByType(wpi::nt::NetworkTableType type);
 
 inline void ensure_value_is(NT_Type expected, wpi::nt::Value* v) {
   if (v->type() != expected) {
-    throw py::value_error(fmt::format("Value type is {}, not {}",
+    throw py::value_error(std::format("Value type is {}, not {}",
                                       nttype2str(v->type()),
                                       nttype2str(expected)));
   }

subprojects/robotpy-commands-v2/commands2/commandscheduler.py

@@ -100,9 +100,7 @@ def __init__(self) -> None:
 
         self._in_run_loop = False
         self._to_schedule: Dict[Command, None] = {}
-        # python: to_cancel_interruptors stored in _to_cancel dict
         self._to_cancel: Dict[Command, Optional[Command]] = {}
-        # self._to_cancel_interruptors: List[Optional[Command]] = []
         self._ending_commands: Set[Command] = set()
 
         self._watchdog = Watchdog(TimedRobot.DEFAULT_PERIOD, lambda: None)

subprojects/robotpy-commands-v2/tools/hids/first_ds_hids.json

@@ -231,7 +231,7 @@
   },
   {
     "ClassName": "GameCube",
-    "HIDType": "STANDARD",
+    "HIDType": "GAMECUBE",
     "axes": {
       "leftX": 0,
       "leftY": 1,
@@ -335,7 +335,7 @@
   },
   {
     "ClassName": "Steam",
-    "HIDType": "STANDARD",
+    "HIDType": "STEAM",
     "axes": {
       "leftX": 0,
       "leftY": 1,

subprojects/robotpy-cscore/pyproject.toml

@@ -44,7 +44,7 @@ version_file = "cscore/version.py"
 artifact_id = "cscore-cpp"
 group_id = "org.wpilib.cscore"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 staticlibs = ["cscore"]
 extract_to = "lib"
@@ -53,7 +53,7 @@ extract_to = "lib"
 artifact_id = "cameraserver-cpp"
 group_id = "org.wpilib.cameraserver"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 staticlibs = ["cameraserver"]
 extract_to = "lib"

subprojects/robotpy-halsim-ds-socket/pyproject.toml

@@ -30,7 +30,7 @@ version_file = "halsim_ds_socket/version.py"
 artifact_id = "halsim_ds_socket"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 use_headers = false
 
 extract_to = "halsim_ds_socket"

subprojects/robotpy-halsim-ws/pyproject.toml

@@ -35,7 +35,7 @@ version_file = "halsim_ws/version.py"
 artifact_id = "halsim_ws_server"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 use_headers = false
 
 extract_to = "halsim_ws/server"
@@ -45,7 +45,7 @@ libs = ["halsim_ws_server"]
 artifact_id = "halsim_ws_client"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 use_headers = false
 
 extract_to = "halsim_ws/client"

subprojects/robotpy-native-apriltag/pyproject.toml

@@ -27,7 +27,7 @@ packages = ["src/native"]
 artifact_id = "apriltag-cpp"
 group_id = "org.wpilib.apriltag"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/apriltag"
 libs = ["apriltag"]

subprojects/robotpy-native-datalog/pyproject.toml

@@ -26,7 +26,7 @@ packages = ["src/native"]
 artifact_id = "datalog-cpp"
 group_id = "org.wpilib.datalog"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/datalog"
 libs = ["datalog"]

subprojects/robotpy-native-halsim-gui/pyproject.toml

@@ -29,7 +29,7 @@ packages = ["src/native"]
 artifact_id = "halsim_gui"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 use_headers = true
 
 extract_to = "src/native/halsim_gui"

subprojects/robotpy-native-ntcore/pyproject.toml

@@ -29,7 +29,7 @@ packages = ["src/native"]
 artifact_id = "ntcore-cpp"
 group_id = "org.wpilib.ntcore"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/ntcore"
 libs = ["ntcore"]

subprojects/robotpy-native-romi/pyproject.toml

@@ -25,7 +25,7 @@ packages = ["src/native"]
 artifact_id = "romiVendordep-cpp"
 group_id = "org.wpilib.romiVendordep"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/romi"
 libs = ["romiVendordep"]

subprojects/robotpy-native-wpihal/pyproject.toml

@@ -27,7 +27,7 @@ packages = ["src/native"]
 artifact_id = "hal-cpp"
 group_id = "org.wpilib.hal"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/wpihal"
 libs = ["wpiHal"]

subprojects/robotpy-native-wpilib/pyproject.toml

@@ -33,7 +33,7 @@ packages = ["src/native"]
 artifact_id = "wpilibc-cpp"
 group_id = "org.wpilib.wpilibc"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/wpilib"
 libs = ["wpilibc"]

subprojects/robotpy-native-wpimath/pyproject.toml

@@ -25,7 +25,7 @@ packages = ["src/native"]
 artifact_id = "wpimath-cpp"
 group_id = "org.wpilib.wpimath"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/wpimath"
 libs = ["wpimath"]

subprojects/robotpy-native-wpinet/pyproject.toml

@@ -25,7 +25,7 @@ packages = ["src/native"]
 artifact_id = "wpinet-cpp"
 group_id = "org.wpilib.wpinet"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/wpinet"
 libs = ["wpinet"]

subprojects/robotpy-native-wpiutil/pyproject.toml

@@ -24,7 +24,7 @@ packages = ["src/native"]
 artifact_id = "wpiutil-cpp"
 group_id = "org.wpilib.wpiutil"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/wpiutil"
 libs = ["wpiutil"]

subprojects/robotpy-native-xrp/pyproject.toml

@@ -25,7 +25,7 @@ packages = ["src/native"]
 artifact_id = "xrpVendordep-cpp"
 group_id = "org.wpilib.xrpVendordep"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/xrp"
 libs = ["xrpVendordep"]

subprojects/robotpy-wpilib/pyproject.toml

@@ -124,6 +124,7 @@ POVDirection = "wpi/driverstation/POVDirection.hpp"
 RobotState = "wpi/driverstation/RobotState.hpp"
 TouchpadFinger = "wpi/driverstation/TouchpadFinger.hpp"
 Gamepad = "wpi/driverstation/Gamepad.hpp"
+DSGamepadChooser = "wpi/driverstation/DSGamepadChooser.hpp"
 GenericHID = "wpi/driverstation/GenericHID.hpp"
 HIDDevice = "wpi/driverstation/HIDDevice.hpp"
 Joystick = "wpi/driverstation/Joystick.hpp"

subprojects/robotpy-wpilib/semiwrap/DSGamepadChooser.yml

@@ -0,0 +1,48 @@
+extra_includes:
+- pybind11/stl.h
+- wpi/driverstation/Gamepad.hpp
+
+classes:
+  wpi::DSGamepadChooser:
+    methods:
+      DSGamepadChooser:
+        overloads:
+          int:
+          Gamepad&:
+            keepalive:
+            - [1, 2]
+      GetGamepad:
+        overloads:
+          "":
+            return_value_policy: reference_internal
+          '[const]':
+            ignore: true
+      AddOptions:
+        overloads:
+          std::string_view, std::vector<std::string>:
+            return_value_policy: reference_internal
+          std::string_view, std::initializer_list<std::string_view>:
+            ignore: true
+      AddIntegerOptions:
+        return_value_policy: reference_internal
+      AddDoubleOptions:
+        return_value_policy: reference_internal
+      Update:
+      GetSelected:
+      GetSelectedInteger:
+      GetSelectedDouble:
+      GetSelectedIndex:
+      GetSelectableNames:
+      GetSelectedSelectable:
+        overloads:
+          "":
+            return_value_policy: reference_internal
+          '[const]':
+            ignore: true
+
+  wpi::DSGamepadChooser::GamepadSelectable:
+    methods:
+      GetName:
+      GetOptions:
+      GetSelected:
+      GetSelectedIndex:

subprojects/robotpy-wpilib/semiwrap/ExpansionHubMotor.yml

@@ -7,8 +7,6 @@ classes:
       SetPositionSetpoint:
       SetVelocitySetpoint:
       SetEnabled:
-      SetFloatOn0:
-        rename: set_float_on_0
       GetCurrent:
       SetDistancePerCount:
       GetEncoderVelocity:
@@ -17,8 +15,10 @@ classes:
       ResetEncoder:
       IsHubConnected:
       Follow:
+      Unfollow:
       GetVelocityConstants:
       GetPositionConstants:
-      Unfollow:
+      SetNeutralMode:
     enums:
+      NeutralMode:
       FollowDirection:

subprojects/robotpy-wpilib/semiwrap/FieldObject2d.yml

@@ -1,6 +1,6 @@
 extra_includes:
 - wpi/math/trajectory/DifferentialTrajectory.hpp
-- wpi/math/trajectory/SplineTrajectory.hpp
+- wpi/math/trajectory/DrivetrainSplineTrajectory.hpp
 - wpi/math/trajectory/HolonomicTrajectory.hpp
 - wpi/math/trajectory/Trajectory.hpp
 
@@ -22,9 +22,9 @@ classes:
             ignore: true
       SetTrajectory:
         template_impls:
-        - [wpi::math::SplineSample]
         - [wpi::math::DifferentialSample]
-        - [wpi::math::TrajectorySample]
+        - [wpi::math::DrivetrainSplineSample]
+        - [wpi::math::HolonomicSample]
       GetPoses:
         overloads:
           '[const]':

subprojects/robotpy-wpilib/semiwrap/simulation/AddressableLEDSim.yml

@@ -37,7 +37,7 @@ classes:
         cpp_code: |
           [](wpi::sim::AddressableLEDSim &self, std::span<wpi::AddressableLED::LEDData> &data) {
             if (static_cast<int>(data.size()) != self.GetLength()) {
-               std::string msg = fmt::format("data must have length {} (got {})", self.GetLength(), data.size());
+               std::string msg = std::format("data must have length {} (got {})", self.GetLength(), data.size());
                throw py::value_error(msg);
             }
             self.SetData(data.data());