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Pull request overview

This PR appears to integrate the “Repulsor” planning system and supporting tooling into the 2026 robot codebase, including new flag management, field definitions/obstacles, simulation publishers, and an “offload” RPC framework.

Changes:

• Added Repulsor field planning primitives (field layouts, obstacles, helpers) and behaviour/flag management.
• Added Python simulation publishers/tools for NetworkTables + truth streaming and a 3D viewer.
• Added multi-module “offload” framework (API, annotation processor, client, server, tasks) and wired Gradle settings.

Reviewed changes

Copilot reviewed 128 out of 420 changed files in this pull request and generated 14 comments.

Show a summary per file

File	Description
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Flags/NetworkTableFlagManager.java	Adds a generic NT-backed flag manager implementation.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Flags/FlagManager.java	Introduces a base API for flag managers.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Flags/BehaviourFlagManager.java	Adds a BehaviourFlag-specific NT-backed flag manager.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Fields/Reefscape2025.java	Adds a 2025 field definition layout and obstacles.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Fields/FieldMapBuilder.java	Adds a builder for generating field map game elements.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Fields/FieldLayoutProvider.java	Adds an interface for supplying field layouts.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Fields/FieldDefinition.java	Adds a combined interface for layout/obstacles/heatmaps.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldTracker.java	Adds a convenience wrapper around FieldTrackerCore.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/RepulsorSample.java	Adds a sample wrapper for planner results to chassis speeds.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/Obstacles/VerticalObstacle.java	Adds a vertical wall obstacle implementation.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/Obstacles/TeardropObstacle.java	Adds a teardrop-shaped obstacle implementation.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/Obstacles/SnowmanObstacle.java	Adds a “snowman” obstacle implementation.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/Obstacles/PointObstacle.java	Adds a point obstacle implementation.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/Obstacles/HorizontalObstacle.java	Adds a horizontal wall obstacle implementation.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/Obstacles/GatedAttractorObstacle.java	Adds an attractor obstacle with a gating polygon and bypass behavior.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/Obstacles/DiagonalWallObstacle.java	Adds a diagonal wall obstacle implementation.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/Obstacles/CorridorCenterlineRail.java	Adds a rail force model to keep motion centered in a corridor.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/Obstacles/AttractorObstacle.java	Adds a basic attractor obstacle implementation.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/Obstacle.java	Adds an abstract obstacle base class and common geometry helpers.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/Helpers/FieldPlannerGeometry.java	Adds shared polygon/segment geometry helpers.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/FieldPlanner/Helpers/FieldPlannerForceModel.java	Adds force aggregation + sim arrow visualization.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Fallback.java	Adds fallback planner strategies (PID-based).
src/main/java/org/curtinfrc/frc2026/util/Repulsor/ExtraPathingHelpers/ExtraPathingRecording.java	Adds debug recording helpers for paths/obstacles.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/ExtraPathingHelpers/ExtraPathingObstacleUtil.java	Adds utility to classify pushable obstacle types.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/ExtraPathingHelpers/ExtraPathingMath.java	Adds geometry helpers for extra pathing.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/ExtraPathingHelpers/ExtraPathingCollision.java	Adds rectangle intersection sampling for collision checks.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/ExtraPathingHelpers/ExtraPathingBounceListener.java	Adds bounce detection based on recent goal history.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/ExtraPathing.java	Adds public façade for extra pathing helpers.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/DriverStation/RepulsorDriverStationBootstrap.java	Adds DS bootstrap to configure NT-based driver station.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/DriverStation/RepulsorDriverStation.java	Adds DS abstraction with lifecycle/instance management.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/DriverStation/DefaultNtRepulsorDriverStation.java	Implements defaults for NT DS schema/config.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/DriveRepulsor.java	Adds a SubsystemBase-derived drive contract for Repulsor integration.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/DeltaTime.java	Adds a clamped delta-time utility.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Constants.java	Adds Repulsor-specific constants and field selection.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Behaviours/TestBehaviour.java	Adds a test behaviour publishing shot speed/angle and driving planner output.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Behaviours/DefenceBehaviour.java	Adds a defence behaviour with speed capping.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Behaviours/BehaviourManager.java	Adds behaviour arbitration + scheduler integration.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Behaviours/BehaviourFlag.java	Adds behaviour mode flags enum.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Behaviours/BehaviourContext.java	Adds a context object passed to behaviours.
src/main/java/org/curtinfrc/frc2026/util/Repulsor/Behaviours/Behaviour.java	Adds behaviour base class contract.
src/main/java/org/curtinfrc/frc2026/subsystems/hoodedshooter/HoodedShooter.java	Gates motor-alert logic outside of SIM mode.
src/main/java/org/curtinfrc/frc2026/subsystems/hoodedshooter/HoodIOComp.java	Avoids motor status queries in SIM robot type.
src/main/java/org/curtinfrc/frc2026/drive/Drive.java	Integrates Drive with Repulsor DriveRepulsor and exposes omega PID/runVelocity.
src/main/java/org/curtinfrc/frc2026/Constants.java	Sets robotType + introduces robot/field dims constants.
src/main/deploy/gamepieces/fuel.yaml	Adds fuel gamepiece physical parameters.
src/main/deploy/example.txt	Removes placeholder deploy file.
src/main/deploy/ReactiveBypassConfig.yaml	Adds reactive bypass configuration parameters.
settings.gradle	Names root project and includes new offload subprojects.
run_generate.ps1	Adds a helper script to run the repulsor_sim generator.
repulsor_sim/types.py	Adds datatypes for sim objects/obstacles/cameras.
repulsor_sim/truth_socket.py	Adds TCP sender for truth object streaming.
repulsor_sim/publishers/repulsorvision.py	Adds NT publishing for RepulsorVision obstacles.
repulsor_sim/publishers/fieldvision_truth.py	Adds throttled NT publishing for ground-truth objects.
repulsor_sim/publishers/fieldvision.py	Adds throttled NT publishing for FieldVision objects/cameras/extrinsics.
repulsor_sim/providers/base.py	Adds base provider interface.
repulsor_sim/providers/ai_provider.py	Adds placeholder AI provider returning empty frame.
repulsor_sim/providers/init.py	Adds provider factory.
repulsor_sim/nt.py	Adds NT client wrapper and pose subscription.
repulsor_sim/main.py	Adds sim main loop wiring provider -> NT publishers + truth socket.
repulsor_sim/config.py	Adds config loading via env vars.
repulsor_3d_sim/test.py	Adds NT probing utility script.
repulsor_3d_sim/run.py	Adds entrypoint wrapper for 3D viewer.
repulsor_3d_sim/repulsor_3d_sim/truth_socket.py	Adds TCP receiver for truth stream in viewer.
repulsor_3d_sim/repulsor_3d_sim/render/glutil.py	Adds OpenGL helper utilities.
repulsor_3d_sim/repulsor_3d_sim/render/camera.py	Adds orbit camera matrices for viewer rendering.
repulsor_3d_sim/repulsor_3d_sim/render/init.py	Initializes render package.
repulsor_3d_sim/repulsor_3d_sim/model.py	Adds viewer model dataclasses.
repulsor_3d_sim/repulsor_3d_sim/config.py	Adds viewer configuration via env vars.
repulsor_3d_sim/repulsor_3d_sim/main.py	Adds viewer main entrypoint.
repulsor_3d_sim/repulsor_3d_sim/init.py	Initializes viewer package.
offload-tasks/build.gradle	Adds build packaging for offload tasks plugin JAR.
offload-server/src/main/java/.../OffloadServerMain.java	Adds offload server main entrypoint.
offload-server/src/main/java/.../OffloadServerConfig.java	Adds offload server config from environment.
offload-server/src/main/java/.../OffloadServer.java	Adds TCP offload server runtime and task dispatch.
offload-server/src/main/java/.../OffloadPluginLoader.java	Adds plugin loader for task function JARs.
offload-server/src/main/java/.../OffloadManifestLoader.java	Adds manifest loader and hashing.
offload-server/build.gradle	Adds server application module build config.
offload-processor/src/test/java/.../OffloadableProcessorGenerationTest.java	Adds processor fixture compilation tests.
offload-processor/src/test/java/.../OffloadIdGeneratorTest.java	Adds stability test for auto-id generation.
offload-processor/src/main/resources/...Processor	Registers annotation processor.
offload-processor/src/main/java/.../OffloadIdGenerator.java	Adds deterministic SHA-256 based task id generator.
offload-processor/build.gradle	Adds processor module build config.
offload-client/src/test/java/.../TcpOffloadClientRoundTripTest.java	Adds client/server protocol roundtrip test.
offload-client/src/main/java/.../TcpOffloadClient.java	Adds TCP offload client with probe/hello/queueing.
offload-client/src/main/java/.../OffloadHost.java	Adds host record.
offload-client/src/main/java/.../OffloadClientConfig.java	Adds client config with builder.
offload-client/build.gradle	Adds client module build config.
offload-api/src/main/java/.../Offloadable.java	Adds @Offloadable annotation.
offload-api/src/main/java/.../OffloadValueCodec.java	Adds adapter-based custom encoding/decoding support.
offload-api/src/main/java/.../OffloadRpc.java	Adds gateway and typed RPC helper.
offload-api/src/main/java/.../OffloadProtocol.java	Adds the binary framing protocol for offload RPC.
offload-api/src/main/java/.../OffloadManifest.java	Adds manifest model class.
offload-api/src/main/java/.../OffloadHelloResponse.java	Adds hello response model class.
offload-api/src/main/java/.../OffloadHash.java	Adds SHA-256 helper.
offload-api/src/main/java/.../OffloadGateway.java	Adds gateway interface.
offload-api/src/main/java/.../OffloadFunction.java	Adds server-side task function interface.
offload-api/src/main/java/.../OffloadError.java	Adds error model.
offload-api/src/main/java/.../OffloadCallException.java	Adds runtime exception for offload client failures.
offload-api/src/main/java/.../OffloadCached.java	Adds simple cache wrapper for offload results.
offload-api/src/main/java/.../OffloadBootstrap.java	Adds initializer hook for offload bootstrap.
offload-api/src/main/java/.../OffloadAdapterRegistrar.java	Adds SPI hook for codec adapter registration.
offload-api/src/main/java/.../CborSerde.java	Adds CBOR ObjectMapper serialization utilities.
offload-api/build.gradle	Adds offload API module dependencies and build config.
calibration.json	Adds camera calibration artifact data.
README.md	Documents licensing split and subprojects.
.vscode/settings.json	Adds VS Code Java/Python configuration for this repo.
.github/workflows/tests.yml	Adds Python CI workflow for vision tests + pyright.
.github/workflows/build.yml	Tweaks Gradle build invocation with a parameter.

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