Update to 2026.0.0-beta-1

.github/workflows/dist.yml

@@ -11,7 +11,7 @@ on:
 
 jobs:
   ci:
-    uses: robotpy/build-actions/.github/workflows/package-ci.yml@v2025
+    uses: robotpy/build-actions/.github/workflows/package-ci.yml@v2026
     with:
       artifactory_repo_type: vendor
       enable_raspbian: false

meson.build

@@ -16,6 +16,8 @@ cpp = meson.get_compiler('cpp')
 libs_path = meson.current_source_dir() + '/lib/lib'
 
 rev_deps += [
+    cpp.find_library('BackendDriver', dirs: libs_path),
+    cpp.find_library('REVLibWpi', dirs: libs_path),
     cpp.find_library('REVLibDriver', dirs: libs_path),
     cpp.find_library('REVLib', dirs: libs_path),
 ]

pyproject.toml

@@ -3,10 +3,10 @@ build-backend = "hatchling.build"
 requires = [
     "hatchling",
     "hatch-vcs",
-    "semiwrap~=0.1",
-    "hatch-meson~=0.1.0b2",
-    "hatch-robotpy~=0.2.0",
-    "wpilib~=2025.3.2.2",
+    "semiwrap~=0.2.1",
+    "hatch-meson~=0.1.0",
+    "hatch-robotpy~=0.2.1",
+    "wpilib~=2026.1.1b1",
 ]
 
 
@@ -16,7 +16,7 @@ dynamic = ["version"]
 description = "REVLib for RobotPy"
 license = "BSD-3-Clause"
 dependencies = [
-    "wpilib~=2025.3.2.2",
+    "wpilib~=2026.1.1b1",
 ]
 
 [[project.authors]]
@@ -44,18 +44,40 @@ packages = ["rev"]
 artifact_id = "REVLib-cpp"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
-version = "2025.0.3"
+version = "2026.0.0-beta-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 = "2026.0.0-beta-1"
 staticlibs = [ "REVLibDriver"]
 extract_to = "lib"
 
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "RevLibBackendDriver"
+group_id = "com.revrobotics.frc"
+repo_url = "https://maven.revrobotics.com"
+version = "2026.0.0-beta-1"
+staticlibs = [
+    "BackendDriver",
+]
+extract_to = "lib"
+use_headers = false
+
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "RevLibWpiBackendDriver"
+group_id = "com.revrobotics.frc"
+repo_url = "https://maven.revrobotics.com"
+version = "2026.0.0-beta-1"
+staticlibs = [
+    "REVLibWpi",
+]
+extract_to = "lib"
+use_headers = false
+
 #
 # End autogenerated TOML
 #
@@ -69,7 +91,39 @@ extract_to = "lib"
 
 [tool.semiwrap]
 update_init = ["rev"]
-
+scan_headers_ignore = [
+    # rev
+    "rev/CANCommonParameters.h",
+    "rev/CANDeviceScanner.h",
+    "rev/CANDriverPrivate.h",
+    "rev/CANServoHubDriver.h",
+    "rev/CANServoHubFrames.h",
+    "rev/CANServoHubParameters.h",
+    "rev/CANSparkDriver.h",
+    "rev/CANSparkFrames.h",
+    "rev/CANSparkParameters.h",
+    "rev/REVCommon.h",
+    "rev/REVLibDaemon.h",
+    "rev/REVUtils.h",
+    "rev/SparkFrameManager.h",
+    "rev/StatusLoggerDriver.h",
+
+    # rev/canupdate
+    "rev/canupdate/CANSparkSWDL.h",
+    "rev/canupdate/DfuSeFile.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"]
 name = "rev"
@@ -83,26 +137,6 @@ includes = [
 ]
 
 [tool.semiwrap.extension_modules."rev._rev".headers]
-# rev
-# CANSparkDriver = "rev/CANSparkDriver.h"
-# CANSparkDriverPrivate = "rev/CANSparkDriverPrivate.h"
-# CANSparkFrames = "rev/CANSparkFrames.h"
-# CANSparkMaxFrames = "rev/CANSparkMaxFrames.h"
-# CANSparkParameters = "rev/CANSparkParameters.h"
-# CANSparkSWDL = "rev/CANSparkSWDL.h"
-# REVCommon = "rev/REVCommon.h"
-# REVLibDaemon = "rev/REVLibDaemon.h"
-# REVLibErrors = "rev/REVLibErrors.h"
-# REVUtils = "rev/REVUtils.h"
-# SparkFrameManager = "rev/SparkFrameManager.h"
-
-# rev/rev
-# REVLibVersion = "rev/rev/REVLibVersion.h"
-
-# rev/sim
-# CANSpark = "rev/sim/CANSpark.h"
-# MAXMotion = "rev/sim/MAXMotion.h"
-# SmartCurrentLimit = "rev/sim/SmartCurrentLimit.h"
 
 # rev
 AbsoluteEncoder = "rev/AbsoluteEncoder.h"
@@ -111,10 +145,15 @@ AnalogInput = "rev/AnalogInput.h"
 #       marked as `static inline`
 # CANDeviceScanner = "rev/CANDeviceScanner.h"
 CIEColor = "rev/CIEColor.h"
+ClosedLoopTypes = "rev/ClosedLoopTypes.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"
@@ -127,6 +166,7 @@ SparkMax = "rev/SparkMax.h"
 SparkMaxAlternateEncoder = "rev/SparkMaxAlternateEncoder.h"
 SparkRelativeEncoder = "rev/SparkRelativeEncoder.h"
 SparkSim = "rev/SparkSim.h"
+SparkSoftLimit = "rev/SparkSoftLimit.h"
 
 # rev/config
 AbsoluteEncoderConfig = "rev/config/AbsoluteEncoderConfig.h"
@@ -138,19 +178,23 @@ AnalogSensorConfigAccessor = "rev/config/AnalogSensorConfigAccessor.h"
 BaseConfig = "rev/config/BaseConfig.h"
 ClosedLoopConfig = "rev/config/ClosedLoopConfig.h"
 ClosedLoopConfigAccessor = "rev/config/ClosedLoopConfigAccessor.h"
-ClosedLoopSlot = "rev/ClosedLoopSlot.h"
 EncoderConfig = "rev/config/EncoderConfig.h"
 EncoderConfigAccessor = "rev/config/EncoderConfigAccessor.h"
 ExternalEncoderConfig = "rev/config/ExternalEncoderConfig.h"
 ExternalEncoderConfigAccessor = "rev/config/ExternalEncoderConfigAccessor.h"
+FeedForwardConfig = "rev/config/FeedForwardConfig.h"
+FeedForwardConfigAccessor = "rev/config/FeedForwardConfigAccessor.h"
 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"
+ServoHubParameters = "rev/config/ServoHubParameters.h"
 SignalsConfig = "rev/config/SignalsConfig.h"
 SignalsConfigAccessor = "rev/config/SignalsConfigAccessor.h"
-SmartMotionConfig = "rev/config/SmartMotionConfig.h"
-SmartMotionConfigAccessor = "rev/config/SmartMotionConfigAccessor.h"
 SoftLimitConfig = "rev/config/SoftLimitConfig.h"
 SoftLimitConfigAccessor = "rev/config/SoftLimitConfigAccessor.h"
 SparkBaseConfig = "rev/config/SparkBaseConfig.h"
@@ -164,6 +208,7 @@ 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"
@@ -173,3 +218,6 @@ SparkMaxAlternateEncoderSim = "rev/sim/SparkMaxAlternateEncoderSim.h"
 SparkMaxSim = "rev/sim/SparkMaxSim.h"
 SparkRelativeEncoderSim = "rev/sim/SparkRelativeEncoderSim.h"
 SparkSimFaultManager = "rev/sim/SparkSimFaultManager.h"
+
+# rev/util
+StatusLogger = "rev/util/StatusLogger.h"

rev/__init__.py

@@ -23,6 +23,9 @@
     EncoderConfigAccessor,
     ExternalEncoderConfig,
     ExternalEncoderConfigAccessor,
+    FeedForwardConfig,
+    FeedForwardConfigAccessor,
+    FeedbackSensor,
     LimitSwitchConfig,
     LimitSwitchConfigAccessor,
     MAXMotionConfig,
@@ -31,10 +34,18 @@
     NoiseGenerator,
     REVLibError,
     RelativeEncoder,
+    ServoChannel,
+    ServoChannelConfig,
+    ServoChannelConfigAccessor,
+    ServoHub,
+    ServoHubConfig,
+    ServoHubConfigAccessor,
+    ServoHubLowLevel,
+    ServoHubParameter,
+    ServoHubSim,
+    ServoHubSimFaultManager,
     SignalsConfig,
     SignalsConfigAccessor,
-    SmartMotionConfig,
-    SmartMotionConfigAccessor,
     SoftLimitConfig,
     SoftLimitConfigAccessor,
     SparkAbsoluteEncoder,
@@ -65,6 +76,8 @@
     SparkRelativeEncoderSim,
     SparkSim,
     SparkSimFaultManager,
+    SparkSoftLimit,
+    StatusLogger,
 )
 
 __all__ = [
@@ -87,6 +100,9 @@
     "EncoderConfigAccessor",
     "ExternalEncoderConfig",
     "ExternalEncoderConfigAccessor",
+    "FeedForwardConfig",
+    "FeedForwardConfigAccessor",
+    "FeedbackSensor",
     "LimitSwitchConfig",
     "LimitSwitchConfigAccessor",
     "MAXMotionConfig",
@@ -95,10 +111,18 @@
     "NoiseGenerator",
     "REVLibError",
     "RelativeEncoder",
+    "ServoChannel",
+    "ServoChannelConfig",
+    "ServoChannelConfigAccessor",
+    "ServoHub",
+    "ServoHubConfig",
+    "ServoHubConfigAccessor",
+    "ServoHubLowLevel",
+    "ServoHubParameter",
+    "ServoHubSim",
+    "ServoHubSimFaultManager",
     "SignalsConfig",
     "SignalsConfigAccessor",
-    "SmartMotionConfig",
-    "SmartMotionConfigAccessor",
     "SoftLimitConfig",
     "SoftLimitConfigAccessor",
     "SparkAbsoluteEncoder",
@@ -129,4 +153,6 @@
     "SparkRelativeEncoderSim",
     "SparkSim",
     "SparkSimFaultManager",
+    "SparkSoftLimit",
+    "StatusLogger",
 ]

rev/rev.cpp

@@ -1,3 +1,14 @@
 #include <semiwrap_init.rev._rev.hpp>
 
-SEMIWRAP_PYBIND11_MODULE(m) { initWrapper(m); }
+// rev doesn't expose the internal API, but you need to call these
+// to initialize the library otherwise it crashes
+extern "C" {
+void *getRevLibWpiDriver(void);
+void setREVLibDriver(void *newDriver);
+}
+
+SEMIWRAP_PYBIND11_MODULE(m) {
+  setREVLibDriver(getRevLibWpiDriver());
+
+  initWrapper(m);
+}

semiwrap/AbsoluteEncoder.yml

@@ -1,4 +1,3 @@
-
 classes:
   rev::AbsoluteEncoder:
     methods:

semiwrap/AbsoluteEncoderConfig.yml

@@ -1,4 +1,3 @@
-
 classes:
   rev::spark::AbsoluteEncoderConfig:
     base_qualnames:

semiwrap/AbsoluteEncoderConfigAccessor.yml

@@ -1,4 +1,3 @@
-
 classes:
   rev::spark::AbsoluteEncoderConfigAccessor:
     methods:

semiwrap/AlternateEncoderConfig.yml

@@ -1,4 +1,3 @@
-
 classes:
   rev::spark::AlternateEncoderConfig:
     base_qualnames:

semiwrap/AlternateEncoderConfigAccessor.yml

@@ -1,4 +1,3 @@
-
 classes:
   rev::spark::AlternateEncoderConfigAccessor:
     methods:

semiwrap/AnalogInput.yml

@@ -1,4 +1,3 @@
-
 classes:
   rev::AnalogInput:
     methods:

semiwrap/AnalogSensorConfig.yml

@@ -1,4 +1,3 @@
-
 classes:
   rev::spark::AnalogSensorConfig:
     base_qualnames:

semiwrap/AnalogSensorConfigAccessor.yml

@@ -1,4 +1,3 @@
-
 classes:
   rev::spark::AnalogSensorConfigAccessor:
     methods:

semiwrap/BaseConfig.yml

@@ -1,4 +1,3 @@
-
 classes:
   rev::BaseConfig:
     methods:

semiwrap/CIEColor.yml

@@ -1,4 +1,3 @@
-
 classes:
   rev::CIEColor:
     methods:

semiwrap/ClosedLoopConfig.yml

@@ -1,20 +1,17 @@
-
 classes:
   rev::spark::ClosedLoopConfig:
     base_qualnames:
       BaseConfig: rev::BaseConfig
     attributes:
       maxMotion:
-      smartMotion:
-    enums:
-      FeedbackSensor:
+      feedForward:
     methods:
       ClosedLoopConfig:
       Apply:
         overloads:
           ClosedLoopConfig&:
-          SmartMotionConfig&:
           MAXMotionConfig&:
+          FeedForwardConfig&:
       Pidf:
       Pid:
       P:
@@ -33,3 +30,4 @@ classes:
       PositionWrappingInputRange:
       SetFeedbackSensor:
       Flatten:
+      AllowedClosedLoopError: