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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 75263e37c646f784ba346c982ce0e176684812f3
commit75263e37c646f784ba346c982ce0e176684812f3[log] [tgz]
authorAustin Schuh <austin.linux@gmail.com>Tue Feb 22 18:05:32 2022 -0800
committerAustin Schuh <austin.linux@gmail.com>Tue Feb 22 18:05:32 2022 -0800
tree0d545b2ec21e8562efb843c77d5a1e2b21cf5a64
parent812d0d18f8a83ab7e62014bfd52dd91a751f674d [diff]
Squashed 'third_party/allwpilib/' changes from e473a00f97..e4b91005cf

e4b91005cf [examples] Update SwerveModule constructor doc (NFC) (#4042)
a260bfd83b [examples] Remove "this" keyword from SwerveModule (#4043)
18e262a100 [examples] Fix multiple doc typos in SwerveControllerCommand example (NFC) (#4044)
4bd1f526ab [wpilibc] Prevent StopMotor from terminating robot during MotorSafety check (#4038)
27847d7eb2 [sim] Expose GUI control functions via HAL_RegisterExtension (#4034)
b2a8d3f0f3 [wpilibc] Add mechanism to reset MotorSafety list (#4037)
49adac9564 [wpilib] Check for signedness in ArcadeDriveIK() (#4028)
a19d1133b1 [wpiutil] libuv: Fix sign compare warnings in gcc 11.2 (#4031)
dde91717e4 [build] cmake: Add ability to customize target warnings (#4032)
e9050afd67 [sim] Update sim match time to match real robot (#4024)
165d2837cf [wpilib] Preferences: Set Persistent in Init methods (#4025)
ac7549edca [glass] Fix snprintf truncation warning (#4029)
4d96bc72e0 [wpilibj] Fix typos in error messages for non-null assertions (#4014)
3411eee20f [hal] Replace hardcoded sim array sizes with constants (#4015)
74de97eeca [wpilibc] Add mechanism to reset various global structures (#4007)
4e3cc25012 [examples] Fix periodic function rate comment (NFC) (#4013)
90c1db393e [sim] Add exported functions to control the sim GUI (#3995)
2f43274aa4 [wpilibj] MechanismRoot2d: Add flush to setPosition (#4011)
aeca09db09 [glass] Support remapping of Enter key (#3994)
c107f22c67 [sim] Sim GUI: don't force-show Timing and Other Devices (#4001)
68fe51e8da [wpigui] Update PFD to latest, fix kdialog multiselect (#4005)
8d08d67cf1 [wpigui] PFD: Add console warning if file chooser unavailable (#4003)
4f1782f66e [wpilibc] Only call HAL_Report when initializing SmartDashboard (#4006)
3f77725cd3 Remove uses of iostream (#4004)
5635f33a32 [glass] Increase plot depth to 20K points (#3993)
bca4b7111b [glass] Fix PlotSeries::SetSource() (#3991)
6a6366b0d6 [commands] Add until() as alias for withInterrupt() (#3981)
16bf2c70c5 [wpilib] Fix joystick out of range error messages (#3988)
4b3edb742c [wpilib] Fix ADIS16448 IMU default constructor not working in Java (#3989)
fcf23fc9e9 [hal] Fix potential gamedata out of bounds read (#3983)
af5ef510c5 [wpilibc] Fix REV PH pulse duration units (#3982)
05401e2b81 [wpilib] Write REV PH firmware version to roboRIO to display on driver station (#3977)
9fde0110b6 Update to 2022 v4.0 image (#3944)
b03f8ddb2e [examples] fix incorrect variable in Arm Simulation Pref (#3980)
a26df2a022 [examples] Update ArmSimulation example to use Preferences (#3976)
d68d6674e8 [examples] Armbot: rename kCos to kG (#3975)
a8f0f6bb90 [wpilibj] Fix ADIS16448 getRate to return rate instead of angle (#3974)
dd9c92d5bf [build] Remove debug info from examples (#3971)
84df14dd70 [rtns] Fix icons (#3972)
560094ad92 [examples] Correct Mecanum example axes (#3955)
7ea1be9c01 [wpilibc] Fix typo in hardware version for REV PDH (#3969)
700f13bffd [wpilibj] Make methods public for Java REV PDH (#3970)
b6aa7c1aa9 [wpilibj] Make methods public for Java REVPH (#3968)
eb4d183e48 [wpimath] Fix clang-tidy bugprone-integer-division warning (#3966)
77e4e81e1e [wpilib] Add Field widget to BuiltInWidgets in shuffleboard (#3961)
88f5cb6eb0 [build] Publish PDBs with C++ tools (#3960)
efae552f3e [wpimath] Remove DifferentialDriveKinematics include from odometry (#3958)
46b277421a [glass] Update Speed Controller Type name for 2022 WPILib (#3952)
42908126b9 [wpilib] Add DCMotorSim (#3910)
a467392cbd [wpiutil] StackTrace: Add ability to override default implementation (#3951)
78d0bcf49d [templates] Add SimulationInit()/SimulationPeriodic() to robot templates (#3943)
02a0ced9b0 [wpilib] MecanumDrive: update docs for axis to match implementation (NFC) (#3942)
4ccfe1c9f2 [wpilib] Added docs clarification on units for drive class WheelSpeeds (NFC) (#3939)
830c0c5c2f [wpilib] MechanismLigament2d: Add getters for color and line weight (#3947)
5548a37465 [wpilib] PowerDistribution: Add module type getter (#3948)
2f9a600de2 [hal] Fix PCM one shot (#3949)
559db11a20 [myRobot] Skip deploying debug libraries for myRobot deploys (#3950)
76c78e295b [examples] Reorder SwerveModules in SwerveControllerCommand example odometry update (#3934)
debbd5ff4b [wpilib] Improve PowerDistribution docs (NFC) (#3925)
841174f302 [commands] Change command vendordep JSON version number to 1.0.0 (#3938)
8c55844f91 [wpilib] Remove comment about Mecanum right side inverted (NFC) (#3929)
0b990bf0f5 [hal] Fix PCM sticky faults clear function crashing (#3932)
104d7e2abc [hal] Don't throw exceptions in PCM JNI (#3933)
5ba69e1af1 [examples] Updated type in Java SwerveModule (#3928)
f3a0b5c7d7 [wpimath] Fix Java SimpleMotorFeedforward Docs (NFC) (#3926)
7f4265facc [wpimath] Add LinearFilter::FiniteDifference() (#3900)
63d1fb3bed [wpiutil] Modify fmt to not throw on write failure (#3919)
36af6d25a5 [wpimath] Fix input vector in pose estimator docs (NFC) (#3923)
8f387f7255 [wpilibj] Switch ControlWord mutex to actual reentrant mutex (#3922)
792e735e08 [wpimath] Move TrajectoryGenerator::SetErrorHandler definition to .cpp (#3920)
3b76de83eb [commands] Fix ProfiledPIDCommand use-after-free (#3904)
ad9f738cfa [fieldimages] Fix maven publishing (#3897)
49455199e5 [examples] Use left/rightGroup.Get() for simulator inputs to fix inversions (#3908)
64426502ea [wpimath] Fix arm -> flywheel typo (NFC) (#3911)
8cc112d196 [wpiutil] Fix wpi::array for move-only types (#3917)
e78cd49861 [build] Upgrade Java formatter plugins (#3894)
cfb4f756d6 [build] Upgrade to shadow 7.1.2 (#3893)
ba0908216c [wpimath] Fix crash in KF latency compensator (#3888)
a3a0334fad [build] cmake: Move fieldImages to WITH_GUI (#3885)
cf7460c3a8 [fieldImages] Add 2022 field (#3883)
db0fbb6448 [wpimath] Fix LQR matrix constructor overload for Q, R, and N (#3884)
8ac45f20bb [commands] Update Command documentation (NFC) (#3881)
b3707cca0b [wpiutil] Upgrade to fmt 8.1.1 (#3879)
a69ee3ece9 [wpimath] Const-qualify Twist2d scalar multiply (#3882)
750d9a30c9 [examples] Fix Eigen out of range error when running example (#3877)
41c5b2b5ac [rtns] Add cmake build (#3866)
6cf3f9b28e [build] Upgrade to Gradle 7.3.3 (#3878)
269cf03472 [examples] Add communication examples (e.g. arduino) (#2500)
5ccfc4adbd [oldcommands] Deprecate PIDWrappers, since they use deprecated interfaces (#3868)
b6f44f98be [hal] Add warning about onboard I2C (#3871)
0dca57e9ec [templates] romieducational: Invert drivetrain and disable motor safety (#3869)
22c4da152e [wpilib] Add GetRate() to ADIS classes (#3864)
05d66f862d [templates] Change the template ordering to put command based first (#3863)
b09f5b2cf2 [wpilibc] Add virtual dtor for LinearSystemSim (#3861)
a2510aaa0e [wpilib] Make ADIS IMU classes unit-safe (#3860)
947f589916 [wpilibc] Rename ADIS_16470_IMU.cpp to match class name (#3859)
bbd8980a20 [myRobot] Fix cameraserver library order (#3858)
831052f118 [wpilib] Add simulation support to ADIS classes (#3857)
c137569f91 [wpilib] Throw exception if the REV Pneumatic Hub firmware version is older than 22.0.0 (#3853)
dae61226fa Fix Maven Artifacts readme (#3856)
3ad4594a88 Update Maven artifacts readme for 2022 (#3855)
112acb9a62 [wpilibc] Move ADIS IMU constants to inside class (#3852)
ecee224e81 [wpilib] Allow SendableCameraWrappers to take arbitrary URLs (#3850)
a3645dea34 LICENSE: Bump year range to include 2022 (#3854)
7c09f44898 [wpilib] Use PSI for compressor config and sensor reading (#3847)
f401ea9aae [wpigui] Remove wpiutil linkage (#3851)
bf8517f1e6 [wpimath] TimeInterpolatableBufferTest: Fix lint warnings (#3849)
528087e308 [hal] Use enums with fixed underlying type in clang C (#3297)
1f59ff72f9 [wpilib] Add ADIS IMUs (#3777)
315be873c4 [wpimath] Add TimeInterpolatableBuffer (#2695)
b8d019cdb4 [wpilib] Rename NormalizeWheelSpeeds to DesaturateWheelSpeeds (#3791)
102f23bbdb [wpilibj] DriverStation: Set thread interrupted state (#3846)
b85c24a79c [wpilib] Add warning about onboard I2C (#3842)
eee29daaf9 [newCommands] Trigger: Allow override of debounce type (#3845)
aa9dfabde2 [wpimath] Move debouncer to filters (#3838)
5999a26fba [wpiutil] Add GetSystemTime() (#3840)
1e82595ffb [examples] Fix arcade inversions (#3841)
e373fa476b [wpiutil] Add disableMockTime to JNI (#3839)
dceb5364f4 [examples] Ensure right side motors are inverted (#3836)
baacbc8e24 [wpilib] Tachometer: Add function to return RPS (#3833)
84b15f0883 [templates] Add Java Romi Educational template (#3837)
c0da9d2d35 [examples] Invert Right Motor in Romi Java examples (#3828)
0fe0be2733 [build] Change project year to intellisense (#3835)
eafa947338 [wpimath] Make copies of trajectory constraint arguments (#3832)
9d13ae8d01 [wpilib] Add notes for Servo get that it only returns cmd (NFC) (#3820)
2a64e4bae5 [wpimath] Give drivetrain a more realistic width in TrajectoryJsonTest.java (#3822)
c3fd20db59 [wpilib] Fix trajectory sampling in DifferentialDriveSim test (#3821)
6f91f37cd0 [examples] Fix SwerveControllerCommand order of Module States (#3815)
5158730b81 [wpigui] Upgrade to imgui 1.86, GLFW 3.3.6 (#3817)
2ad2d2ca96 [wpiutil] MulticastServiceResolver: Fix C array returning functions (#3816)
b5fd29774f [wpilibj] Trigger: implement BooleanSupplier interface (#3811)
9f8f330e96 [wpilib] Fix Mecanum and SwerveControllerCommand when desired rotation passed (#3808)
1ad3b1b333 [hal] Don't copy byte to where null terminator goes (#3807)
dfc24425c3 [build] Fix gazebo gradle IDE warnings (#3806)
c02577bb51 [glass] Configure delay loading for windows camera server support (#3803)
c9e6a96a61 [wpilib] Document range of Servo angle (NFC) (#3796)
9778626f34 [wpilib, hal] Add support for getting faults and versions from power distribution (#3794)
34b2d0dae1 [wpilib, hal] High Level REV PH changes (#3792)
59a7528fd6 [cscore] Fix crash when usbcamera is deleted before message pump thread fully starts (#3804)
11d9859ef1 [build] Update plugins to remove log4j vulnerabilities (#3805)
e44ed752ad [glass] Fix CollapsingHeader in Encoder, PCM, and DeviceTree (#3797)
52b2dd5b89 [build] Bump native utils to remove log4j (#3802)
c46636f218 [wpilib] Improve new counter classes documentation (NFC) (#3801)
dc531462e1 [build] Update to gradle 7.3.2 (#3800)
92ba98621c [wpimath] Add helper variable templates for units type traits (#3790)
d41d051f1b [wpilibc] Fix Mecanum & Swerve ControllerCommand lambda capture (#3795)
c5ae0effac OtherVersions.md: Add one missing case of useLocal (#3788)
b3974c6ed3 [wpimath] Upgrade to Drake v0.37.0 (#3786)
589a00e379 [wpilibc] Start DriverStation thread from RobotBase (#3785)
8d9836ca02 [wpilib] Improve curvature drive documentation (NFC) (#3783)
8b5bf8632e [myRobot] Add wpimath and wpiutil JNI (#3784)
1846114491 [examples] Update references from characterization to SysId (NFC) (#3782)
2c461c794e [build] Update to gradle 7.3 (#3778)
109363daa4 [hal] Add remaining driver functions for REVPH (#3776)
41d26bee8d [hal] Refactor REV PDH (#3775)
7269a170fb Upgrade maven deps to latest versions and fix new linter errors (#3772)
441f2ed9b0 [build] actions: use fixed image versions instead latest (#3761)
15275433d4 [examples] Fix duplicate port allocations in C++ SwerveBot/SwerveDrivePoseEstimator/RomiReference (#3773)
1ac02d2f58 [examples] Fix drive Joystick axes in several examples (#3769)
8ee6257e92 [wpilib] DifferentialDrivetrainSim.KitbotMotor: Add NEO and Falcon 500 (#3762)
d81ef2bc5c [wpilib] Fix deadlocks in Mechanism2d et al. (#3770)
acb64dff97 [wpimath] Make RamseteController::Calculate() more concise (#3763)
3f6cf76a8c [hal] Refactor REV PH CAN frames (#3756)
3ef2dab465 [wpilib] DutyCycleEncoder: add setting of duty cycle range (#3759)
a5a56dd067 Readme: Add Visual Studio 2022 (#3760)
04957a6d30 [wpimath] Fix units of RamseteController's b and zeta (#3757)
5da54888f8 [glass] Upgrade imgui to 0.85, implot to HEAD, glfw to 3.3.5 (#3754)
6c93365b0f [wpiutil] MulticastService cleanup (#3750)
1c4a8bfb66 [cscore] Cleanup Windows USB camera impl (#3751)
d51a1d3b3d [rtns] Fix icon (#3749)
aced2e7da6 Add roboRIO Team Number Setter tool (#3744)
fa1ceca83a [wpilibj] Use DS cache for iterative robot control word cache (#3748)
0ea05d34e6 [build] Update to gradle 7.2 (#3746)
09db4f672b [build] Update to native utils 2022.6.1 (#3745)
4ba80a3a8c [wpigui] Don't recursively render frames in size callback (#3743)
ae208d2b17 [wpiutil] StringExtras: Add substr() (#3742)
6f51cb3b98 [wpiutil] MulticastResolver: make event manual reset, change to multiple read (#3736)
f6159ee1a2 [glass] Fix Drive widget handling of negative rotation (#3739)
7f401ae895 [build] Update NI libraries to 2022.2.3 (#3738)
0587b7043a [glass] Use JSON files for storage instead of imgui ini
0bbf51d566 [wpigui] Change maximized to bool
92c6eae6b0 [wpigui] PFD: Add explicit to constructors
141354cd79 [wpigui] Add hooks for custom load/save settings
f6e9fc7d71 [wpiutil] Handle multicast service collision on linux (#3734)
d8418be7d1 [glass, outlineviewer] Return 0 from WinMain (#3735)
82066946e5 [wpiutil] Add mDNS resolver and announcer (#3733)
4b1defc8d8 [wpilib] Remove automatic PD type from module type enum (#3732)
da90c1cd2c [wpilib] Add bang-bang controller (#3676)
3aa54fa027 [wpilib] Add new counter implementations (#2447)
b156db400d [hal, wpilib] Incorporate pneumatic control type into wpilibc/j (#3728)
9aba2b7583 [oldCommands] Add wrappers for WPILib objects to work with old PID Controller (#3710)
a9931223f0 [hal] Add REV PH faults (#3729)
aacf9442e4 [wpimath] Fix units typo in LinearSystemId source comment (#3730)
7db10ecf00 [wpilibc] Make SPI destructor virtual since SPI contains virtual functions (#3727)
a0a5b2aea5 [wpimath] Upgrade to EJML 0.41 (#3726)
eb835598a4 [hal] Add HAL functions for compressor config modes on REV PH (#3724)
f0ab6df5b6 [wpimath] Upgrade to Drake v0.36.0 (#3722)
075144faa3 [docs] Parse files without extensions with Doxygen (#3721)
32468a40cb [hal] Remove use of getDmaDescriptor from autospi (#3717)
38611e9dd7 [hal] Fix REVPH Analog Pressure channel selection (#3716)
4d78def31e [wpilib] Add DeadbandElimination forwarding to PWMMotorController (#3714)
3be0c1217a [wpilibcExamples] Make GearsBot use idiomatic C++ (#3711)
42d3a50aa2 [hal] Check error codes during serial port initialization (#3712)
52f1464029 Add project with field images and their json config files (#3668)
68ce62e2e9 [hal] Add autodetect for power modules (#3706)
3dd41c0d37 [wpilib] Don't print PD errors for LiveWindow reads (#3708)
7699a1f827 [hal] Fix sim not working with automatic PD type and default module (#3707)

Change-Id: I6b0b8fa8b2d2a24071240f624db9ec6d127f6648
git-subtree-dir: third_party/allwpilib
git-subtree-split: e4b91005cf69161f1cb3d934f6526232e6b9169e
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
922 files changed
tree: 0d545b2ec21e8562efb843c77d5a1e2b21cf5a64
  1. .github/
  2. .wpilib/
  3. buildSrc/
  4. cameraserver/
  5. cmake/
  6. crossConnIntegrationTests/
  7. cscore/
  8. docs/
  9. fieldImages/
  10. glass/
  11. googletest/
  12. gradle/
  13. hal/
  14. imgui/
  15. msvcruntime/
  16. myRobot/
  17. ntcore/
  18. outlineviewer/
  19. roborioteamnumbersetter/
  20. shared/
  21. simulation/
  22. styleguide/
  23. test-scripts/
  24. upstream_utils/
  25. wpigui/
  26. wpilibc/
  27. wpilibcExamples/
  28. wpilibcIntegrationTests/
  29. wpilibj/
  30. wpilibjExamples/
  31. wpilibjIntegrationTests/
  32. wpilibNewCommands/
  33. wpilibOldCommands/
  34. wpimath/
  35. wpiutil/
  36. .clang-format
  37. .clang-tidy
  38. .gitattributes
  39. .gitignore
  40. .styleguide
  41. .styleguide-license
  42. azure-pipelines-testbench.yaml
  43. build.gradle
  44. CMakeLists.txt
  45. CODE_OF_CONDUCT.md
  46. CONTRIBUTING.md
  47. gradle.properties
  48. gradlew
  49. gradlew.bat
  50. LICENSE.md
  51. MAINTAINERS.md
  52. MavenArtifacts.md
  53. OtherVersions.md
  54. README-CMAKE.md
  55. README.md
  56. settings.gradle
  57. ThirdPartyNotices.txt
  58. tidy-html.conf
  59. tidy-xml.conf
  60. wpilib-config.cmake.in
README.md

WPILib Project

CI C++ Documentation Java Documentation

Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WPILibC projects. These are the core libraries for creating robot programs for the roboRIO.

WPILib Mission

The WPILib Mission is to enable FIRST Robotics teams to focus on writing game-specific software rather than focusing on hardware details - "raise the floor, don't lower the ceiling". We work to enable teams with limited programming knowledge and/or mentor experience to be as successful as possible, while not hampering the abilities of teams with more advanced programming capabilities. We support Kit of Parts control system components directly in the library. We also strive to keep parity between major features of each language (Java, C++, and NI's LabVIEW), so that teams aren't at a disadvantage for choosing a specific programming language. WPILib is an open source project, licensed under the BSD 3-clause license. You can find a copy of the license here.

Building WPILib

Using Gradle makes building WPILib very straightforward. It only has a few dependencies on outside tools, such as the ARM cross compiler for creating roboRIO binaries.

Requirements

  • JDK 11
    • Note that the JRE is insufficient; the full JDK is required
    • On Ubuntu, run sudo apt install openjdk-11-jdk
    • On Windows, install the JDK 11 .msi from the link above
    • On macOS, install the JDK 11 .pkg from the link above
  • C++ compiler
    • On Linux, install GCC 8 or greater
    • On Windows, install Visual Studio Community 2022 or 2019 and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio)
    • On macOS, install the Xcode command-line build tools via xcode-select --install
  • ARM compiler toolchain
    • Run ./gradlew installRoboRioToolchain after cloning this repository
    • If the WPILib installer was used, this toolchain is already installed
  • Raspberry Pi toolchain (optional)
    • Run ./gradlew installRaspbianToolchain after cloning this repository

Setup

Clone the WPILib repository and follow the instructions above for installing any required tooling.

See the styleguide README for wpiformat setup instructions.

Building

All build steps are executed using the Gradle wrapper, gradlew. Each target that Gradle can build is referred to as a task. The most common Gradle task to use is build. This will build all the outputs created by WPILib. To run, open a console and cd into the cloned WPILib directory. Then:

./gradlew build

To build a specific subproject, such as WPILibC, you must access the subproject and run the build task only on that project. Accessing a subproject in Gradle is quite easy. Simply use :subproject_name:task_name with the Gradle wrapper. For example, building just WPILibC:

./gradlew :wpilibc:build

The gradlew wrapper only exists in the root of the main project, so be sure to run all commands from there. All of the subprojects have build tasks that can be run. Gradle automatically determines and rebuilds dependencies, so if you make a change in the HAL and then run ./gradlew :wpilibc:build, the HAL will be rebuilt, then WPILibC.

There are a few tasks other than build available. To see them, run the meta-task tasks. This will print a list of all available tasks, with a description of each task.

If opening from a fresh clone, generated java dependencies will not exist. Most IDEs will not run the generation tasks, which will cause lots of IDE errors. Manually run ./gradlew compileJava from a terminal to run all the compile tasks, and then refresh your IDE's configuration (In VS Code open settings.gradle and save).

Faster builds

./gradlew build builds everything, which includes debug and release builds for desktop and all installed cross compilers. Many developers don't need or want to build all of this. Therefore, common tasks have shortcuts to only build necessary components for common development and testing tasks.

./gradlew testDesktopCpp and ./gradlew testDesktopJava will build and run the tests for wpilibc and wpilibj respectively. They will only build the minimum components required to run the tests.

testDesktopCpp and testDesktopJava tasks also exist for the projects wpiutil, ntcore, cscore, hal wpilibOldCommands, wpilibNewCommands and cameraserver. These can be ran with ./gradlew :projectName:task.

./gradlew buildDesktopCpp and ./gradlew buildDesktopJava will compile wpilibcExamples and wpilibjExamples respectively. The results can't be ran, but they can compile.

Using Development Builds

Please read the documentation available here

Custom toolchain location

If you have installed the FRC Toolchain to a directory other than the default, or if the Toolchain location is not on your System PATH, you can pass the toolChainPath property to specify where it is located. Example:

./gradlew build -PtoolChainPath=some/path/to/frc/toolchain/bin

Gazebo simulation

If you also want to force building Gazebo simulation support, add -PforceGazebo. This requires gazebo_transport. We have tested on 14.04 and 15.05, but any correct install of Gazebo should work, even on Windows if you build Gazebo from source. Correct means CMake needs to be able to find gazebo-config.cmake. See The Gazebo website for installation instructions.

./gradlew build -PforceGazebo

If you prefer to use CMake directly, the you can still do so. The common CMake tasks are wpilibcSim, frc_gazebo_plugins, and gz_msgs

mkdir build #run this in the root of allwpilib
cd build
cmake ..
make

Formatting/linting

wpiformat

wpiformat can be executed anywhere in the repository via py -3 -m wpiformat on Windows or python3 -m wpiformat on other platforms.

Java Code Quality Tools

The Java code quality tools Checkstyle, PMD, and Spotless can be run via ./gradlew javaFormat. SpotBugs can be run via the spotbugsMain, spotbugsTest, and spotbugsDev tasks. These tools will all be run automatically by the build task. To disable this behavior, pass the -PskipJavaFormat flag.

If you only want to run the Java autoformatter, run ./gradlew spotlessApply.

CMake

CMake is also supported for building. See README-CMAKE.md.

Publishing

If you are building to test with other dependencies or just want to export the build as a Maven-style dependency, simply run the publish task. This task will publish all available packages to ~/releases/maven/development. If you need to publish the project to a different repo, you can specify it with -Prepo=repo_name. Valid options are:

  • development - The default repo.
  • beta - Publishes to ~/releases/maven/beta.
  • stable - Publishes to ~/releases/maven/stable.
  • release - Publishes to ~/releases/maven/release.

The maven artifacts are described in MavenArtifacts.md

Structure and Organization

The main WPILib code you're probably looking for is in WPILibJ and WPILibC. Those directories are split into shared, sim, and athena. Athena contains the WPILib code meant to run on your roboRIO. Sim is WPILib code meant to run on your computer with Gazebo, and shared is code shared between the two. Shared code must be platform-independent, since it will be compiled with both the ARM cross-compiler and whatever desktop compiler you are using (g++, msvc, etc...).

The Simulation directory contains extra simulation tools and libraries, such as gz_msgs and JavaGazebo. See sub-directories for more information.

The integration test directories for C++ and Java contain test code that runs on our test-system. When you submit code for review, it is tested by those programs. If you add new functionality you should make sure to write tests for it so we don't break it in the future.

The hal directory contains more C++ code meant to run on the roboRIO. HAL is an acronym for "Hardware Abstraction Layer", and it interfaces with the NI Libraries. The NI Libraries contain the low-level code for controlling devices on your robot. The NI Libraries are found in the ni-libraries folder.

The upstream_utils directory contains scripts for updating copies of thirdparty code in the repository.

The styleguide repository contains our style guides for C++ and Java code. Anything submitted to the WPILib project needs to follow the code style guides outlined in there. For details about the style, please see the contributors document here.

Contributing to WPILib

See CONTRIBUTING.md.