Update to initial 2027 alpha

virtuald · virtuald · commit ef74e9d5bc2a · 2025-07-25T01:20:21.000-04:00
diff --git a/.github/workflows/dist.yml b/.github/workflows/dist.yml
@@ -6,12 +6,13 @@ on:
   push:
     branches:
     - main
+    - '2027'
     tags:
     - '*'
 
 jobs:
   ci:
-    uses: robotpy/build-actions/.github/workflows/package-ci.yml@v2025
+    uses: robotpy/build-actions/.github/workflows/package-ci.yml@v2027
     with:
       artifactory_repo_type: vendor
       enable_raspbian: false
diff --git a/examples/can-arcade-drive/robot.py b/examples/can-arcade-drive/robot.py
@@ -25,10 +25,10 @@ def robotInit(self):
         #
         # The example below initializes four brushless motors with CAN IDs
         # 1, 2, 3, 4. Change these parameters to match your setup
-        self.leftLeadMotor = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
-        self.rightLeadMotor = rev.SparkMax(3, rev.SparkMax.MotorType.kBrushless)
-        self.leftFollowMotor = rev.SparkMax(2, rev.SparkMax.MotorType.kBrushless)
-        self.rightFollowMotor = rev.SparkMax(4, rev.SparkMax.MotorType.kBrushless)
+        self.leftLeadMotor = rev.SparkMax(0, 1, rev.SparkMax.MotorType.kBrushless)
+        self.rightLeadMotor = rev.SparkMax(0, 3, rev.SparkMax.MotorType.kBrushless)
+        self.leftFollowMotor = rev.SparkMax(0, 2, rev.SparkMax.MotorType.kBrushless)
+        self.rightFollowMotor = rev.SparkMax(0, 4, rev.SparkMax.MotorType.kBrushless)
 
         # Passing in the lead motors into DifferentialDrive allows any
         # commmands sent to the lead motors to be sent to the follower motors.
diff --git a/examples/can-tank-drive/robot.py b/examples/can-tank-drive/robot.py
@@ -25,8 +25,8 @@ def robotInit(self):
         #
         # The example below initializes two brushless motors with CAN IDs
         # 1 and 2. Change these parameters to match your setup
-        self.leftMotor = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
-        self.rightMotor = rev.SparkMax(2, rev.SparkMax.MotorType.kBrushless)
+        self.leftMotor = rev.SparkMax(0, 1, rev.SparkMax.MotorType.kBrushless)
+        self.rightMotor = rev.SparkMax(0, 2, rev.SparkMax.MotorType.kBrushless)
 
         # Configure for factory defaults and invert right side motor
         self.globalConfig = rev.SparkMaxConfig()
diff --git a/examples/color_match/robot.py b/examples/color_match/robot.py
@@ -16,7 +16,7 @@ class MyRobot(wpilib.TimedRobot):
     """
 
     def robotInit(self):
-        self.colorSensor = ColorSensorV3(wpilib.I2C.Port.kOnboard)
+        self.colorSensor = ColorSensorV3(wpilib.I2C.Port.kPort0)
 
         # A Rev Color Match object is used to register and detect known colors. This can
         # be calibrated ahead of time or during operation.
diff --git a/examples/get-set-params/robot.py b/examples/get-set-params/robot.py
@@ -12,7 +12,7 @@
 class Robot(wpilib.TimedRobot):
     def robotInit(self):
         # Create motor
-        self.motor = rev.CANSparkMax(1, rev.CANSparkMax.MotorType.kBrushless)
+        self.motor = rev.CANSparkMax(0, 1, rev.CANSparkMax.MotorType.kBrushless)
 
         self.joystick = wpilib.Joystick(0)
 
diff --git a/examples/getting-started/robot.py b/examples/getting-started/robot.py
@@ -16,8 +16,8 @@ def robotInit(self):
         This function is called upon program startup and
         should be used for any initialization code.
         """
-        self.leftDrive = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
-        self.rightDrive = rev.SparkMax(2, rev.SparkMax.MotorType.kBrushless)
+        self.leftDrive = rev.SparkMax(0, 1, rev.SparkMax.MotorType.kBrushless)
+        self.rightDrive = rev.SparkMax(0, 2, rev.SparkMax.MotorType.kBrushless)
         self.robotDrive = wpilib.drive.DifferentialDrive(
             self.leftDrive, self.rightDrive
         )
diff --git a/examples/limit-switch/robot.py b/examples/limit-switch/robot.py
@@ -16,7 +16,7 @@
 class Robot(wpilib.TimedRobot):
     def robotInit(self):
         # Create motor
-        self.motor = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
+        self.motor = rev.SparkMax(0, 1, rev.SparkMax.MotorType.kBrushless)
 
         self.joystick = wpilib.Joystick(0)
 
diff --git a/examples/read_rgb_values/robot.py b/examples/read_rgb_values/robot.py
@@ -16,7 +16,7 @@ class MyRobot(wpilib.TimedRobot):
     """
 
     def robotInit(self):
-        self.colorSensor = ColorSensorV3(wpilib.I2C.Port.kOnboard)
+        self.colorSensor = ColorSensorV3(wpilib.I2C.Port.kPort0)
 
     def robotPeriodic(self):
         # The method getColor() returns a normalized color value from the sensor and can be
diff --git a/pyproject.toml b/pyproject.toml
@@ -3,10 +3,10 @@ build-backend = "hatchling.build"
 requires = [
     "hatchling",
     "hatch-vcs",
-    "semiwrap~=0.1",
+    "semiwrap~=0.1.4",
     "hatch-meson~=0.1.0b2",
-    "hatch-robotpy~=0.2.0",
-    "wpilib~=2025.3.2.2",
+    "hatch-robotpy~=0.2.1",
+    "wpilib~=2027.0.0a2",
 ]
 
 
@@ -16,15 +16,15 @@ dynamic = ["version"]
 description = "REVLib for RobotPy"
 license = "BSD-3-Clause"
 dependencies = [
-    "wpilib~=2025.3.2.2",
+    "wpilib~=2027.0.0a2",
 ]
 
 [[project.authors]]
 name = "RobotPy Development Team"
 email = "robotpy@googlegroups.com"
 
 [project.urls]
-"Source code" = "https://github.com/robotpy/robotpy-ctre"
+"Source code" = "https://github.com/robotpy/robotpy-rev"
 
 
 [tool.hatch.version]
@@ -44,15 +44,15 @@ packages = ["rev"]
 artifact_id = "REVLib-cpp"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
-version = "2025.0.3"
+version = "2027.0.0-alpha-1"
 staticlibs = ["REVLib"]
 extract_to = "lib"
 
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "REVLib-driver"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
-version = "2025.0.3"
+version = "2027.0.0-alpha-1"
 staticlibs = [ "REVLibDriver"]
 extract_to = "lib"
 
@@ -69,6 +69,42 @@ extract_to = "lib"
 
 [tool.semiwrap]
 update_init = ["rev"]
+scan_headers_ignore = [
+    # rev
+    "rev/CANCommonParameters.h",
+    "rev/CANDriverPrivate.h",
+    "rev/CANServoHubDriver.h",
+    "rev/CANServoHubFrames.h",
+    "rev/CANServoHubParameters.h",
+    "rev/CANSparkDriver.h",
+    "rev/CANSparkDriverPrivate.h",
+    "rev/CANSparkFrames.h",
+    "rev/CANSparkMaxFrames.h",
+    "rev/CANSparkParameters.h",
+    "rev/CANSparkSWDL.h",
+    "rev/REVCommon.h",
+    "rev/REVLibDaemon.h",
+    "rev/REVLibErrors.h",
+    "rev/REVUtils.h",
+
+    "rev/ServoHubLowLevel.h",
+    "rev/SparkFrameManager.h",
+
+    # rev/config
+    "rev/config/ServoHubParameters.h",
+
+    # rev/rev
+    "rev/rev/REVLibVersion.h",
+
+    # rev/sim
+    "rev/sim/CANServoHub.h",
+    "rev/sim/CANSpark.h",
+    "rev/sim/MAXMotion.h",
+    "rev/sim/SmartCurrentLimit.h",
+
+    # .
+    "sparkbaseconfig_apply.h",
+]
 
 
 [tool.semiwrap.extension_modules."rev._rev"]
@@ -107,14 +143,15 @@ includes = [
 # rev
 AbsoluteEncoder = "rev/AbsoluteEncoder.h"
 AnalogInput = "rev/AnalogInput.h"
-# TODO: uncomment when GetFRCDeviceTypeText and GetFRCManufacturerText are
-#       marked as `static inline`
-# CANDeviceScanner = "rev/CANDeviceScanner.h"
 CIEColor = "rev/CIEColor.h"
 ColorMatch = "rev/ColorMatch.h"
 ColorSensorV3 = "rev/ColorSensorV3.h"
 REVLibError = "rev/REVLibError.h"
 RelativeEncoder = "rev/RelativeEncoder.h"
+ServoChannel = "rev/ServoChannel.h"
+ServoHub = "rev/ServoHub.h"
+ServoHubLowLevel = "rev/ServoHubLowLevel.h"
+ServoHubSim = "rev/ServoHubSim.h"
 SparkAbsoluteEncoder = "rev/SparkAbsoluteEncoder.h"
 SparkAnalogSensor = "rev/SparkAnalogSensor.h"
 SparkBase = "rev/SparkBase.h"
@@ -147,6 +184,10 @@ LimitSwitchConfig = "rev/config/LimitSwitchConfig.h"
 LimitSwitchConfigAccessor = "rev/config/LimitSwitchConfigAccessor.h"
 MAXMotionConfig = "rev/config/MAXMotionConfig.h"
 MAXMotionConfigAccessor = "rev/config/MAXMotionConfigAccessor.h"
+ServoChannelConfig = "rev/config/ServoChannelConfig.h"
+ServoChannelConfigAccessor = "rev/config/ServoChannelConfigAccessor.h"
+ServoHubConfig = "rev/config/ServoHubConfig.h"
+ServoHubConfigAccessor = "rev/config/ServoHubConfigAccessor.h"
 SignalsConfig = "rev/config/SignalsConfig.h"
 SignalsConfigAccessor = "rev/config/SignalsConfigAccessor.h"
 SmartMotionConfig = "rev/config/SmartMotionConfig.h"
@@ -164,6 +205,7 @@ SparkParameters = "rev/config/SparkParameters.h"
 # rev/sim
 MovingAverageFilterSim = "rev/sim/MovingAverageFilterSim.h"
 NoiseGenerator = "rev/sim/NoiseGenerator.h"
+ServoHubSimFaultManager = "rev/sim/ServoHubSimFaultManager.h"
 SparkAbsoluteEncoderSim = "rev/sim/SparkAbsoluteEncoderSim.h"
 SparkAnalogSensorSim = "rev/sim/SparkAnalogSensorSim.h"
 SparkExternalEncoderSim = "rev/sim/SparkExternalEncoderSim.h"
diff --git a/rev/__init__.py b/rev/__init__.py
@@ -31,6 +31,15 @@
     NoiseGenerator,
     REVLibError,
     RelativeEncoder,
+    ServoChannel,
+    ServoChannelConfig,
+    ServoChannelConfigAccessor,
+    ServoHub,
+    ServoHubConfig,
+    ServoHubConfigAccessor,
+    ServoHubLowLevel,
+    ServoHubSim,
+    ServoHubSimFaultManager,
     SignalsConfig,
     SignalsConfigAccessor,
     SmartMotionConfig,
@@ -95,6 +104,15 @@
     "NoiseGenerator",
     "REVLibError",
     "RelativeEncoder",
+    "ServoChannel",
+    "ServoChannelConfig",
+    "ServoChannelConfigAccessor",
+    "ServoHub",
+    "ServoHubConfig",
+    "ServoHubConfigAccessor",
+    "ServoHubLowLevel",
+    "ServoHubSim",
+    "ServoHubSimFaultManager",
     "SignalsConfig",
     "SignalsConfigAccessor",
     "SmartMotionConfig",
diff --git a/semiwrap/ServoChannel.yml b/semiwrap/ServoChannel.yml
@@ -0,0 +1,16 @@
+---
+
+classes:
+  rev::servohub::ServoChannel:
+    attributes:
+      kNumServoChannels:
+    enums:
+      ChannelId:
+    methods:
+      GetChannelId:
+      GetPulseWidth:
+      IsEnabled:
+      GetCurrent:
+      SetPulseWidth:
+      SetEnabled:
+      SetPowered:
diff --git a/semiwrap/ServoChannelConfig.yml b/semiwrap/ServoChannelConfig.yml
@@ -0,0 +1,21 @@
+---
+
+classes:
+  rev::servohub::ServoChannelConfig:
+    base_qualnames:
+      BaseConfig: rev::BaseConfig
+    enums:
+      BehaviorWhenDisabled:
+    methods:
+      ServoChannelConfig:
+      Apply:
+      PulseRange:
+        overloads:
+          uint32_t, uint32_t, uint32_t:
+          const PulseRange_t&:
+      DisableBehavior:
+  rev::servohub::ServoChannelConfig::PulseRange_t:
+    attributes:
+      minPulse_us:
+      centerPulse_us:
+      maxPulse_us:
diff --git a/semiwrap/ServoChannelConfigAccessor.yml b/semiwrap/ServoChannelConfigAccessor.yml
@@ -0,0 +1,7 @@
+---
+
+classes:
+  rev::servohub::ServoChannelConfigAccessor:
+    methods:
+      GetPulseRange:
+      GetDisableBehavior:
diff --git a/semiwrap/ServoHub.yml b/semiwrap/ServoHub.yml
@@ -0,0 +1,51 @@
+---
+
+classes:
+  rev::servohub::ServoHub:
+    attributes:
+      configAccessor:
+    enums:
+      ResetMode:
+      Bank:
+    methods:
+      ServoHub:
+      Configure:
+      ConfigureAsync:
+      HasActiveFault:
+      HasStickyFault:
+      HasActiveWarning:
+      HasStickyWarning:
+      GetFaults:
+      GetStickyFaults:
+      GetWarnings:
+      GetStickyWarnings:
+      ClearFaults:
+      GetDeviceVoltage:
+      GetDeviceCurrent:
+      GetServoVoltage:
+      GetServoChannel:
+      SetBankPulsePeriod:
+  rev::servohub::ServoHub::Faults:
+    attributes:
+      regulatorPowerGood:
+      hardware:
+      firmware:
+      lowBattery:
+      rawBits:
+    methods:
+      Faults:
+  rev::servohub::ServoHub::Warnings:
+    attributes:
+      brownout:
+      canWarning:
+      canBusOff:
+      hasReset:
+      channel0Overcurrent:
+      channel1Overcurrent:
+      channel2Overcurrent:
+      channel3Overcurrent:
+      channel4Overcurrent:
+      channel5Overcurrent:
+      rawBits:
+    methods:
+      Warnings:
diff --git a/semiwrap/ServoHubConfig.yml b/semiwrap/ServoHubConfig.yml
@@ -0,0 +1,20 @@
+---
+
+classes:
+  rev::servohub::ServoHubConfig:
+    base_qualnames:
+      BaseConfig: rev::BaseConfig
+    attributes:
+      channel0:
+      channel1:
+      channel2:
+      channel3:
+      channel4:
+      channel5:
+    methods:
+      ServoHubConfig:
+      Apply:
+        overloads:
+          ServoHubConfig&:
+          ServoChannel::ChannelId, ServoChannelConfig&:
+      Flatten:
diff --git a/semiwrap/ServoHubConfigAccessor.yml b/semiwrap/ServoHubConfigAccessor.yml
@@ -0,0 +1,13 @@
+---
+
+classes:
+  rev::servohub::ServoHubConfigAccessor:
+    attributes:
+      channel0:
+      channel1:
+      channel2:
+      channel3:
+      channel4:
+      channel5:
+    methods:
+      channel:
diff --git a/semiwrap/ServoHubLowLevel.yml b/semiwrap/ServoHubLowLevel.yml
diff --git a/semiwrap/ServoHubSim.yml b/semiwrap/ServoHubSim.yml
diff --git a/semiwrap/ServoHubSimFaultManager.yml b/semiwrap/ServoHubSimFaultManager.yml
diff --git a/tests/requirements.txt b/tests/requirements.txt
diff --git a/tests/test_cansparkmax.py b/tests/test_cansparkmax.py
