Update hal for 2027

Author: virtuald

subprojects/robotpy-hal/hal/src/ds_types_fmt.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#include <pybind11/pybind11.h>
+
+#include "hal/DriverStationTypes.h"
+
+namespace pybind11 {
+
+template <>
+struct format_descriptor<HAL_JoystickPOV> {
+    static constexpr const char c = 'B';
+    static constexpr const char value[2] = {c, '\0'};
+    static std::string format() { return std::string(1, c); }
+};
+
+}

subprojects/robotpy-hal/pyproject.toml

@@ -43,6 +43,9 @@ scan_headers_ignore = [
     "hal/DMA.h",
     "hal/Errors.h",
     "hal/HAL.h",
+    "hal/IMU.h",
+    "hal/IMUTypes.h",
+    "hal/SystemServer.h",
     "hal/UsageReporting.h",
     "hal/Types.h",
     "hal/Value.h",
@@ -58,6 +61,8 @@ scan_headers_ignore = [
     "hal/handles/LimitedHandleResource.h",
     "hal/handles/UnlimitedHandleResource.h",
 
+    "hal/proto/*",
+
     "hal/roborio/HMB.h",
     "hal/roborio/InterruptManager.h",
 
@@ -68,30 +73,28 @@ scan_headers_ignore = [
     "hal/simulation/SimCallbackRegistry.h",
     "hal/simulation/SimDataValue.h",
 
+    # TODO: might want this in the future
+    "mrc/*",
+
+    "src/ds_types_fmt.h",
     "sim_cb.h",
     "sim_value_cb.h",
 ]
 
 [tool.semiwrap.extension_modules."hal._wpiHal"]
 name = "wpihal"
 wraps = ["robotpy-native-wpihal"]
-depends = ["wpiutil"]
+depends = ["wpiutil", "ntcore"]
 
 [tool.semiwrap.extension_modules."hal._wpiHal".headers]
 # hal
-Accelerometer = "hal/Accelerometer.h"
 AddressableLED = "hal/AddressableLED.h"
 AddressableLEDTypes = "hal/AddressableLEDTypes.h"
-AnalogAccumulator = "hal/AnalogAccumulator.h"
-AnalogGyro = "hal/AnalogGyro.h"
 AnalogInput = "hal/AnalogInput.h"
-AnalogOutput = "hal/AnalogOutput.h"
-AnalogTrigger = "hal/AnalogTrigger.h"
 CAN = "hal/CAN.h"
 CANAPI = "hal/CANAPI.h"
 CANAPITypes = "hal/CANAPITypes.h"
 CTREPCM = "hal/CTREPCM.h"
-# ChipObject = "hal/ChipObject.h"
 Constants = "hal/Constants.h"
 Counter = "hal/Counter.h"
 DIO = "hal/DIO.h"
@@ -102,32 +105,26 @@ DutyCycle = "hal/DutyCycle.h"
 Encoder = "hal/Encoder.h"
 # Errors = "hal/Errors.h"
 Extensions = "hal/Extensions.h"
-FRCUsageReporting = "hal/FRCUsageReporting.h"
 # HAL = "hal/HAL.h"
 HALBase = "hal/HALBase.h"
 I2C = "hal/I2C.h"
 I2CTypes = "hal/I2CTypes.h"
-Interrupts = "hal/Interrupts.h"
-LEDs = "hal/LEDs.h"
+# IMU = "hal/IMU.h"
+# IMUTypes = "hal/IMUTypes.h"
 Main = "hal/Main.h"
 Notifier = "hal/Notifier.h"
 PWM = "hal/PWM.h"
 Ports = "hal/Ports.h"
 Power = "hal/Power.h"
 PowerDistribution = "hal/PowerDistribution.h"
 REVPH = "hal/REVPH.h"
-Relay = "hal/Relay.h"
-SPI = "hal/SPI.h"
-SPITypes = "hal/SPITypes.h"
 SerialPort = "hal/SerialPort.h"
 SimDevice = "hal/SimDevice.h"
 Threads = "hal/Threads.h"
 # Types = "hal/Types.h"
 # Value = "hal/Value.h"
 
 # hal/cpp
-SerialHelper = { header="hal/cpp/SerialHelper.h", enable_if="platform_machine == 'roborio'" }
-# UnsafeDIO = "hal/cpp/UnsafeDIO.h"
 # fpga_clock = "hal/cpp/fpga_clock.h"
 
 # hal/handles
@@ -139,24 +136,16 @@ HandlesInternal = "hal/handles/HandlesInternal.h"
 # LimitedHandleResource = "hal/handles/LimitedHandleResource.h"
 # UnlimitedHandleResource = "hal/handles/UnlimitedHandleResource.h"
 
-# hal/roborio
-# HMB = "hal/roborio/HMB.h"
-# InterruptManager = "hal/roborio/InterruptManager.h"
-
 
 [tool.semiwrap.extension_modules."hal.simulation._simulation"]
 name = "hal_simulation"
 wraps = ["robotpy-native-wpihal"]
-depends = ["wpiutil"]
+depends = ["wpiutil", "ntcore"]
 yaml_path = "semiwrap/simulation"
 
 [tool.semiwrap.extension_modules."hal.simulation._simulation".headers]
-AccelerometerData = "hal/simulation/AccelerometerData.h"
 AddressableLEDData = "hal/simulation/AddressableLEDData.h"
-AnalogGyroData = "hal/simulation/AnalogGyroData.h"
 AnalogInData = "hal/simulation/AnalogInData.h"
-AnalogOutData = "hal/simulation/AnalogOutData.h"
-AnalogTriggerData = "hal/simulation/AnalogTriggerData.h"
 CTREPCMData = "hal/simulation/CTREPCMData.h"
 # CanData = "hal/simulation/CanData.h"
 DIOData = "hal/simulation/DIOData.h"
@@ -171,11 +160,8 @@ NotifierData = "hal/simulation/NotifierData.h"
 PWMData = "hal/simulation/PWMData.h"
 PowerDistributionData = "hal/simulation/PowerDistributionData.h"
 REVPHData = "hal/simulation/REVPHData.h"
-RelayData = "hal/simulation/RelayData.h"
 Reset = "hal/simulation/Reset.h"
 RoboRioData = "hal/simulation/RoboRioData.h"
-SPIAccelerometerData = "hal/simulation/SPIAccelerometerData.h"
-# SPIData = "hal/simulation/SPIData.h"
 # SimCallbackRegistry = "hal/simulation/SimCallbackRegistry.h"
 # SimDataValue = "hal/simulation/SimDataValue.h"
 SimDeviceData = "hal/simulation/SimDeviceData.h"

subprojects/robotpy-hal/semiwrap/Accelerometer.yml

@@ -5,11 +5,7 @@ strip_prefixes:
 
 functions:
   HAL_CAN_SendMessage:
-    buffers:
-    - { type: IN, src: data, len: dataSize }
   HAL_CAN_ReceiveMessage:
-    buffers:
-    - { type: OUT, src: data, len: dataSize, minsz: 8 }
   HAL_CAN_OpenStreamSession:
   HAL_CAN_CloseStreamSession:
   HAL_CAN_ReadStreamSession:
@@ -18,7 +14,6 @@ functions:
 classes:
   HAL_CANStreamMessage:
     attributes:
-      messageID:
+      messageId:
       timeStamp:
-      data:
-      dataSize:
+      message:

subprojects/robotpy-hal/semiwrap/AnalogGyro.yml

@@ -8,19 +8,9 @@ functions:
   HAL_InitializeCAN:
   HAL_CleanCAN:
   HAL_WriteCANPacket:
-    buffers:
-    - { type: IN, src: data, len: length }
   HAL_WriteCANPacketRepeating:
-    buffers:
-    - { type: IN, src: data, len: length }
   HAL_WriteCANRTRFrame:
   HAL_StopCANPacketRepeating:
   HAL_ReadCANPacketNew:
-    buffers:
-    - { type: OUT, src: data, len: length, minsz: 8 }
   HAL_ReadCANPacketLatest:
-    buffers:
-    - { type: OUT, src: data, len: length, minsz: 8 }
   HAL_ReadCANPacketTimeout:
-    buffers:
-    - { type: OUT, src: data, len: length, minsz: 8 }

subprojects/robotpy-hal/semiwrap/AnalogOutput.yml

@@ -7,4 +7,14 @@ enums:
   HAL_CANDeviceType:
     value_prefix: HAL_CAN_Dev
   HAL_CANManufacturer:
-    value_prefix: HAL_CAN_Man
+    value_prefix: HAL_CAN_Man
+classes:
+  HAL_CANMessage:
+    attributes:
+      flags:
+      dataSize:
+      data:
+  HAL_CANReceiveMessage:
+    attributes:
+      timeStamp:
+      message:

subprojects/robotpy-hal/semiwrap/AnalogTrigger.yml

@@ -2,9 +2,14 @@
 strip_prefixes:
 - HAL_
 
+extra_includes:
+- src/ds_types_fmt.h
+
 enums:
   HAL_AllianceStationID:
     value_prefix: HAL_AllianceStationID
+  HAL_JoystickPOV:
+    value_prefix: HAL_JoystickPOV
   HAL_MatchType:
     value_prefix: HAL_kMatchType
 classes: