Initial proof of concept

.gitignore

@@ -0,0 +1,18 @@
+*.pyc
+*.so
+__pycache__
+
+.project
+.pydevproject
+.vscode
+
+*.egg-info
+build
+dist
+
+rev/version.py
+rev/_impl/autogen
+
+
+docs/_build
+docs/_sidebar.rst.inc

MANIFEST.in

@@ -0,0 +1,5 @@
+include LICENSE
+include gen/*.j2 gen/*.yml gen/hooks.py
+include rev/_impl/rev_roborio.cpp
+include rev/_impl/wpilibc/frc/*.cpp rev/_impl/wpilibc/frc/*.h
+include rev/_impl/autogen/*.cpp rev/_impl/autogen/*.hpp rev/_impl/autogen/*.inc

README.rst

@@ -0,0 +1,32 @@
+robotpy-rev
+===========
+
+This is a python wrapper around the REV Spark MAX API. The RobotPy project
+is not associated with or endorsed by REV Robotics.
+
+**WARNING**: THESE BINDINGS DO NOT WORK YET!!
+
+Documentation
+=============
+
+* `Installation <http://robotpy.readthedocs.io/en/stable/install/rev.html>`_
+* `Python API Documentation <http://robotpy.readthedocs.io/projects/rev/en/stable/api.html>`_
+* `REV's SparkMAX software <https://www.revrobotics.com/sparkmax-software/>`_
+
+
+Developers Notes
+================
+
+Notes for advanced users and developers can be found in develop.md in the git
+repository.
+
+License
+=======
+
+RobotPy specific bits are available under the Apache 2.0 license. The REV
+specific pieces are available under a BSD license.
+
+Author
+======
+
+Dustin Spicuzza (dustin@virtualroadside.com)

rev/__init__.py

@@ -0,0 +1,6 @@
+from ._impl import CANSparkMax, MotorType, CANError
+
+try:
+    from .version import __version__
+except ImportError:  # pragma: nocover
+    __version__ = "master"

rev/_impl/__init__.py

@@ -0,0 +1,29 @@
+import hal
+
+
+if hal.isSimulation():
+
+    import enum
+
+    class MotorType(enum.IntEnum):
+        kBrushed = 0
+        kBrushless = 1
+
+    class CANError(enum.IntEnum):
+        kOK = 0
+        kError = 1
+        kTimeout = 2
+
+    class CANSparkMax:
+        def __init__(self, value, type):
+            pass
+
+        def set(self, value):
+            raise NotImplementedError
+
+        def get(self):
+            raise NotImplementedError
+
+
+else:
+    from .rev_roborio import CANSparkMax, MotorType, CANError

rev/_impl/info.py

@@ -0,0 +1,5 @@
+class Info:
+    def module_info(self):
+        from .. import version
+
+        return "REV bindings", version.__version__, version.__rev_version__

rev/_impl/rev_roborio.cpp

@@ -0,0 +1,27 @@
+
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+namespace py = pybind11;
+
+// Use this to release the gil
+typedef py::call_guard<py::gil_scoped_release> release_gil;
+
+// REV includes
+#include "rev/CANSparkMax.h"
+
+PYBIND11_MODULE(rev_roborio, m) {
+    py::enum_<rev::CANSparkMax::MotorType>(m, "MotorType")
+        .value("kBrushed", rev::CANSparkMax::MotorType::kBrushed)
+        .value("kBrushless", rev::CANSparkMax::MotorType::kBrushless);
+
+    py::enum_<rev::CANError>(m, "CANError")
+        .value("kOK", rev::CANError::kOK)
+        .value("kError", rev::CANError::kError)
+        .value("kTimeout", rev::CANError::kTimeout);
+
+    py::class_<rev::CANSparkMax> cls(m, "CANSparkMax");
+    cls.def(py::init<int, rev::CANSparkMax::MotorType>(), release_gil())
+       .def("set", &rev::CANSparkMax::Set, release_gil())
+       .def("get", &rev::CANSparkMax::Get, release_gil());
+}

rev/_impl/wpilibc/SpeedController.h

@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/PIDOutput.h"
+
+namespace frc {
+
+/**
+ * Interface for speed controlling devices.
+ */
+class SpeedController : public PIDOutput {
+ public:
+  virtual ~SpeedController() = default;
+
+  /**
+   * Common interface for setting the speed of a speed controller.
+   *
+   * @param speed The speed to set.  Value should be between -1.0 and 1.0.
+   */
+  virtual void Set(double speed) = 0;
+
+  /**
+   * Common interface for getting the current set speed of a speed controller.
+   *
+   * @return The current set speed.  Value is between -1.0 and 1.0.
+   */
+  virtual double Get() const = 0;
+
+  /**
+   * Common interface for inverting direction of a speed controller.
+   *
+   * @param isInverted The state of inversion, true is inverted.
+   */
+  virtual void SetInverted(bool isInverted) = 0;
+
+  /**
+   * Common interface for returning the inversion state of a speed controller.
+   *
+   * @return isInverted The state of inversion, true is inverted.
+   */
+  virtual bool GetInverted() const = 0;
+
+  /**
+   * Common interface for disabling a motor.
+   */
+  virtual void Disable() = 0;
+
+  /**
+   * Common interface to stop the motor until Set is called again.
+   */
+  virtual void StopMotor() = 0;
+};
+
+}  // namespace frc

rev/_impl/wpilibc/frc/Base.h

@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#if !defined(__clang__) && defined(__GNUC__) && __GNUC__ < 5
+static_assert(0,
+              "GCC must be 5 or greater. If building for the roboRIO, please "
+              "update to the 2018 toolchains.");
+#endif
+
+#if defined(_MSC_VER) && _MSC_VER < 1900
+static_assert(0, "Visual Studio 2015 or greater required.");
+#endif
+
+/** WPILib FRC namespace */
+namespace frc {
+
+// A struct to use as a deleter when a std::shared_ptr must wrap a raw pointer
+// that is being deleted by someone else.
+template <class T>
+struct NullDeleter {
+  void operator()(T*) const noexcept {};
+};
+
+}  // namespace frc
+
+// For backwards compatibility
+#ifdef NO_NAMESPACED_WPILIB
+using namespace frc;  // NOLINT
+#endif

rev/_impl/wpilibc/frc/CAN.cpp

@@ -0,0 +1,147 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/CAN.h"
+
+#include <utility>
+
+#include <hal/CAN.h>
+#include <hal/CANAPI.h>
+#include <hal/Errors.h>
+#include <hal/FRCUsageReporting.h>
+#include <hal/HALBase.h>
+
+using namespace frc;
+
+CAN::CAN(int deviceId) {
+  int32_t status = 0;
+  m_handle =
+      HAL_InitializeCAN(kTeamManufacturer, deviceId, kTeamDeviceType, &status);
+  if (status != 0) {
+    wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+    m_handle = HAL_kInvalidHandle;
+    return;
+  }
+
+  HAL_Report(HALUsageReporting::kResourceType_CAN, deviceId);
+}
+
+CAN::CAN(int deviceId, int deviceManufacturer, int deviceType) {
+  int32_t status = 0;
+  m_handle = HAL_InitializeCAN(
+      static_cast<HAL_CANManufacturer>(deviceManufacturer), deviceId,
+      static_cast<HAL_CANDeviceType>(deviceType), &status);
+  if (status != 0) {
+    wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+    m_handle = HAL_kInvalidHandle;
+    return;
+  }
+
+  HAL_Report(HALUsageReporting::kResourceType_CAN, deviceId);
+}
+
+CAN::~CAN() {
+  if (StatusIsFatal()) return;
+  if (m_handle != HAL_kInvalidHandle) {
+    HAL_CleanCAN(m_handle);
+    m_handle = HAL_kInvalidHandle;
+  }
+}
+
+CAN::CAN(CAN&& rhs) : ErrorBase(std::move(rhs)) {
+  std::swap(m_handle, rhs.m_handle);
+}
+
+CAN& CAN::operator=(CAN&& rhs) {
+  ErrorBase::operator=(std::move(rhs));
+
+  std::swap(m_handle, rhs.m_handle);
+
+  return *this;
+}
+
+void CAN::WritePacket(const uint8_t* data, int length, int apiId) {
+  int32_t status = 0;
+  HAL_WriteCANPacket(m_handle, data, length, apiId, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+void CAN::WritePacketRepeating(const uint8_t* data, int length, int apiId,
+                               int repeatMs) {
+  int32_t status = 0;
+  HAL_WriteCANPacketRepeating(m_handle, data, length, apiId, repeatMs, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+void CAN::StopPacketRepeating(int apiId) {
+  int32_t status = 0;
+  HAL_StopCANPacketRepeating(m_handle, apiId, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+bool CAN::ReadPacketNew(int apiId, CANData* data) {
+  int32_t status = 0;
+  HAL_ReadCANPacketNew(m_handle, apiId, data->data, &data->length,
+                       &data->timestamp, &status);
+  if (status == HAL_ERR_CANSessionMux_MessageNotFound) {
+    return false;
+  }
+  if (status != 0) {
+    wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+    return false;
+  } else {
+    return true;
+  }
+}
+
+bool CAN::ReadPacketLatest(int apiId, CANData* data) {
+  int32_t status = 0;
+  HAL_ReadCANPacketLatest(m_handle, apiId, data->data, &data->length,
+                          &data->timestamp, &status);
+  if (status == HAL_ERR_CANSessionMux_MessageNotFound) {
+    return false;
+  }
+  if (status != 0) {
+    wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+    return false;
+  } else {
+    return true;
+  }
+}
+
+bool CAN::ReadPacketTimeout(int apiId, int timeoutMs, CANData* data) {
+  int32_t status = 0;
+  HAL_ReadCANPacketTimeout(m_handle, apiId, data->data, &data->length,
+                           &data->timestamp, timeoutMs, &status);
+  if (status == HAL_CAN_TIMEOUT ||
+      status == HAL_ERR_CANSessionMux_MessageNotFound) {
+    return false;
+  }
+  if (status != 0) {
+    wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+    return false;
+  } else {
+    return true;
+  }
+}
+
+bool CAN::ReadPeriodicPacket(int apiId, int timeoutMs, int periodMs,
+                             CANData* data) {
+  int32_t status = 0;
+  HAL_ReadCANPeriodicPacket(m_handle, apiId, data->data, &data->length,
+                            &data->timestamp, timeoutMs, periodMs, &status);
+  if (status == HAL_CAN_TIMEOUT ||
+      status == HAL_ERR_CANSessionMux_MessageNotFound) {
+    return false;
+  }
+  if (status != 0) {
+    wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+    return false;
+  } else {
+    return true;
+  }
+}