Merge pull request #179 from robotpy/2024-beta

Update to latest Phoenix 5

.github/workflows/dist.yml

@@ -11,16 +11,18 @@ on:
 
 jobs:
   ci:
-    uses: robotpy/build-actions/.github/workflows/package-ci.yml@v2023
+    uses: robotpy/build-actions/.github/workflows/package-ci.yml@v2024
     with:
       enable_raspbian: false
       enable_sphinx_check: false
+      artifactory_repo_type: vendor
       fail_fast: false
+      python_versions: >-
+        ["3.9", "3.10", "3.11", "3.12"]
     secrets:
-      SSH_USER: ${{ secrets.SSH_USER }}
-      SSH_KEY: ${{ secrets.SSH_KEY }}
-      SSH_PASSPHRASE: ${{ secrets.SSH_PASSPHRASE }}
       META_REPO_ACCESS_TOKEN: ${{ secrets.REPO_ACCESS_TOKEN }}
       RTD_TOKEN: ${{ secrets.RTD_TOKEN }}
       RTD_WEBHOOK: ${{ secrets.RTD_WEBHOOK }}
+      WPI_ARTIFACTORY_USERNAME: ${{ secrets.WPI_ARTIFACTORY_USERNAME }}
+      WPI_ARTIFACTORY_TOKEN: ${{ secrets.WPI_ARTIFACTORY_TOKEN }}
       PYPI_API_TOKEN: ${{ secrets.PYPI_PASSWORD }}

.gitignore

@@ -43,15 +43,15 @@ __pycache__/
 *$py.class
 
 # C extensions
-/ctre/_init_ctre.py
-/ctre/pkgcfg.py
-/ctre/rpy-include
-/ctre/version.py
-/ctre/py.typed
-
-/ctre/_*/_init_*.py
-/ctre/_*/pkgcfg.py
-/ctre/_*/include
+/phoenix5/_init_ctre.py
+/phoenix5/pkgcfg.py
+/phoenix5/rpy-include
+/phoenix5/version.py
+/phoenix5/py.typed
+
+/phoenix5/_*/_init_*.py
+/phoenix5/_*/pkgcfg.py
+/phoenix5/_*/include
 
 
 # Distribution / packaging

README.rst

@@ -1,7 +1,7 @@
 robotpy-ctre
 ============
 
-This is a python wrapper around the CTRE Phoenix library. The RobotPy project
+This is a python wrapper around the CTRE Phoenix v5 API. The RobotPy project
 is not associated with or endorsed by Cross The Road Electronics.
 
 **NOTE**: CTRE only supports simulation for the following platforms:

docs/api.rst

@@ -17,6 +17,6 @@ and we'll try to address the problem.
 
 .. toctree::
 
-    ctre
-    ctre.led
-    ctre.sensors
+    phoenix5
+    phoenix5.led
+    phoenix5.sensors

docs/conf.py

@@ -6,7 +6,7 @@
 
 from os.path import abspath, join, dirname
 
-import ctre
+import phoenix5
 
 # -- RTD configuration ------------------------------------------------
 
@@ -136,6 +136,6 @@
 
 root = abspath(dirname(__file__))
 
-gen_package(root, "ctre")
-gen_package(root, "ctre.led")
-gen_package(root, "ctre.sensors")
+gen_package(root, "phoenix5")
+gen_package(root, "phoenix5.led")
+gen_package(root, "phoenix5.sensors")

examples/basic/robot.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import wpilib
-import ctre
+import phoenix5
 
 
 class MyRobot(wpilib.TimedRobot):
@@ -11,7 +11,7 @@ class MyRobot(wpilib.TimedRobot):
     """
 
     def robotInit(self):
-        self.motor = ctre.WPI_TalonSRX(1)  # Initialize the TalonSRX on device 1.
+        self.motor = phoenix5.WPI_TalonSRX(1)  # Initialize the TalonSRX on device 1.
 
     def disabledPeriodic(self):
         self.motor.disable()

examples/getting-started/robot.py

@@ -7,7 +7,7 @@
 
 import wpilib
 import wpilib.drive
-import ctre
+import phoenix5
 
 
 class MyRobot(wpilib.TimedRobot):
@@ -16,8 +16,8 @@ def robotInit(self):
         This function is called upon program startup and
         should be used for any initialization code.
         """
-        self.leftDrive = ctre.WPI_TalonFX(1)
-        self.rightDrive = ctre.WPI_TalonFX(2)
+        self.leftDrive = phoenix5.WPI_TalonFX(1)
+        self.rightDrive = phoenix5.WPI_TalonFX(2)
         self.robotDrive = wpilib.drive.DifferentialDrive(
             self.leftDrive, self.rightDrive
         )

examples/motion_magic/robot.py

@@ -19,7 +19,7 @@
  * use button1 to motion-magic servo to target position specified by the gamepad stick.
 """
 
-from ctre import WPI_TalonSRX
+from phoenix5 import WPI_TalonSRX
 import wpilib
 
 

examples/position_closed_loop/robot.py

@@ -18,7 +18,7 @@
  * Tweak the PID gains accordingly.
 """
 
-import ctre
+import phoenix5
 import wpilib
 
 
@@ -37,7 +37,7 @@ class Robot(wpilib.TimedRobot):
     kTimeoutMs = 10
 
     def robotInit(self):
-        self.talon = ctre.WPI_TalonSRX(3)
+        self.talon = phoenix5.WPI_TalonSRX(3)
         self.joy = wpilib.Joystick(0)
 
         self.loops = 0
@@ -46,7 +46,7 @@ def robotInit(self):
 
         # choose the sensor and sensor direction
         self.talon.configSelectedFeedbackSensor(
-            ctre.FeedbackDevice.CTRE_MagEncoder_Relative,
+            phoenix5.FeedbackDevice.CTRE_MagEncoder_Relative,
             self.kPIDLoopIdx,
             self.kTimeoutMs,
         )
@@ -106,14 +106,14 @@ def teleopPeriodic(self):
 
             # 10 Rotations * 4096 u/rev in either direction
             self.targetPos = leftYstick * 4096 * 10.0
-            self.talon.set(ctre.ControlMode.Position, self.targetPos)
+            self.talon.set(phoenix5.ControlMode.Position, self.targetPos)
 
         # on button2 just straight drive
         if button2:
             # Percent voltage mode
-            self.talon.set(ctre.ControlMode.PercentOutput, leftYstick)
+            self.talon.set(phoenix5.ControlMode.PercentOutput, leftYstick)
 
-        if self.talon.getControlMode() == ctre.ControlMode.Position:
+        if self.talon.getControlMode() == phoenix5.ControlMode.Position:
             # append more signals to print when in speed mode.
             sb.append("\terr: %s" % self.talon.getClosedLoopError(self.kPIDLoopIdx))
             sb.append("\ttrg: %.3f" % self.targetPos)

gen/BaseMotorController.yml

@@ -13,7 +13,7 @@ classes:
         overloads:
           "":
             rename: __str__
-          std::string&:
+          const std::string&:
   FilterConfiguration:
     shared_ptr: true
     attributes:
@@ -322,6 +322,7 @@ classes:
       GetSlotConfigs:
       GetFilterConfigs:
       GetHandle:
+        ignore: true
       GetVictorSPXSimCollection:
       BaseConfigAllSettings:
       BaseGetAllConfigs:

gen/BasePigeon.yml

@@ -55,8 +55,6 @@ classes:
       GetCompassHeading:
       GetCompassFieldStrength:
       GetTemp:
-        overloads:
-          '[const]':
       GetUpTime:
       GetRawMagnetometer:
       GetBiasedMagnetometer:
@@ -79,6 +77,7 @@ classes:
       GetFirmwareVersion:
       ClearStickyFaults:
       GetLowLevelHandle:
+        ignore: true
       ConfigAllSettings:
       GetAllConfigs:
       ConfigFactoryDefault:

gen/BufferedTrajectoryPointStream.yml

@@ -8,6 +8,7 @@ classes:
       Clear:
       Write:
         overloads:
-          TrajectoryPoint&:
-          TrajectoryPoint*, uint32_t:
+          const TrajectoryPoint&:
+          const TrajectoryPoint*, uint32_t:
       GetHandle:
+        ignore: true

gen/CANdleConfiguration.yml

@@ -10,21 +10,14 @@ classes:
     force_no_trampoline: true
     base_qualnames:
       CustomParamConfiguration: ctre::phoenix::CustomParamConfiguration
+    attributes:
+      stripType:
+      brightnessScalar:
+      disableWhenLOS:
+      statusLedOffWhenActive:
+      vBatOutputMode:
+      v5Enabled:
     methods:
       CANdleConfiguration:
       toString:
         rename: __str__
-
-inline_code: |
-  cls_CANdleConfiguration
-    .def_readwrite("stripType", &ctre::phoenix::led::CANdleConfiguration::stripType,
-      py::doc("What type of LEDs the CANdle controls"))
-    .def_readwrite("brightnessScalar", &ctre::phoenix::led::CANdleConfiguration::brightnessScalar,
-      py::doc("Brightness scalar for all LEDs controlled"))
-    .def_readwrite("disableWhenLOS", &ctre::phoenix::led::CANdleConfiguration::disableWhenLOS,
-      py::doc("True to turn off LEDs when Loss of Signal occurrs"))
-    .def_readwrite("statusLedOffWhenActive", &ctre::phoenix::led::CANdleConfiguration::statusLedOffWhenActive,
-      py::doc("True to turn off Status LED when CANdle is actively being controlled"))
-    .def_readwrite("vBatOutputMode", &ctre::phoenix::led::CANdleConfiguration::vBatOutputMode,
-      py::doc("The behavior of VBat output"))
-  ;

gen/ColorFlowAnimation.yml

@@ -3,8 +3,6 @@
 classes:
   ColorFlowAnimation:
     subpackage: led
-    typealias:
-    - ctre::phoenix::led::ColorFlowAnimation::Direction
     enums:
       Direction:
     methods:

gen/LarsonAnimation.yml

@@ -3,8 +3,6 @@
 classes:
   LarsonAnimation:
     subpackage: led
-    typealias:
-    - ctre::phoenix::led::LarsonAnimation::BounceMode
     enums:
       BounceMode:
     methods:

gen/LimitSwitchType.yml

@@ -13,9 +13,9 @@ classes:
       IsRemote:
       toString:
         overloads:
-          ctre::phoenix::motorcontrol::LimitSwitchSource:
+          LimitSwitchSource:
             ignore: true
-          ctre::phoenix::motorcontrol::RemoteLimitSwitchSource:
+          RemoteLimitSwitchSource:
             ignore: true
-          ctre::phoenix::motorcontrol::LimitSwitchNormal:
+          LimitSwitchNormal:
             ignore: true

gen/Pigeon2.yml

@@ -12,6 +12,16 @@ classes:
     force_no_trampoline: true
     base_qualnames:
       CustomParamConfiguration: ctre::phoenix::CustomParamConfiguration
+    attributes:
+      MountPoseYaw:
+      MountPosePitch:
+      MountPoseRoll:
+      EnableCompass:
+      DisableTemperatureCompensation:
+      DisableNoMotionCalibration:
+      XAxisGyroError:
+      YAxisGyroError:
+      ZAxisGyroError:
     methods:
       Pigeon2Configuration:
       toString:
@@ -44,7 +54,7 @@ classes:
       GetStickyFaults:
       ConfigMountPose:
         overloads:
-          ctre::phoenix::sensors::AxisDirection, ctre::phoenix::sensors::AxisDirection, int:
+          AxisDirection, AxisDirection, int:
           double, double, double, int:
       ConfigMountPoseYaw:
       ConfigMountPosePitch:

gen/PigeonIMU.yml

@@ -102,16 +102,16 @@ classes:
             default: "{0,0,0}"
       GetFusedHeading:
         overloads:
-          PigeonIMU::FusionStatus&:
+          FusionStatus&:
           "[const]":
       GetResetCount:
       GetResetFlags:
       GetFirmVers:
       HasResetOccurred:
       ToString:
         overloads:
-          ctre::phoenix::sensors::PigeonIMU::PigeonState:
-          ctre::phoenix::sensors::PigeonIMU::CalibrationMode:
+          PigeonIMU::PigeonState:
+          CalibrationMode:
       ConfigSetCustomParam:
       ConfigGetCustomParam:
         ignore: true

gen/StatorCurrentLimitConfiguration.yml

@@ -12,7 +12,7 @@ classes:
       StatorCurrentLimitConfiguration:
         overloads:
           "":
-          double*, int:
+          const double*, int:
             ignore: true  # unsafe array
           bool, double, double, double:
       ToString:

gen/SupplyCurrentLimitConfiguration.yml

@@ -13,7 +13,7 @@ classes:
         overloads:
           "":
           bool, double, double, double:
-          double*, int:
+          const double*, int:
             ignore: true  # unsafe array
       ToString:
         rename: __str__

gen/TalonSRX.yml

@@ -45,7 +45,7 @@ classes:
       TalonSRX:
         overloads:
           int:
-          int, std::string&:
+          int, const std::string&:
           "":
             ignore: true
       ConfigSelectedFeedbackSensor:

gen/TwinkleAnimation.yml

@@ -3,8 +3,6 @@
 classes:
   TwinkleAnimation:
     subpackage: led
-    typealias:
-    - ctre::phoenix::led::TwinkleAnimation::TwinklePercent
     enums:
       TwinklePercent:
     methods:

gen/TwinkleOffAnimation.yml

@@ -3,8 +3,6 @@
 classes:
   TwinkleOffAnimation:
     subpackage: led
-    typealias:
-    - ctre::phoenix::led::TwinkleOffAnimation::TwinkleOffPercent
     enums:
       TwinkleOffPercent:
     methods:

gen/VictorSPX.yml

@@ -68,7 +68,7 @@ classes:
       VictorSPX:
         overloads:
           int:
-          int, std::string&:
+          int, const std::string&:
       GetPIDConfigs:
       ConfigAllSettings:
       GetAllConfigs:

ctre/__init__.py → phoenix5/__init__.py

@@ -1,3 +1,4 @@
+from . import _init_phoenix6
 from . import _init_ctre
 
 # autogenerated by 'robotpy-build create-imports ctre'

phoenix5/_init_phoenix6.py

@@ -0,0 +1,3 @@
+from phoenix6.phoenix_native import Native
+
+Native.instance()