From fd0712808b13e757fa537e82fb42e969e9d7caab Mon Sep 17 00:00:00 2001 From: Dustin Spicuzza Date: Wed, 20 Nov 2024 23:51:08 -0500 Subject: [PATCH 1/6] Updated dependencies - build-system.requires: robotpy-build<2025.0.0b1,~=2025.0.0a4 - lib updated to 2025.1.1-beta-2 --- rdev.toml | 4 ++-- subprojects/pyntcore/pyproject.toml | 4 ++-- subprojects/robotpy-apriltag/pyproject.toml | 4 ++-- subprojects/robotpy-cscore/pyproject.toml | 6 +++--- subprojects/robotpy-hal/pyproject.toml | 4 ++-- subprojects/robotpy-halsim-ds-socket/pyproject.toml | 4 ++-- subprojects/robotpy-halsim-gui/pyproject.toml | 4 ++-- subprojects/robotpy-halsim-ws/pyproject.toml | 6 +++--- subprojects/robotpy-romi/pyproject.toml | 4 ++-- subprojects/robotpy-wpilib/pyproject.toml | 4 ++-- subprojects/robotpy-wpimath/pyproject.toml | 4 ++-- subprojects/robotpy-wpinet/pyproject.toml | 4 ++-- subprojects/robotpy-wpiutil/pyproject.toml | 4 ++-- subprojects/robotpy-xrp/pyproject.toml | 6 +++--- 14 files changed, 31 insertions(+), 31 deletions(-) diff --git a/rdev.toml b/rdev.toml index 34afa15ed..ff63601ad 100644 --- a/rdev.toml +++ b/rdev.toml @@ -5,7 +5,7 @@ [params] # wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/release" -wpilib_bin_version = "2025.1.1-beta-1" +wpilib_bin_version = "2025.1.1-beta-2" wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development" # Don't update these artifacts @@ -13,7 +13,7 @@ exclude_artifacts = [ "opencv-cpp" ] -robotpy_build_req = "<2025.0.0b1,~=2025.0.0a1" +robotpy_build_req = "<2025.0.0b1,~=2025.0.0a4" # # Subproject configuration diff --git a/subprojects/pyntcore/pyproject.toml b/subprojects/pyntcore/pyproject.toml index 8b1588955..b6aa92ad7 100644 --- a/subprojects/pyntcore/pyproject.toml +++ b/subprojects/pyntcore/pyproject.toml @@ -12,7 +12,7 @@ install_requires = [ [build-system] requires = [ - "robotpy-build<2025.0.0b1,~=2025.0.0a1", + "robotpy-build<2025.0.0b1,~=2025.0.0a4", "robotpy-wpiutil~=2025.0.0b1", "robotpy-wpinet~=2025.0.0b1", ] @@ -37,7 +37,7 @@ scan_headers_ignore = [ artifact_id = "ntcore-cpp" group_id = "edu.wpi.first.ntcore" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" libs = ["ntcore"] diff --git a/subprojects/robotpy-apriltag/pyproject.toml b/subprojects/robotpy-apriltag/pyproject.toml index 6441e4bfb..a51714e12 100644 --- a/subprojects/robotpy-apriltag/pyproject.toml +++ b/subprojects/robotpy-apriltag/pyproject.toml @@ -12,7 +12,7 @@ install_requires = [ [build-system] requires = [ - "robotpy-build<2025.0.0b1,~=2025.0.0a1", + "robotpy-build<2025.0.0b1,~=2025.0.0a4", "robotpy-wpiutil~=2025.0.0b1", "robotpy-wpimath~=2025.0.0b1", ] @@ -40,7 +40,7 @@ scan_headers_ignore = [ artifact_id = "apriltag-cpp" group_id = "edu.wpi.first.apriltag" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" libs = ["apriltag"] diff --git a/subprojects/robotpy-cscore/pyproject.toml b/subprojects/robotpy-cscore/pyproject.toml index 3202d34fe..73e9f1e07 100644 --- a/subprojects/robotpy-cscore/pyproject.toml +++ b/subprojects/robotpy-cscore/pyproject.toml @@ -13,7 +13,7 @@ install_requires = [ [build-system] requires = [ - "robotpy-build<2025.0.0b1,~=2025.0.0a1", + "robotpy-build<2025.0.0b1,~=2025.0.0a4", "robotpy-wpiutil~=2025.0.0b1", "robotpy-wpinet~=2025.0.0b1", "pyntcore~=2025.0.0b1", @@ -30,7 +30,7 @@ update_init = [ artifact_id = "cscore-cpp" group_id = "edu.wpi.first.cscore" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" libs = ["cscore"] @@ -38,7 +38,7 @@ libs = ["cscore"] artifact_id = "cameraserver-cpp" group_id = "edu.wpi.first.cameraserver" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" libs = ["cameraserver"] diff --git a/subprojects/robotpy-hal/pyproject.toml b/subprojects/robotpy-hal/pyproject.toml index 38103c401..bfe64745e 100644 --- a/subprojects/robotpy-hal/pyproject.toml +++ b/subprojects/robotpy-hal/pyproject.toml @@ -11,7 +11,7 @@ install_requires = [ [build-system] requires = [ - "robotpy-build<2025.0.0b1,~=2025.0.0a1", + "robotpy-build<2025.0.0b1,~=2025.0.0a4", "robotpy-wpiutil~=2025.0.0b1", ] @@ -53,7 +53,7 @@ artifact_id = "hal-cpp" group_id = "edu.wpi.first.hal" # repo_url = "https://frcmaven.wpi.edu/artifactory/release" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" libs = ["wpiHal"] diff --git a/subprojects/robotpy-halsim-ds-socket/pyproject.toml b/subprojects/robotpy-halsim-ds-socket/pyproject.toml index d72d39555..e47eea3bb 100644 --- a/subprojects/robotpy-halsim-ds-socket/pyproject.toml +++ b/subprojects/robotpy-halsim-ds-socket/pyproject.toml @@ -15,7 +15,7 @@ robotpysimext = ["ds-socket = halsim_ds_socket"] [build-system] requires = [ - "robotpy-build<2025.0.0b1,~=2025.0.0a1", + "robotpy-build<2025.0.0b1,~=2025.0.0a4", "robotpy-hal~=2025.0.0b1", "robotpy-wpinet~=2025.0.0b1", ] @@ -28,7 +28,7 @@ artifact_id = "halsim_ds_socket" group_id = "edu.wpi.first.halsim" # repo_url = "https://frcmaven.wpi.edu/artifactory/release" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" dlopenlibs = ["halsim_ds_socket"] diff --git a/subprojects/robotpy-halsim-gui/pyproject.toml b/subprojects/robotpy-halsim-gui/pyproject.toml index 28f5ed912..c428e9a0a 100644 --- a/subprojects/robotpy-halsim-gui/pyproject.toml +++ b/subprojects/robotpy-halsim-gui/pyproject.toml @@ -14,7 +14,7 @@ install_requires = [ [build-system] requires = [ - "robotpy-build<2025.0.0b1,~=2025.0.0a1", + "robotpy-build<2025.0.0b1,~=2025.0.0a4", "robotpy-wpiutil~=2025.0.0b1", "robotpy-wpimath~=2025.0.0b1", "robotpy-hal~=2025.0.0b1", @@ -30,7 +30,7 @@ artifact_id = "halsim_gui" group_id = "edu.wpi.first.halsim" # repo_url = "https://frcmaven.wpi.edu/artifactory/release" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" dlopenlibs = ["halsim_gui"] diff --git a/subprojects/robotpy-halsim-ws/pyproject.toml b/subprojects/robotpy-halsim-ws/pyproject.toml index 82632a82e..c450c623d 100644 --- a/subprojects/robotpy-halsim-ws/pyproject.toml +++ b/subprojects/robotpy-halsim-ws/pyproject.toml @@ -19,7 +19,7 @@ robotpysimext = [ [build-system] requires = [ - "robotpy-build<2025.0.0b1,~=2025.0.0a1", + "robotpy-build<2025.0.0b1,~=2025.0.0a4", "robotpy-hal~=2025.0.0b1", "robotpy-wpinet~=2025.0.0b1", ] @@ -32,7 +32,7 @@ artifact_id = "halsim_ws_server" group_id = "edu.wpi.first.halsim" # repo_url = "https://frcmaven.wpi.edu/artifactory/release" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" dlopenlibs = ["halsim_ws_server"] @@ -45,7 +45,7 @@ artifact_id = "halsim_ws_client" group_id = "edu.wpi.first.halsim" # repo_url = "https://frcmaven.wpi.edu/artifactory/release" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" dlopenlibs = ["halsim_ws_client"] diff --git a/subprojects/robotpy-romi/pyproject.toml b/subprojects/robotpy-romi/pyproject.toml index a4ef7935d..07418ca0f 100644 --- a/subprojects/robotpy-romi/pyproject.toml +++ b/subprojects/robotpy-romi/pyproject.toml @@ -11,7 +11,7 @@ install_requires = [ [build-system] requires = [ - "robotpy-build<2025.0.0b1,~=2025.0.0a1", + "robotpy-build<2025.0.0b1,~=2025.0.0a4", "wpilib~=2025.0.0b1" ] @@ -39,5 +39,5 @@ artifact_id = "romiVendordep-cpp" group_id = "edu.wpi.first.romiVendordep" # repo_url = "https://frcmaven.wpi.edu/artifactory/release" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" libs = ["romiVendordep"] diff --git a/subprojects/robotpy-wpilib/pyproject.toml b/subprojects/robotpy-wpilib/pyproject.toml index 9e1d5032c..62407c895 100644 --- a/subprojects/robotpy-wpilib/pyproject.toml +++ b/subprojects/robotpy-wpilib/pyproject.toml @@ -18,7 +18,7 @@ robotpy = ["run = wpilib._impl.start:Main"] [build-system] requires = [ - "robotpy-build<2025.0.0b1,~=2025.0.0a1", + "robotpy-build<2025.0.0b1,~=2025.0.0a4", "robotpy-wpiutil~=2025.0.0b1", "robotpy-wpimath~=2025.0.0b1", "robotpy-hal~=2025.0.0b1", @@ -69,7 +69,7 @@ scan_headers_ignore = [ artifact_id = "wpilibc-cpp" group_id = "edu.wpi.first.wpilibc" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" libs = ["wpilibc"] diff --git a/subprojects/robotpy-wpimath/pyproject.toml b/subprojects/robotpy-wpimath/pyproject.toml index 3fc7da9b1..854c6718b 100644 --- a/subprojects/robotpy-wpimath/pyproject.toml +++ b/subprojects/robotpy-wpimath/pyproject.toml @@ -11,7 +11,7 @@ install_requires = [ [build-system] requires = [ - "robotpy-build<2025.0.0b1,~=2025.0.0a1", + "robotpy-build<2025.0.0b1,~=2025.0.0a4", "robotpy-wpiutil~=2025.0.0b1", # "numpy", # broken in raspbian CI ] @@ -70,7 +70,7 @@ scan_headers_ignore = [ artifact_id = "wpimath-cpp" group_id = "edu.wpi.first.wpimath" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" libs = ["wpimath"] diff --git a/subprojects/robotpy-wpinet/pyproject.toml b/subprojects/robotpy-wpinet/pyproject.toml index a8bc5e342..965afe0d3 100644 --- a/subprojects/robotpy-wpinet/pyproject.toml +++ b/subprojects/robotpy-wpinet/pyproject.toml @@ -20,7 +20,7 @@ artifact_id = "wpinet-cpp" group_id = "edu.wpi.first.wpinet" # repo_url = "https://frcmaven.wpi.edu/artifactory/release" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" libs = ["wpinet"] @@ -41,6 +41,6 @@ install_requires = [ [build-system] requires = [ - "robotpy-build<2025.0.0b1,~=2025.0.0a1", + "robotpy-build<2025.0.0b1,~=2025.0.0a4", "robotpy-wpiutil~=2025.0.0b1", ] diff --git a/subprojects/robotpy-wpiutil/pyproject.toml b/subprojects/robotpy-wpiutil/pyproject.toml index 6a8eedf39..ce7856ee7 100644 --- a/subprojects/robotpy-wpiutil/pyproject.toml +++ b/subprojects/robotpy-wpiutil/pyproject.toml @@ -9,7 +9,7 @@ install_requires = [] [build-system] requires = [ - "robotpy-build<2025.0.0b1,~=2025.0.0a1", + "robotpy-build<2025.0.0b1,~=2025.0.0a4", ] [tool.robotpy-build] @@ -47,7 +47,7 @@ artifact_id = "wpiutil-cpp" group_id = "edu.wpi.first.wpiutil" repo_url = "https://frcmaven.wpi.edu/artifactory/development" # repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" libs = ["wpiutil"] diff --git a/subprojects/robotpy-xrp/pyproject.toml b/subprojects/robotpy-xrp/pyproject.toml index fb5b319da..26da8e491 100644 --- a/subprojects/robotpy-xrp/pyproject.toml +++ b/subprojects/robotpy-xrp/pyproject.toml @@ -16,7 +16,7 @@ robotpysimext = [ [build-system] requires = [ - "robotpy-build<2025.0.0b1,~=2025.0.0a1", + "robotpy-build<2025.0.0b1,~=2025.0.0a4", "wpilib~=2025.0.0b1" ] @@ -48,7 +48,7 @@ artifact_id = "xrpVendordep-cpp" group_id = "edu.wpi.first.xrpVendordep" # repo_url = "https://frcmaven.wpi.edu/artifactory/release" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" libs = ["xrpVendordep"] [tool.robotpy-build.wrappers."xrp.extension".maven_lib_download] @@ -56,7 +56,7 @@ artifact_id = "halsim_xrp" group_id = "edu.wpi.first.halsim" # repo_url = "https://frcmaven.wpi.edu/artifactory/release" repo_url = "https://frcmaven.wpi.edu/artifactory/development" -version = "2025.1.1-beta-1" +version = "2025.1.1-beta-2" dlopenlibs = ["halsim_xrp"] From 15ee3d71c1c84e3a07a00b1199de91292a256415 Mon Sep 17 00:00:00 2001 From: Dustin Spicuzza Date: Tue, 19 Nov 2024 23:39:54 -0500 Subject: [PATCH 2/6] Update robotpy-wpiutil for beta2 --- subprojects/robotpy-wpiutil/pyproject.toml | 4 ++ .../src/type_casters/wpi_string_map_caster.h | 56 +------------------ 2 files changed, 7 insertions(+), 53 deletions(-) diff --git a/subprojects/robotpy-wpiutil/pyproject.toml b/subprojects/robotpy-wpiutil/pyproject.toml index ce7856ee7..7faa8069a 100644 --- a/subprojects/robotpy-wpiutil/pyproject.toml +++ b/subprojects/robotpy-wpiutil/pyproject.toml @@ -25,6 +25,10 @@ scan_headers_ignore = [ "google/*", "wpi/*", "wpystruct_fns.h", + "pb.h", + "pb_common.h", + "pb_decode.h", + "pb_encode.h", ] [tool.robotpy-build.wrappers."wpiutil"] diff --git a/subprojects/robotpy-wpiutil/wpiutil/src/type_casters/wpi_string_map_caster.h b/subprojects/robotpy-wpiutil/wpiutil/src/type_casters/wpi_string_map_caster.h index c21078927..6ffc2eb72 100644 --- a/subprojects/robotpy-wpiutil/wpiutil/src/type_casters/wpi_string_map_caster.h +++ b/subprojects/robotpy-wpiutil/wpiutil/src/type_casters/wpi_string_map_caster.h @@ -2,6 +2,7 @@ #pragma once #include +#include #include @@ -10,60 +11,9 @@ namespace pybind11 namespace detail { - template -struct type_caster> { - using Type = wpi::StringMap; - using Key = std::string_view; - - using key_conv = make_caster; - using value_conv = make_caster; - - bool load(handle src, bool convert) { - if (!isinstance(src)) { - return false; - } - auto d = reinterpret_borrow(src); - value.clear(); - for (auto it : d) { - key_conv kconv; - value_conv vconv; - if (!kconv.load(it.first.ptr(), convert) || !vconv.load(it.second.ptr(), convert)) { - return false; - } - // this is different from pybind11/stl.h map_caster - value.try_emplace(cast_op(std::move(kconv)), cast_op(std::move(vconv))); - } - return true; - } - - template - static handle cast(T &&src, return_value_policy policy, handle parent) { - dict d; - return_value_policy policy_key = policy; - return_value_policy policy_value = policy; - if (!std::is_lvalue_reference::value) { - policy_key = return_value_policy_override::policy(policy_key); - policy_value = return_value_policy_override::policy(policy_value); - } - for (auto &&kv : src) { - // getKey/getValue is different from pybind11/stl.h map_caster - auto key = reinterpret_steal( - key_conv::cast(forward_like(kv.getKey()), policy_key, parent)); - auto value = reinterpret_steal( - value_conv::cast(forward_like(kv.getValue()), policy_value, parent)); - if (!key || !value) { - return handle(); - } - d[std::move(key)] = std::move(value); - } - return d.release(); - } - - PYBIND11_TYPE_CASTER(Type, - const_name("Dict[") + key_conv::name + const_name(", ") + value_conv::name - + const_name("]")); -}; +struct type_caster> + : map_caster, std::string, Value> { }; } // namespace detail } // namespace pybind11 \ No newline at end of file From f2f22d1f2b8279aa1c4d9ab1ff5c253873804a6c Mon Sep 17 00:00:00 2001 From: Dustin Spicuzza Date: Wed, 20 Nov 2024 01:21:46 -0500 Subject: [PATCH 3/6] Update robotpy-wpimath for beta2 --- subprojects/robotpy-wpimath/gen/MathUtil.yml | 4 +- .../gen/controls/ArmFeedforward.yml | 8 ++- .../DifferentialDrivePoseEstimator3d.yml | 17 +++++ .../gen/controls/ElevatorFeedforward.yml | 10 ++- .../gen/controls/HolonomicDriveController.yml | 6 ++ .../controls/MecanumDrivePoseEstimator3d.yml | 14 ++++ .../gen/controls/PoseEstimator3d.yml | 68 +++++++++++++++++++ .../gen/controls/SimpleMotorFeedforward.yml | 4 +- .../controls/SwerveDrivePoseEstimator3d.yml | 41 +++++++++++ .../gen/controls/TravelingSalesman.yml | 2 +- .../gen/geometry/Ellipse2d.yml | 4 +- .../robotpy-wpimath/gen/geometry/Pose2d.yml | 6 +- .../robotpy-wpimath/gen/geometry/Pose3d.yml | 7 +- .../gen/geometry/Quaternion.yml | 4 +- .../gen/geometry/Rectangle2d.yml | 4 +- .../gen/geometry/Rotation2d.yml | 6 +- .../gen/geometry/Rotation3d.yml | 3 +- .../gen/geometry/Transform2d.yml | 8 +-- .../gen/geometry/Transform3d.yml | 5 +- .../gen/geometry/Translation2d.yml | 6 +- .../gen/geometry/Translation3d.yml | 7 +- .../DifferentialDriveOdometry3d.yml | 9 +++ .../gen/kinematics/MecanumDriveKinematics.yml | 3 + .../gen/kinematics/MecanumDriveOdometry3d.yml | 7 ++ .../gen/kinematics/Odometry3d.yml | 55 +++++++++++++++ .../gen/kinematics/SwerveDriveOdometry3d.yml | 27 ++++++++ .../gen/kinematics/SwerveModuleState.yml | 1 + subprojects/robotpy-wpimath/pyproject.toml | 9 +++ 28 files changed, 310 insertions(+), 35 deletions(-) create mode 100644 subprojects/robotpy-wpimath/gen/controls/DifferentialDrivePoseEstimator3d.yml create mode 100644 subprojects/robotpy-wpimath/gen/controls/MecanumDrivePoseEstimator3d.yml create mode 100644 subprojects/robotpy-wpimath/gen/controls/PoseEstimator3d.yml create mode 100644 subprojects/robotpy-wpimath/gen/controls/SwerveDrivePoseEstimator3d.yml create mode 100644 subprojects/robotpy-wpimath/gen/kinematics/DifferentialDriveOdometry3d.yml create mode 100644 subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveOdometry3d.yml create mode 100644 subprojects/robotpy-wpimath/gen/kinematics/Odometry3d.yml create mode 100644 subprojects/robotpy-wpimath/gen/kinematics/SwerveDriveOdometry3d.yml diff --git a/subprojects/robotpy-wpimath/gen/MathUtil.yml b/subprojects/robotpy-wpimath/gen/MathUtil.yml index d22b180a6..4c23f8126 100644 --- a/subprojects/robotpy-wpimath/gen/MathUtil.yml +++ b/subprojects/robotpy-wpimath/gen/MathUtil.yml @@ -29,11 +29,11 @@ functions: - [double] IsNear: overloads: - T, T, T [constexpr]: + T, T, T: ignore: true template_impls: - [double] - T, T, T, T, T [constexpr]: + T, T, T, T, T: ignore: true template_impls: - [double] \ No newline at end of file diff --git a/subprojects/robotpy-wpimath/gen/controls/ArmFeedforward.yml b/subprojects/robotpy-wpimath/gen/controls/ArmFeedforward.yml index 9b8f9b270..059139e12 100644 --- a/subprojects/robotpy-wpimath/gen/controls/ArmFeedforward.yml +++ b/subprojects/robotpy-wpimath/gen/controls/ArmFeedforward.yml @@ -13,12 +13,16 @@ classes: methods: ArmFeedforward: overloads: - '[constexpr]': - units::volt_t, units::volt_t, units::unit_t, units::unit_t [constexpr]: + '': + units::volt_t, units::volt_t, units::unit_t, units::unit_t: Calculate: overloads: units::unit_t, units::unit_t, units::unit_t [const]: + ignore: true units::unit_t, units::unit_t, units::unit_t, units::second_t [const]: + ignore: true + units::unit_t, units::unit_t [const]: + units::unit_t, units::unit_t, units::unit_t [const]: MaxAchievableVelocity: MinAchievableVelocity: MaxAchievableAcceleration: diff --git a/subprojects/robotpy-wpimath/gen/controls/DifferentialDrivePoseEstimator3d.yml b/subprojects/robotpy-wpimath/gen/controls/DifferentialDrivePoseEstimator3d.yml new file mode 100644 index 000000000..9cba98539 --- /dev/null +++ b/subprojects/robotpy-wpimath/gen/controls/DifferentialDrivePoseEstimator3d.yml @@ -0,0 +1,17 @@ +--- + +classes: + DifferentialDrivePoseEstimator3d: + subpackage: estimator + force_no_trampoline: true + methods: + DifferentialDrivePoseEstimator3d: + overloads: + DifferentialDriveKinematics&, const Rotation3d&, units::meter_t, units::meter_t, const Pose3d&: + ? DifferentialDriveKinematics&, const Rotation3d&, units::meter_t, units::meter_t, + const Pose3d&, const wpi::array&, const wpi::array& + : + ResetPosition: + Update: + UpdateWithTime: diff --git a/subprojects/robotpy-wpimath/gen/controls/ElevatorFeedforward.yml b/subprojects/robotpy-wpimath/gen/controls/ElevatorFeedforward.yml index c9d6e6825..6e241fcb3 100644 --- a/subprojects/robotpy-wpimath/gen/controls/ElevatorFeedforward.yml +++ b/subprojects/robotpy-wpimath/gen/controls/ElevatorFeedforward.yml @@ -10,11 +10,17 @@ classes: ElevatorFeedforward: overloads: "": - units::volt_t, units::volt_t, units::unit_t, units::unit_t [constexpr]: + units::volt_t, units::volt_t, units::unit_t, units::unit_t: Calculate: overloads: - units::unit_t, units::unit_t [constexpr]: + units::unit_t, units::unit_t: + ignore: true + units::unit_t, units::unit_t [const]: + ignore: true units::unit_t, units::unit_t, units::second_t [const]: + ignore: true + units::unit_t [const]: + units::unit_t, units::unit_t [const]: MaxAchievableVelocity: MinAchievableVelocity: MaxAchievableAcceleration: diff --git a/subprojects/robotpy-wpimath/gen/controls/HolonomicDriveController.yml b/subprojects/robotpy-wpimath/gen/controls/HolonomicDriveController.yml index 28d0401af..7ffa25e59 100644 --- a/subprojects/robotpy-wpimath/gen/controls/HolonomicDriveController.yml +++ b/subprojects/robotpy-wpimath/gen/controls/HolonomicDriveController.yml @@ -13,5 +13,11 @@ classes: const Pose2d&, const Trajectory::State&, const Rotation2d&: SetEnabled: getThetaController: + ignore: true getXController: + ignore: true getYController: + ignore: true + GetXController: + GetYController: + GetThetaController: diff --git a/subprojects/robotpy-wpimath/gen/controls/MecanumDrivePoseEstimator3d.yml b/subprojects/robotpy-wpimath/gen/controls/MecanumDrivePoseEstimator3d.yml new file mode 100644 index 000000000..26a146099 --- /dev/null +++ b/subprojects/robotpy-wpimath/gen/controls/MecanumDrivePoseEstimator3d.yml @@ -0,0 +1,14 @@ +--- + +classes: + MecanumDrivePoseEstimator3d: + subpackage: estimator + force_no_trampoline: true + methods: + MecanumDrivePoseEstimator3d: + overloads: + MecanumDriveKinematics&, const Rotation3d&, const MecanumDriveWheelPositions&, const Pose3d&: + ? MecanumDriveKinematics&, const Rotation3d&, const MecanumDriveWheelPositions&, + const Pose3d&, const wpi::array&, const wpi::array& + : diff --git a/subprojects/robotpy-wpimath/gen/controls/PoseEstimator3d.yml b/subprojects/robotpy-wpimath/gen/controls/PoseEstimator3d.yml new file mode 100644 index 000000000..638382ac4 --- /dev/null +++ b/subprojects/robotpy-wpimath/gen/controls/PoseEstimator3d.yml @@ -0,0 +1,68 @@ +--- + +extra_includes: +- frc/kinematics/DifferentialDriveWheelPositions.h +- frc/kinematics/DifferentialDriveWheelSpeeds.h +- frc/kinematics/MecanumDriveWheelPositions.h +- frc/kinematics/MecanumDriveWheelSpeeds.h +- frc/kinematics/SwerveDriveKinematics.h + +classes: + PoseEstimator3d: + template_params: + - WheelSpeeds + - WheelPositions + methods: + PoseEstimator3d: + SetVisionMeasurementStdDevs: + ResetPosition: + ResetPose: + ResetTranslation: + ResetRotation: + GetEstimatedPosition: + SampleAt: + AddVisionMeasurement: + overloads: + const Pose3d&, units::second_t: + const Pose3d&, units::second_t, const wpi::array&: + Update: + UpdateWithTime: + + +templates: + DifferentialDrivePoseEstimator3dBase: + qualname: frc::PoseEstimator3d + subpackage: estimator + params: + - frc::DifferentialDriveWheelSpeeds + - frc::DifferentialDriveWheelPositions + MecanumDrivePoseEstimator3dBase: + qualname: frc::PoseEstimator3d + subpackage: estimator + params: + - frc::MecanumDriveWheelSpeeds + - frc::MecanumDriveWheelPositions + SwerveDrive2PoseEstimator3dBase: + qualname: frc::PoseEstimator3d + subpackage: estimator + params: + - wpi::array + - wpi::array + SwerveDrive3PoseEstimator3dBase: + qualname: frc::PoseEstimator3d + subpackage: estimator + params: + - wpi::array + - wpi::array + SwerveDrive4PoseEstimator3dBase: + qualname: frc::PoseEstimator3d + subpackage: estimator + params: + - wpi::array + - wpi::array + SwerveDrive6PoseEstimator3dBase: + qualname: frc::PoseEstimator3d + subpackage: estimator + params: + - wpi::array + - wpi::array diff --git a/subprojects/robotpy-wpimath/gen/controls/SimpleMotorFeedforward.yml b/subprojects/robotpy-wpimath/gen/controls/SimpleMotorFeedforward.yml index cc6498d2d..890198b7a 100644 --- a/subprojects/robotpy-wpimath/gen/controls/SimpleMotorFeedforward.yml +++ b/subprojects/robotpy-wpimath/gen/controls/SimpleMotorFeedforward.yml @@ -21,8 +21,8 @@ classes: methods: SimpleMotorFeedforward: overloads: - '[constexpr]': - units::volt_t, units::unit_t, units::unit_t [constexpr]: + '': + units::volt_t, units::unit_t, units::unit_t: Calculate: overloads: units::unit_t, units::unit_t [const]: diff --git a/subprojects/robotpy-wpimath/gen/controls/SwerveDrivePoseEstimator3d.yml b/subprojects/robotpy-wpimath/gen/controls/SwerveDrivePoseEstimator3d.yml new file mode 100644 index 000000000..1bfee11f8 --- /dev/null +++ b/subprojects/robotpy-wpimath/gen/controls/SwerveDrivePoseEstimator3d.yml @@ -0,0 +1,41 @@ +--- + +extra_includes: +- "frc/kinematics/SwerveModuleState.h" + +classes: + SwerveDrivePoseEstimator3d: + force_no_trampoline: true + template_params: + - size_t NumModules + methods: + SwerveDrivePoseEstimator3d: + overloads: + SwerveDriveKinematics&, const Rotation3d&, const wpi::array&, const Pose3d&: + ? SwerveDriveKinematics&, const Rotation3d&, const wpi::array&, const Pose3d&, const wpi::array&, const wpi::array& + : + + +templates: + SwerveDrive2PoseEstimator3d: + qualname: frc::SwerveDrivePoseEstimator3d + subpackage: estimator + params: + - 2 + SwerveDrive3PoseEstimator3d: + qualname: frc::SwerveDrivePoseEstimator3d + subpackage: estimator + params: + - 3 + SwerveDrive4PoseEstimator3d: + qualname: frc::SwerveDrivePoseEstimator3d + subpackage: estimator + params: + - 4 + SwerveDrive6PoseEstimator3d: + qualname: frc::SwerveDrivePoseEstimator3d + subpackage: estimator + params: + - 6 diff --git a/subprojects/robotpy-wpimath/gen/controls/TravelingSalesman.yml b/subprojects/robotpy-wpimath/gen/controls/TravelingSalesman.yml index 1a2e84d22..f50c9d031 100644 --- a/subprojects/robotpy-wpimath/gen/controls/TravelingSalesman.yml +++ b/subprojects/robotpy-wpimath/gen/controls/TravelingSalesman.yml @@ -6,7 +6,7 @@ classes: methods: TravelingSalesman: overloads: - '[constexpr]': + '': std::function: Solve: overloads: diff --git a/subprojects/robotpy-wpimath/gen/geometry/Ellipse2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Ellipse2d.yml index c417c1bc3..c612aef05 100644 --- a/subprojects/robotpy-wpimath/gen/geometry/Ellipse2d.yml +++ b/subprojects/robotpy-wpimath/gen/geometry/Ellipse2d.yml @@ -12,8 +12,8 @@ classes: methods: Ellipse2d: overloads: - const Pose2d&, units::meter_t, units::meter_t [constexpr]: - const Translation2d&, double [constexpr]: + const Pose2d&, units::meter_t, units::meter_t: + const Translation2d&, double: Center: Rotation: XSemiAxis: diff --git a/subprojects/robotpy-wpimath/gen/geometry/Pose2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Pose2d.yml index de5362142..af7374703 100644 --- a/subprojects/robotpy-wpimath/gen/geometry/Pose2d.yml +++ b/subprojects/robotpy-wpimath/gen/geometry/Pose2d.yml @@ -18,9 +18,9 @@ classes: methods: Pose2d: overloads: - '[constexpr]': - Translation2d, Rotation2d [constexpr]: - units::meter_t, units::meter_t, Rotation2d [constexpr]: + '': + Translation2d, Rotation2d: + units::meter_t, units::meter_t, Rotation2d: Translation: Rotation: RotateBy: diff --git a/subprojects/robotpy-wpimath/gen/geometry/Pose3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Pose3d.yml index f8f6a5c41..e79a566ca 100644 --- a/subprojects/robotpy-wpimath/gen/geometry/Pose3d.yml +++ b/subprojects/robotpy-wpimath/gen/geometry/Pose3d.yml @@ -8,13 +8,18 @@ functions: ignore: true from_json: ignore: true + RotationVectorToMatrix: + overloads: + const ct_vector3d&: + ignore: true + const Eigen::Vector3d&: classes: Pose3d: shared_ptr: false methods: Pose3d: overloads: - '[constexpr]': + '': Translation3d, Rotation3d: units::meter_t, units::meter_t, units::meter_t, Rotation3d: const Pose2d&: diff --git a/subprojects/robotpy-wpimath/gen/geometry/Quaternion.yml b/subprojects/robotpy-wpimath/gen/geometry/Quaternion.yml index 246282768..a38547804 100644 --- a/subprojects/robotpy-wpimath/gen/geometry/Quaternion.yml +++ b/subprojects/robotpy-wpimath/gen/geometry/Quaternion.yml @@ -14,13 +14,13 @@ classes: methods: Quaternion: overloads: - "": + '': double, double, double, double: operator+: operator-: operator*: overloads: - const double [const]: + double [const]: const Quaternion& [const]: operator/: operator==: diff --git a/subprojects/robotpy-wpimath/gen/geometry/Rectangle2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Rectangle2d.yml index 56bc9f93b..319767d7b 100644 --- a/subprojects/robotpy-wpimath/gen/geometry/Rectangle2d.yml +++ b/subprojects/robotpy-wpimath/gen/geometry/Rectangle2d.yml @@ -12,8 +12,8 @@ classes: methods: Rectangle2d: overloads: - const Pose2d&, units::meter_t, units::meter_t [constexpr]: - const Translation2d&, const Translation2d& [constexpr]: + const Pose2d&, units::meter_t, units::meter_t: + const Translation2d&, const Translation2d&: Center: Rotation: XWidth: diff --git a/subprojects/robotpy-wpimath/gen/geometry/Rotation2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Rotation2d.yml index 4b3be2fcc..d87a9bd8c 100644 --- a/subprojects/robotpy-wpimath/gen/geometry/Rotation2d.yml +++ b/subprojects/robotpy-wpimath/gen/geometry/Rotation2d.yml @@ -14,8 +14,8 @@ classes: methods: Rotation2d: overloads: - '[constexpr]': - auto [constexpr]: + '': + auto: doc: | Constructs a Rotation2d with the given radian value. :param value: The value of the angle in radians. @@ -24,7 +24,7 @@ classes: x_type: 'units::radian_t' template_impls: - ['units::radian_t'] - double, double [constexpr]: + double, double: RotateBy: Radians: Degrees: diff --git a/subprojects/robotpy-wpimath/gen/geometry/Rotation3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Rotation3d.yml index d363ba0ec..9d486652b 100644 --- a/subprojects/robotpy-wpimath/gen/geometry/Rotation3d.yml +++ b/subprojects/robotpy-wpimath/gen/geometry/Rotation3d.yml @@ -14,13 +14,14 @@ classes: methods: Rotation3d: overloads: - "": + '': const Quaternion&: units::radian_t, units::radian_t, units::radian_t: const Eigen::Vector3d&, units::radian_t: const Eigen::Vector3d&: const Eigen::Matrix3d&: const Eigen::Vector3d&, const Eigen::Vector3d&: + const Rotation2d&: operator+: operator-: overloads: diff --git a/subprojects/robotpy-wpimath/gen/geometry/Transform2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Transform2d.yml index 900f623b0..957d1f38d 100644 --- a/subprojects/robotpy-wpimath/gen/geometry/Transform2d.yml +++ b/subprojects/robotpy-wpimath/gen/geometry/Transform2d.yml @@ -15,10 +15,10 @@ classes: methods: Transform2d: overloads: - Pose2d, Pose2d: - Translation2d, Rotation2d [constexpr]: - units::meter_t, units::meter_t, Rotation2d [constexpr]: - '[constexpr]': + const Pose2d&, const Pose2d&: + Translation2d, Rotation2d: + units::meter_t, units::meter_t, Rotation2d: + '': Translation: Rotation: X: diff --git a/subprojects/robotpy-wpimath/gen/geometry/Transform3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Transform3d.yml index b96924812..0957a2371 100644 --- a/subprojects/robotpy-wpimath/gen/geometry/Transform3d.yml +++ b/subprojects/robotpy-wpimath/gen/geometry/Transform3d.yml @@ -14,10 +14,11 @@ classes: methods: Transform3d: overloads: - Pose3d, Pose3d: + const Pose3d&, const Pose3d&: Translation3d, Rotation3d: units::meter_t, units::meter_t, units::meter_t, Rotation3d: - '[constexpr]': + '': + const frc::Transform2d&: Translation: X: Y: diff --git a/subprojects/robotpy-wpimath/gen/geometry/Translation2d.yml b/subprojects/robotpy-wpimath/gen/geometry/Translation2d.yml index 106ae12a2..7a9202fb0 100644 --- a/subprojects/robotpy-wpimath/gen/geometry/Translation2d.yml +++ b/subprojects/robotpy-wpimath/gen/geometry/Translation2d.yml @@ -15,9 +15,9 @@ classes: methods: Translation2d: overloads: - '[constexpr]': - units::meter_t, units::meter_t [constexpr]: - units::meter_t, const Rotation2d& [constexpr]: + '': + units::meter_t, units::meter_t: + units::meter_t, const Rotation2d&: const Eigen::Vector2d&: Distance: X: diff --git a/subprojects/robotpy-wpimath/gen/geometry/Translation3d.yml b/subprojects/robotpy-wpimath/gen/geometry/Translation3d.yml index a60d71793..7f06cd92b 100644 --- a/subprojects/robotpy-wpimath/gen/geometry/Translation3d.yml +++ b/subprojects/robotpy-wpimath/gen/geometry/Translation3d.yml @@ -15,10 +15,11 @@ classes: methods: Translation3d: overloads: - '[constexpr]': - units::meter_t, units::meter_t, units::meter_t [constexpr]: - units::meter_t, const Rotation3d&: + '': + units::meter_t, units::meter_t, units::meter_t: + units::meter_t, const Rotation3d& : const Eigen::Vector3d&: + const Translation2d&: Distance: X: Y: diff --git a/subprojects/robotpy-wpimath/gen/kinematics/DifferentialDriveOdometry3d.yml b/subprojects/robotpy-wpimath/gen/kinematics/DifferentialDriveOdometry3d.yml new file mode 100644 index 000000000..21bad1db7 --- /dev/null +++ b/subprojects/robotpy-wpimath/gen/kinematics/DifferentialDriveOdometry3d.yml @@ -0,0 +1,9 @@ +--- + +classes: + DifferentialDriveOdometry3d: + force_no_trampoline: true + methods: + DifferentialDriveOdometry3d: + ResetPosition: + Update: diff --git a/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveKinematics.yml b/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveKinematics.yml index 01bdade48..d9d1fea52 100644 --- a/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveKinematics.yml +++ b/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveKinematics.yml @@ -34,6 +34,9 @@ classes: to directly assign the wheel speeds to variables:: fl, fr, bl, br = kinematics.toWheelSpeeds(chassisSpeeds) + overloads: + const ChassisSpeeds&, const Translation2d& [const]: + const ChassisSpeeds& [const]: ToChassisSpeeds: ToTwist2d: overloads: diff --git a/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveOdometry3d.yml b/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveOdometry3d.yml new file mode 100644 index 000000000..863413c8c --- /dev/null +++ b/subprojects/robotpy-wpimath/gen/kinematics/MecanumDriveOdometry3d.yml @@ -0,0 +1,7 @@ +--- + +classes: + MecanumDriveOdometry3d: + force_no_trampoline: true + methods: + MecanumDriveOdometry3d: diff --git a/subprojects/robotpy-wpimath/gen/kinematics/Odometry3d.yml b/subprojects/robotpy-wpimath/gen/kinematics/Odometry3d.yml new file mode 100644 index 000000000..9989815dd --- /dev/null +++ b/subprojects/robotpy-wpimath/gen/kinematics/Odometry3d.yml @@ -0,0 +1,55 @@ +--- + +extra_includes: +- frc/kinematics/DifferentialDriveWheelPositions.h +- frc/kinematics/DifferentialDriveWheelSpeeds.h +- frc/kinematics/MecanumDriveWheelPositions.h +- frc/kinematics/MecanumDriveWheelSpeeds.h +- frc/kinematics/SwerveDriveKinematics.h + +classes: + Odometry3d: + template_params: + - WheelSpeeds + - WheelPositions + methods: + Odometry3d: + ResetPosition: + ResetPose: + ResetTranslation: + ResetRotation: + GetPose: + Update: + + +templates: + DifferentialDriveOdometry3dBase: + qualname: frc::Odometry3d + params: + - frc::DifferentialDriveWheelSpeeds + - frc::DifferentialDriveWheelPositions + MecanumDriveOdometry3dBase: + qualname: frc::Odometry3d + params: + - frc::MecanumDriveWheelSpeeds + - frc::MecanumDriveWheelPositions + SwerveDrive2Odometry3dBase: + qualname: frc::Odometry3d + params: + - wpi::array + - wpi::array + SwerveDrive3Odometry3dBase: + qualname: frc::Odometry3d + params: + - wpi::array + - wpi::array + SwerveDrive4Odometry3dBase: + qualname: frc::Odometry3d + params: + - wpi::array + - wpi::array + SwerveDrive6Odometry3dBase: + qualname: frc::Odometry3d + params: + - wpi::array + - wpi::array diff --git a/subprojects/robotpy-wpimath/gen/kinematics/SwerveDriveOdometry3d.yml b/subprojects/robotpy-wpimath/gen/kinematics/SwerveDriveOdometry3d.yml new file mode 100644 index 000000000..cd6ca4796 --- /dev/null +++ b/subprojects/robotpy-wpimath/gen/kinematics/SwerveDriveOdometry3d.yml @@ -0,0 +1,27 @@ +--- + +classes: + SwerveDriveOdometry3d: + force_no_trampoline: true + template_params: + - size_t NumModules + methods: + SwerveDriveOdometry3d: + +templates: + SwerveDrive2Odometry3d: + qualname: frc::SwerveDriveOdometry3d + params: + - 2 + SwerveDrive3Odometry3d: + qualname: frc::SwerveDriveOdometry3d + params: + - 3 + SwerveDrive4Odometry3d: + qualname: frc::SwerveDriveOdometry3d + params: + - 4 + SwerveDrive6Odometry3d: + qualname: frc::SwerveDriveOdometry3d + params: + - 6 \ No newline at end of file diff --git a/subprojects/robotpy-wpimath/gen/kinematics/SwerveModuleState.yml b/subprojects/robotpy-wpimath/gen/kinematics/SwerveModuleState.yml index 0d5c07f73..4c91a3376 100644 --- a/subprojects/robotpy-wpimath/gen/kinematics/SwerveModuleState.yml +++ b/subprojects/robotpy-wpimath/gen/kinematics/SwerveModuleState.yml @@ -17,6 +17,7 @@ classes: const Rotation2d&: const SwerveModuleState&, const Rotation2d&: ignore: true + CosineScale: inline_code: | cls_SwerveModuleState diff --git a/subprojects/robotpy-wpimath/pyproject.toml b/subprojects/robotpy-wpimath/pyproject.toml index 854c6718b..d6c66bb12 100644 --- a/subprojects/robotpy-wpimath/pyproject.toml +++ b/subprojects/robotpy-wpimath/pyproject.toml @@ -25,6 +25,7 @@ update_init = [ scan_headers_ignore = [ + "frc/ct_matrix.h", "frc/DARE.h", "frc/EigenCore.h", "frc/StateSpaceUtil.h", @@ -1469,13 +1470,17 @@ SimpleMotorFeedforward = "frc/controller/SimpleMotorFeedforward.h" # frc/estimator # AngleStatistics = "frc/estimator/AngleStatistics.h" DifferentialDrivePoseEstimator = "frc/estimator/DifferentialDrivePoseEstimator.h" +DifferentialDrivePoseEstimator3d = "frc/estimator/DifferentialDrivePoseEstimator3d.h" ExtendedKalmanFilter = "frc/estimator/ExtendedKalmanFilter.h" KalmanFilter = "frc/estimator/KalmanFilter.h" # KalmanFilterLatencyCompensator = "frc/estimator/KalmanFilterLatencyCompensator.h" MecanumDrivePoseEstimator = "frc/estimator/MecanumDrivePoseEstimator.h" +MecanumDrivePoseEstimator3d = "frc/estimator/MecanumDrivePoseEstimator3d.h" # MerweScaledSigmaPoints = "frc/estimator/MerweScaledSigmaPoints.h" PoseEstimator = "frc/estimator/PoseEstimator.h" +PoseEstimator3d = "frc/estimator/PoseEstimator3d.h" SwerveDrivePoseEstimator = "frc/estimator/SwerveDrivePoseEstimator.h" +SwerveDrivePoseEstimator3d = "frc/estimator/SwerveDrivePoseEstimator3d.h" # UnscentedKalmanFilter = "frc/estimator/UnscentedKalmanFilter.h" # UnscentedTransform = "frc/estimator/UnscentedTransform.h" @@ -1581,17 +1586,21 @@ generation_data = "gen/kinematics" # frc/kinematics ChassisSpeeds = "frc/kinematics/ChassisSpeeds.h" DifferentialDriveKinematics = "frc/kinematics/DifferentialDriveKinematics.h" +DifferentialDriveOdometry3d = "frc/kinematics/DifferentialDriveOdometry3d.h" DifferentialDriveOdometry = "frc/kinematics/DifferentialDriveOdometry.h" DifferentialDriveWheelPositions = "frc/kinematics/DifferentialDriveWheelPositions.h" DifferentialDriveWheelSpeeds = "frc/kinematics/DifferentialDriveWheelSpeeds.h" Kinematics = "frc/kinematics/Kinematics.h" MecanumDriveKinematics = "frc/kinematics/MecanumDriveKinematics.h" MecanumDriveOdometry = "frc/kinematics/MecanumDriveOdometry.h" +MecanumDriveOdometry3d = "frc/kinematics/MecanumDriveOdometry3d.h" MecanumDriveWheelPositions = "frc/kinematics/MecanumDriveWheelPositions.h" MecanumDriveWheelSpeeds = "frc/kinematics/MecanumDriveWheelSpeeds.h" Odometry = "frc/kinematics/Odometry.h" +Odometry3d = "frc/kinematics/Odometry3d.h" SwerveDriveKinematics = "frc/kinematics/SwerveDriveKinematics.h" SwerveDriveOdometry = "frc/kinematics/SwerveDriveOdometry.h" +SwerveDriveOdometry3d = "frc/kinematics/SwerveDriveOdometry3d.h" SwerveModulePosition = "frc/kinematics/SwerveModulePosition.h" SwerveModuleState = "frc/kinematics/SwerveModuleState.h" From ed0161aa301bd563f88e95356eb4c068c20f488a Mon Sep 17 00:00:00 2001 From: Dustin Spicuzza Date: Wed, 20 Nov 2024 01:23:05 -0500 Subject: [PATCH 4/6] Updates --- subprojects/pyntcore/gen/NetworkTableValue.yml | 4 ++++ subprojects/robotpy-wpilib/gen/Color.yml | 8 ++++---- subprojects/robotpy-wpilib/gen/Color8Bit.yml | 8 ++++---- 3 files changed, 12 insertions(+), 8 deletions(-) diff --git a/subprojects/pyntcore/gen/NetworkTableValue.yml b/subprojects/pyntcore/gen/NetworkTableValue.yml index 11c1f912a..5d7c86b49 100644 --- a/subprojects/pyntcore/gen/NetworkTableValue.yml +++ b/subprojects/pyntcore/gen/NetworkTableValue.yml @@ -4,6 +4,10 @@ extra_includes: - networktables/NetworkTableType.h - src/py2value.h +functions: + Now: + ignore: true + classes: Value: methods: diff --git a/subprojects/robotpy-wpilib/gen/Color.yml b/subprojects/robotpy-wpilib/gen/Color.yml index cc03f5dea..499bebc5f 100644 --- a/subprojects/robotpy-wpilib/gen/Color.yml +++ b/subprojects/robotpy-wpilib/gen/Color.yml @@ -160,8 +160,8 @@ classes: methods: Color: overloads: - '[constexpr]': - double, double, double [constexpr]: + '': + double, double, double: param_override: r: name: red @@ -169,8 +169,8 @@ classes: name: green b: name: blue - int, int, int [constexpr]: - std::string_view [constexpr]: + int, int, int: + std::string_view: FromHSV: HexString: operator==: diff --git a/subprojects/robotpy-wpilib/gen/Color8Bit.yml b/subprojects/robotpy-wpilib/gen/Color8Bit.yml index ad3f97af0..87e770128 100644 --- a/subprojects/robotpy-wpilib/gen/Color8Bit.yml +++ b/subprojects/robotpy-wpilib/gen/Color8Bit.yml @@ -17,8 +17,8 @@ classes: methods: Color8Bit: overloads: - '[constexpr]': - int, int, int [constexpr]: + '': + int, int, int: param_override: r: name: red @@ -26,8 +26,8 @@ classes: name: green b: name: blue - const Color& [constexpr]: - std::string_view [constexpr]: + const Color&: + std::string_view: FromHexString: HexString: operator==: From 796a34502d6530aca36616b6628d594b6907814b Mon Sep 17 00:00:00 2001 From: Dustin Spicuzza Date: Wed, 20 Nov 2024 01:47:37 -0500 Subject: [PATCH 5/6] Add update_init to robotpy-wpimath --- subprojects/robotpy-wpimath/pyproject.toml | 12 +++++++++- .../robotpy-wpimath/wpimath/__init__.py | 6 ++++- .../wpimath/estimator/__init__.py | 24 +++++++++++++++++++ .../wpimath/geometry/__init__.py | 4 +++- .../wpimath/spline/__init__.py | 2 +- .../wpimath/trajectory/constraint/__init__.py | 2 +- 6 files changed, 45 insertions(+), 5 deletions(-) diff --git a/subprojects/robotpy-wpimath/pyproject.toml b/subprojects/robotpy-wpimath/pyproject.toml index d6c66bb12..eaabf1740 100644 --- a/subprojects/robotpy-wpimath/pyproject.toml +++ b/subprojects/robotpy-wpimath/pyproject.toml @@ -20,7 +20,17 @@ requires = [ base_package = "wpimath" update_init = [ - "wpimath" + "wpimath", + "wpimath.controller wpimath._controls._controls.controller", + "wpimath.estimator wpimath._controls._controls.estimator", + "wpimath.filter", + "wpimath.geometry", + "wpimath.optimization wpimath._controls._controls.optimization", + "wpimath.path wpimath._controls._controls.path", + "wpimath.spline", + "wpimath.system wpimath._controls._controls.system", + "wpimath.trajectory wpimath._controls._controls.trajectory", + "wpimath.trajectory.constraint wpimath._controls._controls.constraint", ] scan_headers_ignore = [ diff --git a/subprojects/robotpy-wpimath/wpimath/__init__.py b/subprojects/robotpy-wpimath/wpimath/__init__.py index 0bf7d9aa3..6f2b1878a 100644 --- a/subprojects/robotpy-wpimath/wpimath/__init__.py +++ b/subprojects/robotpy-wpimath/wpimath/__init__.py @@ -1,9 +1,11 @@ from . import _init_wpimath # noqa: F401 -# autogenerated by 'robotpy-build create-imports wpimath' +# autogenerated by 'robotpy-build create-imports wpimath wpimath._wpimath' from ._wpimath import ( angleModulus, applyDeadband, + floorDiv, + floorMod, inputModulus, objectToRobotPose, ) @@ -11,6 +13,8 @@ __all__ = [ "angleModulus", "applyDeadband", + "floorDiv", + "floorMod", "inputModulus", "objectToRobotPose", ] diff --git a/subprojects/robotpy-wpimath/wpimath/estimator/__init__.py b/subprojects/robotpy-wpimath/wpimath/estimator/__init__.py index b628bc9ba..8dd9e2fa4 100644 --- a/subprojects/robotpy-wpimath/wpimath/estimator/__init__.py +++ b/subprojects/robotpy-wpimath/wpimath/estimator/__init__.py @@ -1,6 +1,8 @@ # autogenerated by 'robotpy-build create-imports wpimath.estimator wpimath._controls._controls.estimator' from .._controls._controls.estimator import ( DifferentialDrivePoseEstimator, + DifferentialDrivePoseEstimator3d, + DifferentialDrivePoseEstimator3dBase, DifferentialDrivePoseEstimatorBase, ExtendedKalmanFilter_1_1_1, ExtendedKalmanFilter_2_1_1, @@ -10,19 +12,31 @@ KalmanFilter_2_2_2, KalmanFilter_3_2_3, MecanumDrivePoseEstimator, + MecanumDrivePoseEstimator3d, + MecanumDrivePoseEstimator3dBase, MecanumDrivePoseEstimatorBase, SwerveDrive2PoseEstimator, + SwerveDrive2PoseEstimator3d, + SwerveDrive2PoseEstimator3dBase, SwerveDrive2PoseEstimatorBase, SwerveDrive3PoseEstimator, + SwerveDrive3PoseEstimator3d, + SwerveDrive3PoseEstimator3dBase, SwerveDrive3PoseEstimatorBase, SwerveDrive4PoseEstimator, + SwerveDrive4PoseEstimator3d, + SwerveDrive4PoseEstimator3dBase, SwerveDrive4PoseEstimatorBase, SwerveDrive6PoseEstimator, + SwerveDrive6PoseEstimator3d, + SwerveDrive6PoseEstimator3dBase, SwerveDrive6PoseEstimatorBase, ) __all__ = [ "DifferentialDrivePoseEstimator", + "DifferentialDrivePoseEstimator3d", + "DifferentialDrivePoseEstimator3dBase", "DifferentialDrivePoseEstimatorBase", "ExtendedKalmanFilter_1_1_1", "ExtendedKalmanFilter_2_1_1", @@ -32,13 +46,23 @@ "KalmanFilter_2_2_2", "KalmanFilter_3_2_3", "MecanumDrivePoseEstimator", + "MecanumDrivePoseEstimator3d", + "MecanumDrivePoseEstimator3dBase", "MecanumDrivePoseEstimatorBase", "SwerveDrive2PoseEstimator", + "SwerveDrive2PoseEstimator3d", + "SwerveDrive2PoseEstimator3dBase", "SwerveDrive2PoseEstimatorBase", "SwerveDrive3PoseEstimator", + "SwerveDrive3PoseEstimator3d", + "SwerveDrive3PoseEstimator3dBase", "SwerveDrive3PoseEstimatorBase", "SwerveDrive4PoseEstimator", + "SwerveDrive4PoseEstimator3d", + "SwerveDrive4PoseEstimator3dBase", "SwerveDrive4PoseEstimatorBase", "SwerveDrive6PoseEstimator", + "SwerveDrive6PoseEstimator3d", + "SwerveDrive6PoseEstimator3dBase", "SwerveDrive6PoseEstimatorBase", ] diff --git a/subprojects/robotpy-wpimath/wpimath/geometry/__init__.py b/subprojects/robotpy-wpimath/wpimath/geometry/__init__.py index 02cfc4743..52d57b25e 100644 --- a/subprojects/robotpy-wpimath/wpimath/geometry/__init__.py +++ b/subprojects/robotpy-wpimath/wpimath/geometry/__init__.py @@ -1,6 +1,6 @@ from . import _init_geometry -# autogenerated by 'robotpy-build create-imports wpimath.geometry' +# autogenerated by 'robotpy-build create-imports wpimath.geometry wpimath.geometry._geometry' from ._geometry import ( CoordinateAxis, CoordinateSystem, @@ -17,6 +17,7 @@ Translation3d, Twist2d, Twist3d, + rotationVectorToMatrix, ) __all__ = [ @@ -35,4 +36,5 @@ "Translation3d", "Twist2d", "Twist3d", + "rotationVectorToMatrix", ] diff --git a/subprojects/robotpy-wpimath/wpimath/spline/__init__.py b/subprojects/robotpy-wpimath/wpimath/spline/__init__.py index 966ca843d..ce1642cae 100644 --- a/subprojects/robotpy-wpimath/wpimath/spline/__init__.py +++ b/subprojects/robotpy-wpimath/wpimath/spline/__init__.py @@ -1,6 +1,6 @@ from . import _init_spline -# autogenerated by 'robotpy-build create-imports wpimath.spline' +# autogenerated by 'robotpy-build create-imports wpimath.spline wpimath.spline._spline' from ._spline import ( CubicHermiteSpline, QuinticHermiteSpline, diff --git a/subprojects/robotpy-wpimath/wpimath/trajectory/constraint/__init__.py b/subprojects/robotpy-wpimath/wpimath/trajectory/constraint/__init__.py index 42142c535..aa7f14cbd 100644 --- a/subprojects/robotpy-wpimath/wpimath/trajectory/constraint/__init__.py +++ b/subprojects/robotpy-wpimath/wpimath/trajectory/constraint/__init__.py @@ -1,4 +1,4 @@ -# autogenerated by 'robotpy-build create-imports wpimath.trajectory.constraint wpimath.trajectory._trajectory.constraints' +# autogenerated by 'robotpy-build create-imports wpimath.trajectory.constraint wpimath._controls._controls.constraint' from ..._controls._controls.constraint import ( CentripetalAccelerationConstraint, DifferentialDriveKinematicsConstraint, From d1461b0340569dd190e7d71aae045ae8c7573caa Mon Sep 17 00:00:00 2001 From: Dustin Spicuzza Date: Wed, 20 Nov 2024 01:49:26 -0500 Subject: [PATCH 6/6] Update robotpy-wpilib for beta --- subprojects/robotpy-wpilib/gen/Alert.yml | 7 +++++++ subprojects/robotpy-wpilib/gen/RobotBase.yml | 3 +++ subprojects/robotpy-wpilib/gen/RobotController.yml | 2 ++ subprojects/robotpy-wpilib/gen/TimedRobot.yml | 2 +- subprojects/robotpy-wpilib/gen/Timer.yml | 2 ++ subprojects/robotpy-wpilib/gen/simulation/DCMotorSim.yml | 6 ++++++ subprojects/robotpy-wpilib/wpilib/__init__.py | 2 ++ 7 files changed, 23 insertions(+), 1 deletion(-) diff --git a/subprojects/robotpy-wpilib/gen/Alert.yml b/subprojects/robotpy-wpilib/gen/Alert.yml index 4909bfeb7..1abf25776 100644 --- a/subprojects/robotpy-wpilib/gen/Alert.yml +++ b/subprojects/robotpy-wpilib/gen/Alert.yml @@ -1,5 +1,9 @@ --- +functions: + format_as: + ignore: true + classes: Alert: enums: @@ -10,4 +14,7 @@ classes: std::string_view, AlertType: std::string_view, std::string_view, AlertType: Set: + Get: SetText: + GetText: + GetType: diff --git a/subprojects/robotpy-wpilib/gen/RobotBase.yml b/subprojects/robotpy-wpilib/gen/RobotBase.yml index 0d49877a9..309954bdf 100644 --- a/subprojects/robotpy-wpilib/gen/RobotBase.yml +++ b/subprojects/robotpy-wpilib/gen/RobotBase.yml @@ -23,6 +23,9 @@ classes: access: readonly m_threadId: ignore: true + connListenerHandle: + ignore: true + m_dashboardDetected: methods: IsEnabled: IsDisabled: diff --git a/subprojects/robotpy-wpilib/gen/RobotController.yml b/subprojects/robotpy-wpilib/gen/RobotController.yml index 6dfc62a5c..796c2f230 100644 --- a/subprojects/robotpy-wpilib/gen/RobotController.yml +++ b/subprojects/robotpy-wpilib/gen/RobotController.yml @@ -23,6 +23,8 @@ classes: GetSerialNumber: GetComments: GetTeamNumber: + SetTimeSource: + GetTime: GetFPGATime: GetUserButton: IsSysActive: diff --git a/subprojects/robotpy-wpilib/gen/TimedRobot.yml b/subprojects/robotpy-wpilib/gen/TimedRobot.yml index 67cd8eb70..c5ba71b56 100644 --- a/subprojects/robotpy-wpilib/gen/TimedRobot.yml +++ b/subprojects/robotpy-wpilib/gen/TimedRobot.yml @@ -8,7 +8,7 @@ classes: methods: StartCompetition: EndCompetition: - GetPeriod: + GetLoopStartTime: AddPeriodic: param_override: offset: diff --git a/subprojects/robotpy-wpilib/gen/Timer.yml b/subprojects/robotpy-wpilib/gen/Timer.yml index 1aed6871d..d01566bbf 100644 --- a/subprojects/robotpy-wpilib/gen/Timer.yml +++ b/subprojects/robotpy-wpilib/gen/Timer.yml @@ -20,3 +20,5 @@ classes: GetMatchTime: HasElapsed: AdvanceIfElapsed: + IsRunning: + GetTimestamp: diff --git a/subprojects/robotpy-wpilib/gen/simulation/DCMotorSim.yml b/subprojects/robotpy-wpilib/gen/simulation/DCMotorSim.yml index 90bfcb935..e2324b996 100644 --- a/subprojects/robotpy-wpilib/gen/simulation/DCMotorSim.yml +++ b/subprojects/robotpy-wpilib/gen/simulation/DCMotorSim.yml @@ -16,3 +16,9 @@ classes: GetAngularVelocity: GetCurrentDraw: SetInputVoltage: + GetAngularAcceleration: + GetTorque: + GetInputVoltage: + Gearbox: + Gearing: + J: diff --git a/subprojects/robotpy-wpilib/wpilib/__init__.py b/subprojects/robotpy-wpilib/wpilib/__init__.py index 42e8f3e71..9ee20f8d9 100644 --- a/subprojects/robotpy-wpilib/wpilib/__init__.py +++ b/subprojects/robotpy-wpilib/wpilib/__init__.py @@ -12,6 +12,7 @@ ADXL362, ADXRS450_Gyro, AddressableLED, + Alert, AnalogAccelerometer, AnalogEncoder, AnalogGyro, @@ -121,6 +122,7 @@ "ADXL362", "ADXRS450_Gyro", "AddressableLED", + "Alert", "AnalogAccelerometer", "AnalogEncoder", "AnalogGyro",