Cross-platform WPILib

This is an attempt to make WPILib work on platforms besides the RoboRio, with native JNI methods implemented in Java.

NOTE: This project has no intentions of replacing WPILib, and if you use it instead of WPILib there will probably be a lot of things that will fail. It's more for if you want to use a platform on which WPILib is not supported (i.e. anything that doesn't have the architecture of the RoboRio as the NI libraries are distributed as shared libraries), because a semi-working WPILib is better than no WPILib.

For now (and very likely forever), this only supports Java.

Stuff that works

• Joystick control from Driver Station (axes, buttons, POV hats)
• NetConsole (if you send a lot of stuff really quickly QDriverStation will drop messages)

How it's compiled

This project uses Gradle for compilation. Here is a brief overview of the tasks involved in build.gradle:

1. WPILib is cloned and put in Gradle's build folder
2. A Java AST generator patches all native methods, replacing them with ones that fulfill the needed return types but return constants
3. Patches under the patches directory are merged with the corresponding files in the src folder by diffing the ASTs
4. The project is built

Usage

If you want to test things out, run gradlew run (you don't need Gradle installed), then launch a driver station such as QDriverStation and point the robot ip to 127.0.0.1.