Port 2015 WPILib to cRio

virtuald commented 9 years ago

If someone were to do this, here's what they would need to do:

Currently RobotPy has python 3.2.5 in the tree. Port python 3.4.2 to cRio, adjust the build scripts to build that.. this probably isn't that hard
Remove the old wpilib SIP bindings
Adjust the current C++ HAL with #ifdef or whatever to work with the cRio chipobject/networkcommunications stuff. A good start might be to look at the HAL that was originally started but abandoned by the WPILib team.
Add SIP bindings for that C++ HAL. I imagine this goes something along the lines of creating a 'hal_impl' module that has a _RETVAL function which just passes through to the SIP bindings. No ctypes required.
Obviously, some things wouldn't be able to be supported (CANJaguar and CANTalon come to mind), and would just need to raise an error

This would be a great resource for people who want to use their old cRio's for testing robots, and use the new pyfrc/wpilib/etc without needing to port their code. However, I do not personally have the cycles to do this, but I can provide advice to anyone that is interested in taking it up.

virtuald commented 9 years ago

I just finished porting Python 3.4.3 to vxworks... took maybe 3.5 hours.

virtuald commented 6 years ago

Initial work was pushed to the https://github.com/robotpy/robotpy-crio/tree/2015 branch

robotpy / robotpy-crio

Port 2015 WPILib to cRio #8