[copybara] Pull updates from allwpilib

rdev.toml

@@ -22,8 +22,8 @@ wrapper = "2027.0.0a3"
 
 [params]
 
-wpilib_bin_version = "2027.0.0-alpha-3"
-wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
+wpilib_bin_version = "2027.0.0-alpha-3-26-g8cfc158"
+wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 # wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 
 # Don't update these maven artifacts

subprojects/pyntcore/README.md

@@ -1,4 +1,4 @@
 pyntcore
 ========
 
-Python pybind11 wrappers around the C++ ntcore library.
+Python pybind11 wrappers around the C++ ntcore library.

subprojects/robotpy-cscore/pyproject.toml

@@ -43,17 +43,17 @@ version_file = "cscore/version.py"
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "cscore-cpp"
 group_id = "edu.wpi.first.cscore"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 
 staticlibs = ["cscore"]
 extract_to = "lib"
 
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "cameraserver-cpp"
 group_id = "edu.wpi.first.cameraserver"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 
 staticlibs = ["cameraserver"]
 extract_to = "lib"

subprojects/robotpy-hal/README.md

@@ -4,4 +4,4 @@ robotpy-hal
 Python wrappers around the WPILib HAL.
 
 API Documentation can be found at
-https://robotpy.readthedocs.io/projects/hal/en/latest
+https://robotpy.readthedocs.io/projects/hal/en/latest

subprojects/robotpy-hal/semiwrap/DriverStation.yml

@@ -26,7 +26,6 @@ functions:
         WPI_FreeString(&name);
         return sname;
       }
-  HAL_GetJoystickAxisType:
   HAL_SetJoystickOutputs:
   HAL_GetMatchTime:
   HAL_GetOutputsEnabled:

subprojects/robotpy-hal/semiwrap/DriverStationTypes.yml

@@ -21,27 +21,24 @@ classes:
       fmsAttached:
       dsAttached:
       control_reserved:
+      watchdogEnabled:
   HAL_JoystickAxes:
     attributes:
-      count:
       axes:
       raw:
+      available:
   HAL_JoystickPOVs:
     attributes:
-      count:
       povs:
+      available:
   HAL_JoystickButtons:
     attributes:
       buttons:
-      count:
+      available:
   HAL_JoystickDescriptor:
     attributes:
       type:
       name:
-      axisCount:
-      axisTypes:
-      buttonCount:
-      povCount:
       isGamepad:
   HAL_MatchInfo:
     attributes:

subprojects/robotpy-hal/semiwrap/simulation/DriverStationData.yml

@@ -77,18 +77,13 @@ functions:
   HALSIM_SetJoystickAxis:
   HALSIM_SetJoystickPOV:
   HALSIM_SetJoystickButtonsValue:
-  HALSIM_SetJoystickAxisCount:
-  HALSIM_SetJoystickPOVCount:
-  HALSIM_SetJoystickButtonCount:
-  HALSIM_GetJoystickCounts:
   HALSIM_SetJoystickType:
   HALSIM_SetJoystickName:
     cpp_code: |
       [](int32_t stick, std::string_view sv) {
         auto s = wpi::make_string(sv);
         HALSIM_SetJoystickName(stick, &s);
       }
-  HALSIM_SetJoystickAxisType:
   HALSIM_SetGameSpecificMessage:
     cpp_code: |
       [](std::string_view sv) {
@@ -111,3 +106,7 @@ functions:
   HALSIM_CancelDriverStationNewDataCallback:
   HALSIM_NotifyDriverStationNewData:
   HALSIM_SetJoystickIsGamepad:
+  HALSIM_SetJoystickAxesAvailable:
+  HALSIM_SetJoystickPOVsAvailable:
+  HALSIM_SetJoystickButtonsAvailable:
+  HALSIM_GetJoystickAvailables:

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

@@ -28,8 +28,8 @@ version_file = "halsim_ds_socket/version.py"
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "halsim_ds_socket"
 group_id = "edu.wpi.first.halsim"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 use_headers = false
 
 extract_to = "halsim_ds_socket"

subprojects/robotpy-halsim-gui/pyproject.toml

@@ -36,8 +36,8 @@ version_file = "halsim_gui/version.py"
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "halsim_gui"
 group_id = "edu.wpi.first.halsim"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 use_headers = true
 
 libs = ["halsim_gui"]

subprojects/robotpy-halsim-ws/pyproject.toml

@@ -33,8 +33,8 @@ version_file = "halsim_ws/version.py"
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "halsim_ws_server"
 group_id = "edu.wpi.first.halsim"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 use_headers = false
 
 extract_to = "halsim_ws/server"
@@ -43,8 +43,8 @@ libs = ["halsim_ws_server"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "halsim_ws_client"
 group_id = "edu.wpi.first.halsim"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 use_headers = false
 
 extract_to = "halsim_ws/client"

subprojects/robotpy-native-apriltag/pyproject.toml

@@ -25,8 +25,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "apriltag-cpp"
 group_id = "edu.wpi.first.apriltag"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 
 extract_to = "src/native/apriltag"
 libs = ["apriltag"]

subprojects/robotpy-native-datalog/pyproject.toml

@@ -24,8 +24,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "datalog-cpp"
 group_id = "edu.wpi.first.datalog"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 
 extract_to = "src/native/datalog"
 libs = ["datalog"]

subprojects/robotpy-native-ntcore/pyproject.toml

@@ -27,8 +27,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "ntcore-cpp"
 group_id = "edu.wpi.first.ntcore"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 
 extract_to = "src/native/ntcore"
 libs = ["ntcore"]

subprojects/robotpy-native-romi/pyproject.toml

@@ -23,8 +23,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "romiVendordep-cpp"
 group_id = "edu.wpi.first.romiVendordep"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 
 extract_to = "src/native/romi"
 libs = ["romiVendordep"]

subprojects/robotpy-native-wpihal/pyproject.toml

@@ -25,8 +25,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "hal-cpp"
 group_id = "edu.wpi.first.hal"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 
 extract_to = "src/native/wpihal"
 libs = ["wpiHal"]

subprojects/robotpy-native-wpilib/pyproject.toml

@@ -31,8 +31,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "wpilibc-cpp"
 group_id = "edu.wpi.first.wpilibc"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 
 extract_to = "src/native/wpilib"
 libs = ["wpilibc"]

subprojects/robotpy-native-wpimath/pyproject.toml

@@ -23,8 +23,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "wpimath-cpp"
 group_id = "edu.wpi.first.wpimath"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 
 extract_to = "src/native/wpimath"
 libs = ["wpimath"]

subprojects/robotpy-native-wpinet/pyproject.toml

@@ -23,8 +23,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "wpinet-cpp"
 group_id = "edu.wpi.first.wpinet"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 
 extract_to = "src/native/wpinet"
 libs = ["wpinet"]

subprojects/robotpy-native-wpiutil/pyproject.toml

@@ -22,8 +22,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "wpiutil-cpp"
 group_id = "edu.wpi.first.wpiutil"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 
 extract_to = "src/native/wpiutil"
 libs = ["wpiutil"]

subprojects/robotpy-native-xrp/pyproject.toml

@@ -23,8 +23,8 @@ packages = ["src/native"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "xrpVendordep-cpp"
 group_id = "edu.wpi.first.xrpVendordep"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release-2027"
-version = "2027.0.0-alpha-3"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
+version = "2027.0.0-alpha-3-26-g8cfc158"
 
 extract_to = "src/native/xrp"
 libs = ["xrpVendordep"]

subprojects/robotpy-wpilib/README.md

@@ -2,11 +2,11 @@ RobotPy WPILib
 ==============
 
 This repository contain a python implementation of wrappers for WPILib,
-the library used to interface with hardware for the FIRST Robotics Competition. 
+the library used to interface with hardware for the FIRST Robotics Competition.
 Teams can use this library to write their robot code in Python, a powerful dynamic
 programming language.
 
-**Note**: RobotPy is officially supported by FIRST. Please see the 
+**Note**: RobotPy is officially supported by FIRST. Please see the
 [FAQ](https://robotpy.github.io/faq/) for more information.
 
 Documentation

subprojects/robotpy-wpilib/pyproject.toml

@@ -112,7 +112,12 @@ DutyCycle = "frc/DutyCycle.h"
 DutyCycleEncoder = "frc/DutyCycleEncoder.h"
 Encoder = "frc/Encoder.h"
 Errors = "frc/Errors.h"
+ExpansionHub = "frc/ExpansionHub.h"
+ExpansionHubMotor = "frc/ExpansionHubMotor.h"
+ExpansionHubPidConstants = "frc/ExpansionHubPidConstants.h"
+ExpansionHubServo = "frc/ExpansionHubServo.h"
 Filesystem = "rpy/Filesystem.h"
+Gamepad = "frc/Gamepad.h"
 I2C = "frc/I2C.h"
 IterativeRobotBase = "frc/IterativeRobotBase.h"
 Joystick = "frc/Joystick.h"
@@ -156,8 +161,6 @@ MotorController = "frc/motorcontrol/MotorController.h"
 DriverStationModeThread = "frc/internal/DriverStationModeThread.h"
 
 # frc/motorcontrol
-DMC60 = "frc/motorcontrol/DMC60.h"
-Jaguar = "frc/motorcontrol/Jaguar.h"
 Koors40 = "frc/motorcontrol/Koors40.h"
 MotorControllerGroup = "rpy/MotorControllerGroup.h"
 PWMMotorController = "frc/motorcontrol/PWMMotorController.h"
@@ -167,11 +170,9 @@ PWMTalonFX = "frc/motorcontrol/PWMTalonFX.h"
 PWMTalonSRX = "frc/motorcontrol/PWMTalonSRX.h"
 PWMVenom = "frc/motorcontrol/PWMVenom.h"
 PWMVictorSPX = "frc/motorcontrol/PWMVictorSPX.h"
-SD540 = "frc/motorcontrol/SD540.h"
 Spark = "frc/motorcontrol/Spark.h"
 SparkMini = "frc/motorcontrol/SparkMini.h"
 Talon = "frc/motorcontrol/Talon.h"
-Victor = "frc/motorcontrol/Victor.h"
 VictorSP = "frc/motorcontrol/VictorSP.h"
 
 # frc/smartdashboard
@@ -260,6 +261,7 @@ DutyCycleSim = "frc/simulation/DutyCycleSim.h"
 ElevatorSim = "frc/simulation/ElevatorSim.h"
 EncoderSim = "frc/simulation/EncoderSim.h"
 FlywheelSim = "frc/simulation/FlywheelSim.h"
+GamepadSim = "frc/simulation/GamepadSim.h"
 GenericHIDSim = "frc/simulation/GenericHIDSim.h"
 JoystickSim = "frc/simulation/JoystickSim.h"
 LinearSystemSim = "frc/simulation/LinearSystemSim.h"

subprojects/robotpy-wpilib/semiwrap/DriverStation.yml

@@ -17,12 +17,8 @@ classes:
       GetStickAxis:
       GetStickPOV:
       GetStickButtons:
-      GetStickAxisCount:
-      GetStickPOVCount:
-      GetStickButtonCount:
       GetJoystickType:
       GetJoystickName:
-      GetJoystickAxisType:
       IsJoystickConnected:
       IsEnabled:
       IsDisabled:
@@ -52,6 +48,14 @@ classes:
       StartDataLog:
       GetAngle:
       GetJoystickIsGamepad:
+      GetStickButtonIfAvailable:
+      GetStickAxisIfAvailable:
+      GetStickAxesMaximumIndex:
+      GetStickAxesAvailable:
+      GetStickPOVsMaximumIndex:
+      GetStickPOVsAvailable:
+      GetStickButtonsMaximumIndex:
+      GetStickButtonsAvailable:
     inline_code: |
       .def("getControlState",
         [](DriverStation *self) -> std::tuple<bool, bool, bool> {

subprojects/robotpy-wpilib/semiwrap/ExpansionHub.yml

@@ -0,0 +1,16 @@
+extra_includes:
+- frc/ExpansionHubMotor.h
+- frc/ExpansionHubServo.h
+
+classes:
+  frc::ExpansionHub:
+    attributes:
+      NumUsbPorts:
+      NumServoPorts:
+      NumMotorPorts:
+    methods:
+      ExpansionHub:
+      MakeServo:
+      MakeMotor:
+      IsHubConnected:
+      GetUsbId:

subprojects/robotpy-wpilib/semiwrap/ExpansionHubMotor.yml

@@ -0,0 +1,20 @@
+classes:
+  frc::ExpansionHubMotor:
+    methods:
+      ExpansionHubMotor:
+      SetPercentagePower:
+      SetVoltage:
+      SetPositionSetpoint:
+      SetVelocitySetpoint:
+      SetEnabled:
+      SetFloatOn0:
+      GetCurrent:
+      SetDistancePerCount:
+      GetEncoderVelocity:
+      GetEncoderPosition:
+      SetReversed:
+      ResetEncoder:
+      GetVelocityPidConstants:
+      GetPositionPidConstants:
+      IsHubConnected:
+      Follow: