2025 WPILib updates

.github/workflows/dist.yml

@@ -44,7 +44,7 @@ jobs:
 
     - uses: actions/setup-python@v5
       with:
-        python-version: "3.12"
+        python-version: "3.13"
 
     - name: Install deps
       shell: bash
@@ -68,13 +68,13 @@ jobs:
       max-parallel: ${{ fromJSON(needs.setup_concurrency.outputs.max-parallel).v }}
       fail-fast: true
       matrix: 
-        os: ["ubuntu-22.04", "macos-12", "windows-2022"]
+        os: ["ubuntu-22.04", "macos-13", "windows-2022"]
         python_version:
-        - '3.8'
         - '3.9'
         - '3.10'
         - '3.11'
         - '3.12'
+        - '3.13'
 
     steps:
     - uses: actions/checkout@v4
@@ -114,7 +114,7 @@ jobs:
     - name: Install numpy (needed for stubgen but broken in raspbian CI)
       shell: bash
       run: |
-        python -m pip --disable-pip-version-check install 'numpy<2'
+        python -m pip --disable-pip-version-check install numpy
 
     - name: Build + test wheels
       shell: bash
@@ -169,30 +169,30 @@ jobs:
       max-parallel: ${{ fromJSON(needs.setup_concurrency.outputs.max-parallel).v }}
       matrix:
         os:
-        - container: wpilib/roborio-cross-ubuntu:2024-22.04-py312
+        - container: wpilib/roborio-cross-ubuntu:2025-22.04-py313
           name: roborio
 
-        - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04-py38
-          name: raspbian-py38
-        - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04-py39
+        - container: wpilib/raspbian-cross-ubuntu:2025-bullseye-22.04-py39
           name: raspbian-py39
-        - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04-py310
+        - container: wpilib/raspbian-cross-ubuntu:2025-bullseye-22.04-py310
           name: raspbian-py310
-        - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04-py311
+        - container: wpilib/raspbian-cross-ubuntu:2025-bullseye-22.04-py311
           name: raspbian-py311
-        - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04-py312
+        - container: wpilib/raspbian-cross-ubuntu:2025-bullseye-22.04-py312
           name: raspbian-py312
-
-        - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04-py38
-          name: raspbian-aarch64-py38
-        - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04-py39
+        - container: wpilib/raspbian-cross-ubuntu:2025-bullseye-22.04-py313
+          name: raspbian-py313
+
+        - container: wpilib/aarch64-cross-ubuntu:2025-bullseye-22.04-py39
           name: raspbian-aarch64-py39
-        - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04-py310
+        - container: wpilib/aarch64-cross-ubuntu:2025-bullseye-22.04-py310
           name: raspbian-aarch64-py310
-        - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04-py311
+        - container: wpilib/aarch64-cross-ubuntu:2025-bullseye-22.04-py311
           name: raspbian-aarch64-py311
-        - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04-py312
+        - container: wpilib/aarch64-cross-ubuntu:2025-bullseye-22.04-py312
           name: raspbian-aarch64-py312
+        - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04-py313
+          name: raspbian-aarch64-py313
 
     container:
       image: "${{ matrix.os.container }}"
@@ -222,7 +222,13 @@ jobs:
       run: |
         pwd
         /usr/bin/git config --global --add safe.directory $(pwd)
-
+
+    # See https://github.com/pallets/markupsafe/issues/475
+    - name: Install MarkupSafe
+      shell: bash
+      run: |
+        /build/venv/bin/cross-pip install --no-build-isolation "markupsafe; python_version < '3.12'"
+
     - name: Install deps
       shell: bash
       run: |

devtools/__main__.py

@@ -16,7 +16,7 @@
 
 # MACOSX_DEPLOYMENT_TARGET is required for linking to WPILib
 if sys.platform == "darwin":
-    os.environ["MACOSX_DEPLOYMENT_TARGET"] = "12"
+    os.environ["MACOSX_DEPLOYMENT_TARGET"] = "13"
 
 
 @click.group()

rdev.toml

@@ -4,16 +4,16 @@
 
 [params]
 
-wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/release"
-wpilib_bin_version = "2024.3.2"
-# wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development"
+# wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/release"
+wpilib_bin_version = "2025.1.1-beta-1"
+wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development"
 
 # Don't update these artifacts
 exclude_artifacts = [
     "opencv-cpp"
 ]
 
-robotpy_build_req = "<2025.0.0,~=2024.0.0"
+robotpy_build_req = "<2025.0.0b1,~=2025.0.0a1"
 
 #
 # Subproject configuration

rdev_requirements.txt

@@ -2,6 +2,7 @@ black
 click
 packaging
 pydantic<2
+pytest
 requests
 setuptools
 setuptools_scm >= 6.2, < 8

subprojects/pyntcore/gen/NetworkTableInstance.yml

@@ -144,7 +144,7 @@ classes:
       StopClient:
       SetServer:
         overloads:
-          const char*, unsigned int:
+          std::string_view, unsigned int:
           std::span<const std::pair<std::string_view, unsigned int>>:
           std::span<const std::string_view>, unsigned int:
       SetServerTeam:

subprojects/pyntcore/ntcore/__init__.py

@@ -1,6 +1,6 @@
 from . import _init_ntcore
 
-# autogenerated by 'robotpy-build create-imports ntcore'
+# autogenerated by 'robotpy-build create-imports ntcore ntcore._ntcore'
 from ._ntcore import (
     BooleanArrayEntry,
     BooleanArrayPublisher,

subprojects/pyntcore/pyproject.toml

@@ -12,19 +12,32 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a1",
     "robotpy-wpiutil~=2024.3.1",
     "robotpy-wpinet~=2024.3.1",
 ]
 
 [tool.robotpy-build]
 base_package = "ntcore"
+update_init = [
+    "ntcore",
+    "ntcore.meta ntcore._ntcore.meta"
+]
+scan_headers_ignore = [
+    "networktables/ProtobufTopic.h",
+    "networktables/UnitTopic.h",
+
+    "ntcore.h",
+    "ntcore_c.h",
+    "ntcore_c_types.h",
+    "ntcore_test.h",
+]
 
 [tool.robotpy-build.wrappers."ntcore".maven_lib_download]
 artifact_id = "ntcore-cpp"
 group_id = "edu.wpi.first.ntcore"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2024.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.1.1-beta-1"
 
 libs = ["ntcore"]
 
@@ -66,11 +79,6 @@ StructArrayTopic = "networktables/StructArrayTopic.h"
 StringArrayTopic = "networktables/StringArrayTopic.h"
 StringTopic = "networktables/StringTopic.h"
 Topic = "networktables/Topic.h"
-# UnitTopic = "networktables/UnitTopic.h"
 
-# ntcore = "ntcore.h"
-# ntcore_c = "ntcore_c.h"
-# ntcore_c_types = "ntcore_c_types.h"
 ntcore_cpp = "ntcore_cpp.h"
 ntcore_cpp_types = "ntcore_cpp_types.h"
-# ntcore_test = "ntcore_test.h"

subprojects/robotpy-apriltag/gen/AprilTagFieldLayout.yml

@@ -5,6 +5,8 @@ functions:
     ignore: true
   from_json:
     ignore: true
+  LoadAprilTagLayoutField:
+    ignore: true
 classes:
   AprilTagFieldLayout:
     enums:
@@ -15,6 +17,7 @@ classes:
           "":
           std::string_view:
           std::vector<AprilTag>, units::meter_t, units::meter_t:
+      LoadField:
       GetFieldLength:
       GetFieldWidth:
       GetTags:

subprojects/robotpy-apriltag/pyproject.toml

@@ -12,19 +12,35 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a1",
     "robotpy-wpiutil~=2024.3.1",
     "robotpy-wpimath~=2024.3.1",
 ]
 
 [tool.robotpy-build]
 base_package = "robotpy_apriltag"
+update_init = [
+  "robotpy_apriltag robotpy_apriltag._apriltag"
+]
+scan_headers_ignore = [
+  "common/*",
+  "test/*",
+
+  "apriltag.h",
+  "apriltag_math.h",
+  "apriltag_pose.h",
+
+  "frc/apriltag/AprilTagDetector_cv.h",
+
+  "tag16h5.h",
+  "tag36h11.h",
+]
 
 [tool.robotpy-build.wrappers."robotpy_apriltag".maven_lib_download]
 artifact_id = "apriltag-cpp"
 group_id = "edu.wpi.first.apriltag"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2024.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.1.1-beta-1"
 
 libs = ["apriltag"]
 

subprojects/robotpy-apriltag/robotpy_apriltag/__init__.py

@@ -9,7 +9,6 @@
     AprilTagFieldLayout,
     AprilTagPoseEstimate,
     AprilTagPoseEstimator,
-    loadAprilTagLayoutField,
 )
 
 __all__ = [
@@ -20,5 +19,4 @@
     "AprilTagFieldLayout",
     "AprilTagPoseEstimate",
     "AprilTagPoseEstimator",
-    "loadAprilTagLayoutField",
 ]

subprojects/robotpy-cscore/cscore/__init__.py

@@ -1,8 +1,6 @@
 from . import _init_cscore
 
-from ._logging import enableLogging
-
-# autogenerated by 'robotpy-build create-imports cscore'
+# autogenerated by 'robotpy-build create-imports cscore cscore._cscore'
 from ._cscore import (
     AxisCamera,
     CameraServer,
@@ -49,9 +47,12 @@
     "runMainRunLoop",
     "runMainRunLoopTimeout",
     "stopMainRunLoop",
-    "enableLogging",
 ]
 
+from ._logging import enableLogging
+
+__all__.append("enableLogging")
+
 try:
     from .version import __version__
 except ImportError:

subprojects/robotpy-cscore/cscore/cvnp/cvnp.cpp

@@ -181,15 +181,7 @@ namespace cvnp
 
     bool is_array_contiguous(const pybind11::array& a)
     {
-        pybind11::ssize_t expected_stride = a.itemsize();
-        for (int i = a.ndim() - 1; i >=0; --i)
-        {
-            pybind11::ssize_t current_stride = a.strides()[i];
-            if (current_stride != expected_stride)
-                return false;
-            expected_stride = expected_stride * a.shape()[i];
-        }
-        return true;
+        return a.flags() & pybind11::array::c_style;
     }
 
 

subprojects/robotpy-cscore/cscore/cvnp/cvnp.h

@@ -49,6 +49,7 @@ namespace cvnp
         return pybind11::array(
             pybind11::dtype::of<_Tp>()
             , std::vector<std::size_t> {_rows, _cols}
+            , std::vector<std::size_t>{_cols * sizeof(_Tp), sizeof(_Tp)} // Strides
             , m.val
         );
     }

subprojects/robotpy-cscore/pyproject.toml

@@ -13,7 +13,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0",
+    "robotpy-build<2025.0.0b1,~=2025.0.0a1",
     "robotpy-wpiutil~=2024.3.1",
     "robotpy-wpinet~=2024.3.1",
     "pyntcore~=2024.3.1",
@@ -22,20 +22,23 @@ requires = [
 
 [tool.robotpy-build]
 base_package = "cscore"
+update_init = [
+  "cscore"
+]
 
 [tool.robotpy-build.static_libs."cscore_cpp".maven_lib_download]
 artifact_id = "cscore-cpp"
 group_id = "edu.wpi.first.cscore"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2024.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.1.1-beta-1"
 
 libs = ["cscore"]
 
 [tool.robotpy-build.static_libs."cameraserver_cpp".maven_lib_download]
 artifact_id = "cameraserver-cpp"
 group_id = "edu.wpi.first.cameraserver"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2024.3.2"
+repo_url = "https://frcmaven.wpi.edu/artifactory/development"
+version = "2025.1.1-beta-1"
 
 libs = ["cameraserver"]
 

subprojects/robotpy-hal/gen/DriverStation.yml

@@ -18,15 +18,17 @@ functions:
   HAL_GetJoystickIsXbox:
   HAL_GetJoystickType:
   HAL_GetJoystickName:
+    param_override:
+      name:
+        ignore: true
     cpp_code: |
       [](int32_t joystickNum) {
-        auto name = HAL_GetJoystickName(joystickNum);
-        std::string sname(name);
-        HAL_FreeJoystickName(name);
+        WPI_String name;
+        HAL_GetJoystickName(&name, joystickNum);
+        std::string sname(wpi::to_string_view(&name));
+        WPI_FreeString(&name);
         return sname;
       }
-  HAL_FreeJoystickName:
-    ignore: true
   HAL_GetJoystickAxisType:
   HAL_SetJoystickOutputs:
   HAL_GetMatchTime: