Move robot base classes from opmode to framework

commandsv2/src/main/java/org/wpilib/command2/CommandScheduler.java

@@ -25,10 +25,10 @@
 import org.wpilib.command2.Command.InterruptionBehavior;
 import org.wpilib.driverstation.DriverStation;
 import org.wpilib.event.EventLoop;
+import org.wpilib.framework.RobotBase;
+import org.wpilib.framework.RobotState;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.hal.HAL;
-import org.wpilib.opmode.RobotBase;
-import org.wpilib.opmode.RobotState;
-import org.wpilib.opmode.TimedRobot;
 import org.wpilib.system.Watchdog;
 import org.wpilib.util.sendable.Sendable;
 import org.wpilib.util.sendable.SendableBuilder;

commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp

@@ -12,13 +12,13 @@
 
 #include "wpi/commands2/CommandPtr.hpp"
 #include "wpi/commands2/Subsystem.hpp"
+#include "wpi/framework/RobotBase.hpp"
+#include "wpi/framework/RobotState.hpp"
+#include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hal/HALBase.h"
 #include "wpi/hal/UsageReporting.h"
 #include "wpi/nt/IntegerArrayTopic.hpp"
 #include "wpi/nt/StringArrayTopic.hpp"
-#include "wpi/opmode/RobotBase.hpp"
-#include "wpi/opmode/RobotState.hpp"
-#include "wpi/opmode/TimedRobot.hpp"
 #include "wpi/util/DenseMap.hpp"
 #include "wpi/util/SmallVector.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"

commandsv3/src/main/java/org/wpilib/command3/Scheduler.java

@@ -25,7 +25,7 @@
 import org.wpilib.command3.button.CommandGenericHID;
 import org.wpilib.command3.proto.SchedulerProto;
 import org.wpilib.event.EventLoop;
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 import org.wpilib.system.RobotController;
 import org.wpilib.util.ErrorMessages;
 import org.wpilib.util.protobuf.ProtobufSerializable;

developerRobot/src/main/java/frc/robot/Main.java

@@ -4,7 +4,7 @@
 
 package frc.robot;
 
-import org.wpilib.opmode.RobotBase;
+import org.wpilib.framework.RobotBase;
 
 public final class Main {
   private Main() {}

developerRobot/src/main/java/frc/robot/Robot.java

@@ -4,7 +4,7 @@
 
 package frc.robot;
 
-import org.wpilib.opmode.TimedRobot;
+import org.wpilib.framework.TimedRobot;
 
 public class Robot extends TimedRobot {
   /**

developerRobot/src/main/native/cpp/Robot.cpp

@@ -2,7 +2,7 @@
 // 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.
 
-#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/framework/TimedRobot.hpp"
 
 class Robot : public wpi::TimedRobot {
  public:

epilogue-processor/src/main/java/org/wpilib/epilogue/processor/AnnotationProcessor.java

@@ -385,7 +385,7 @@ private void processEpilogue(
 
     // Used to check for a main robot class
     var robotBaseClass =
-        processingEnv.getElementUtils().getTypeElement("org.wpilib.opmode.TimedRobot").asType();
+        processingEnv.getElementUtils().getTypeElement("org.wpilib.framework.TimedRobot").asType();
 
     boolean validFields = validateFields(annotatedElements);
     boolean validMethods = validateMethods(annotatedElements);

epilogue-processor/src/main/java/org/wpilib/epilogue/processor/EpilogueGenerator.java

@@ -19,8 +19,8 @@
  * Generates the {@code Epilogue} file used as the main entry point to logging with Epilogue in a
  * robot program. {@code Epilogue} has instances of every generated logger class, a {@link
  * EpilogueConfiguration config} object, and (if the main robot class inherits from {@link
- * org.wpilib.opmode.TimedRobot TimedRobot}) a {@code bind()} method to automatically add a periodic
- * logging call to the robot.
+ * org.wpilib.framework.TimedRobot TimedRobot}) a {@code bind()} method to automatically add a
+ * periodic logging call to the robot.
  */
 public class EpilogueGenerator {
   private final ProcessingEnvironment m_processingEnv;

epilogue-processor/src/test/java/org/wpilib/epilogue/processor/EpilogueGeneratorTest.java

@@ -74,7 +74,7 @@ void robotBase() {
           package org.wpilib.epilogue;
 
           @Logged
-          class Example extends org.wpilib.opmode.RobotBase {
+          class Example extends org.wpilib.framework.RobotBase {
             @Override
             public void startCompetition() {}
             @Override
@@ -128,7 +128,7 @@ void timedRobot() {
           package org.wpilib.epilogue;
 
           @Logged
-          class Example extends org.wpilib.opmode.TimedRobot {
+          class Example extends org.wpilib.framework.TimedRobot {
           }
           """;
 
@@ -210,10 +210,10 @@ void multipleRobots() {
           package org.wpilib.epilogue;
 
           @Logged
-          class AlphaBot extends org.wpilib.opmode.TimedRobot { }
+          class AlphaBot extends org.wpilib.framework.TimedRobot { }
 
           @Logged
-          class BetaBot extends org.wpilib.opmode.TimedRobot { }
+          class BetaBot extends org.wpilib.framework.TimedRobot { }
           """;
 
     String expected =

wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp

@@ -11,13 +11,13 @@
 
 #include <fmt/format.h>
 
+#include "wpi/framework/RobotBase.hpp"
 #include "wpi/hal/Ports.h"
 #include "wpi/hal/REVPH.h"
 #include "wpi/hal/UsageReporting.h"
 #include "wpi/hardware/pneumatic/Compressor.hpp"
 #include "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
 #include "wpi/hardware/pneumatic/Solenoid.hpp"
-#include "wpi/opmode/RobotBase.hpp"
 #include "wpi/system/Errors.hpp"
 #include "wpi/util/NullDeleter.hpp"
 #include "wpi/util/SensorUtil.hpp"

wpilibc/src/main/native/cpp/opmode/IterativeRobotBase.cpp

@@ -2,7 +2,7 @@
 // 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.
 
-#include "wpi/opmode/IterativeRobotBase.hpp"
+#include "wpi/framework/IterativeRobotBase.hpp"
 
 #include "wpi/driverstation/DSControlWord.hpp"
 #include "wpi/driverstation/DriverStation.hpp"

wpilibc/src/main/native/cpp/opmode/RobotState.cpp

@@ -2,7 +2,7 @@
 // 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.
 
-#include "wpi/opmode/RobotState.hpp"
+#include "wpi/framework/RobotState.hpp"
 
 #include "wpi/driverstation/DriverStation.hpp"
 

wpilibc/src/main/native/cpp/opmode/TimedRobot.cpp

@@ -2,7 +2,7 @@
 // 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.
 
-#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/framework/TimedRobot.hpp"
 
 #include <stdint.h>
 

wpilibc/src/main/native/cpp/opmode/TimesliceRobot.cpp

@@ -2,7 +2,7 @@
 // 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.
 
-#include "wpi/opmode/TimesliceRobot.hpp"
+#include "wpi/framework/TimesliceRobot.hpp"
 
 #include "wpi/system/Errors.hpp"
 

wpilibc/src/main/native/cpp/system/DataLogManager.cpp

@@ -16,9 +16,9 @@
 #include "wpi/datalog/DataLogBackgroundWriter.hpp"
 #include "wpi/datalog/FileLogger.hpp"
 #include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/framework/RobotBase.hpp"
 #include "wpi/hal/UsageReporting.h"
 #include "wpi/nt/NetworkTableInstance.hpp"
-#include "wpi/opmode/RobotBase.hpp"
 #include "wpi/system/Errors.hpp"
 #include "wpi/system/Filesystem.hpp"
 #include "wpi/system/RobotController.hpp"

wpilibc/src/main/native/cpp/system/Filesystem.cpp

@@ -6,7 +6,7 @@
 
 #include <string>
 
-#include "wpi/opmode/RobotBase.hpp"
+#include "wpi/framework/RobotBase.hpp"
 #include "wpi/util/fs.hpp"
 
 std::string wpi::filesystem::GetLaunchDirectory() {

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -2,7 +2,7 @@
 // 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.
 
-#include "wpi/opmode/RobotBase.hpp"
+#include "wpi/framework/RobotBase.hpp"
 
 #ifdef __FRC_SYSTEMCORE__
 #include <dlfcn.h>

wpilibc/src/main/native/include/wpi/opmode/IterativeRobotBase.hpp → wpilibc/src/main/native/include/wpi/framework/IterativeRobotBase.hpp

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "wpi/opmode/RobotBase.hpp"
+#include "wpi/framework/RobotBase.hpp"
 #include "wpi/system/Watchdog.hpp"
 #include "wpi/units/time.hpp"
 

wpilibc/src/main/native/include/wpi/opmode/TimedRobot.hpp → wpilibc/src/main/native/include/wpi/framework/TimedRobot.hpp

@@ -9,9 +9,9 @@
 #include <utility>
 #include <vector>
 
+#include "wpi/framework/IterativeRobotBase.hpp"
 #include "wpi/hal/Notifier.h"
 #include "wpi/hal/Types.h"
-#include "wpi/opmode/IterativeRobotBase.hpp"
 #include "wpi/system/RobotController.hpp"
 #include "wpi/units/frequency.hpp"
 #include "wpi/units/math.hpp"

wpilibc/src/main/native/include/wpi/opmode/TimesliceRobot.hpp → wpilibc/src/main/native/include/wpi/framework/TimesliceRobot.hpp

@@ -6,7 +6,7 @@
 
 #include <functional>
 
-#include "wpi/opmode/TimedRobot.hpp"
+#include "wpi/framework/TimedRobot.hpp"
 #include "wpi/units/time.hpp"
 
 namespace wpi {

wpilibc/src/main/native/include/wpi/simulation/SendableChooserSim.hpp

@@ -6,9 +6,9 @@
 
 #include <string_view>
 
+#include "wpi/framework/RobotBase.hpp"
 #include "wpi/nt/NetworkTableInstance.hpp"
 #include "wpi/nt/StringTopic.hpp"
-#include "wpi/opmode/RobotBase.hpp"
 
 namespace wpi::sim {
 

wpilibc/src/main/python/pyproject.toml

@@ -119,7 +119,7 @@ ExpansionHubServo = "wpi/ExpansionHubServo.hpp"
 Filesystem = "rpy/Filesystem.h"
 Gamepad = "wpi/driverstation/Gamepad.hpp"
 I2C = "wpi/hardware/bus/I2C.hpp"
-IterativeRobotBase = "wpi/opmode/IterativeRobotBase.hpp"
+IterativeRobotBase = "wpi/framework/IterativeRobotBase.hpp"
 Joystick = "wpi/driverstation/Joystick.hpp"
 LEDPattern = "wpi/hardware/led/LEDPattern.hpp"
 MotorSafety = "wpi/hardware/motor/MotorSafety.hpp"
@@ -134,9 +134,9 @@ PneumaticsControlModule = "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
 PneumaticsModuleType = "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
 PowerDistribution = "wpi/hardware/power/PowerDistribution.hpp"
 Preferences = "wpi/util/Preferences.hpp"
-RobotBase = "wpi/opmode/RobotBase.hpp"
+RobotBase = "wpi/framework/RobotBase.hpp"
 RobotController = "wpi/system/RobotController.hpp"
-RobotState = "wpi/opmode/RobotState.hpp"
+RobotState = "wpi/framework/RobotState.hpp"
 RuntimeType = "wpi/system/RuntimeType.hpp"
 SensorUtil = "wpi/util/SensorUtil.hpp"
 SerialPort = "wpi/hardware/bus/SerialPort.hpp"
@@ -145,9 +145,9 @@ Solenoid = "wpi/hardware/pneumatic/Solenoid.hpp"
 StadiaController = "wpi/driverstation/StadiaController.hpp"
 SystemServer = "wpi/system/SystemServer.hpp"
 Threads = "wpi/system/Threads.hpp"
-TimedRobot = "wpi/opmode/TimedRobot.hpp"
+TimedRobot = "wpi/framework/TimedRobot.hpp"
 Timer = "wpi/system/Timer.hpp"
-TimesliceRobot = "wpi/opmode/TimesliceRobot.hpp"
+TimesliceRobot = "wpi/framework/TimesliceRobot.hpp"
 Tracer = "wpi/system/Tracer.hpp"
 Watchdog = "wpi/system/Watchdog.hpp"
 XboxController = "wpi/driverstation/XboxController.hpp"

wpilibc/src/test/native/cpp/TimedRobotTest.cpp

@@ -2,7 +2,7 @@
 // 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.
 
-#include "wpi/opmode/TimedRobot.hpp"  // NOLINT(build/include_order)
+#include "wpi/framework/TimedRobot.hpp"  // NOLINT(build/include_order)
 
 #include <stdint.h>
 

wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp

@@ -2,7 +2,7 @@
 // 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.
 
-#include "wpi/opmode/TimesliceRobot.hpp"  // NOLINT(build/include_order)
+#include "wpi/framework/TimesliceRobot.hpp"  // NOLINT(build/include_order)
 
 #include <stdint.h>
 

wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp

@@ -10,7 +10,7 @@
 #include "callback_helpers/TestCallbackHelpers.hpp"
 #include "wpi/driverstation/DriverStation.hpp"
 #include "wpi/driverstation/Joystick.hpp"
-#include "wpi/opmode/RobotState.hpp"
+#include "wpi/framework/RobotState.hpp"
 #include "wpi/simulation/DriverStationSim.hpp"
 #include "wpi/simulation/SimHooks.hpp"
 

wpilibcExamples/src/main/cpp/examples/AddressableLED/include/Robot.hpp

@@ -6,9 +6,9 @@
 
 #include <array>
 
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/led/AddressableLED.hpp>
 #include <wpi/hardware/led/LEDPattern.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 
 class Robot : public wpi::TimedRobot {
  public:

wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp

@@ -16,10 +16,10 @@
 #include <wpi/apriltag/AprilTagDetector.hpp>
 #include <wpi/apriltag/AprilTagPoseEstimator.hpp>
 #include <wpi/cameraserver/CameraServer.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/math/geometry/Transform3d.hpp>
 #include <wpi/nt/IntegerArrayTopic.hpp>
 #include <wpi/nt/NetworkTableInstance.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/units/angle.hpp>
 #include <wpi/units/length.hpp>
 

wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp

@@ -4,8 +4,8 @@
 
 #include <wpi/drive/DifferentialDrive.hpp>
 #include <wpi/driverstation/Joystick.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class.

wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp

@@ -4,8 +4,8 @@
 
 #include <wpi/drive/DifferentialDrive.hpp>
 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/motor/PWMSparkMax.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 
 /**
  * This is a demo program showing the use of the DifferentialDrive class.

wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/Robot.hpp

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <wpi/driverstation/Joystick.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 
 #include "subsystems/Arm.hpp"
 

wpilibcExamples/src/main/cpp/examples/CANPDP/cpp/Robot.cpp

@@ -2,8 +2,8 @@
 // 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.
 
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/power/PowerDistribution.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 #include <wpi/smartdashboard/SmartDashboard.hpp>
 
 /**

wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp

@@ -3,8 +3,8 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/math/filter/SlewRateLimiter.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 
 #include "Drivetrain.hpp"
 

wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Robot.cpp

@@ -3,8 +3,8 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <wpi/driverstation/XboxController.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/math/filter/SlewRateLimiter.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 
 #include "Drivetrain.hpp"
 

wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.hpp

@@ -6,8 +6,8 @@
 
 #include <array>
 
+#include <wpi/framework/TimedRobot.hpp>
 #include <wpi/hardware/discrete/DigitalOutput.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
 
 /**
  * This is a sample program demonstrating how to communicate to a light

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.hpp

@@ -7,7 +7,7 @@
 #include <optional>
 
 #include <wpi/commands2/Command.hpp>
-#include <wpi/opmode/TimedRobot.hpp>
+#include <wpi/framework/TimedRobot.hpp>
 
 #include "RobotContainer.hpp"