[wpilib] Add a few unit overloads #8231

Murat65536 · 2025-09-16T20:24:29Z

Closes #8191

wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java

wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java

wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java

wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java

calcmogul · 2025-09-17T16:42:08Z

fyi, these changes can be ported to C++ as well, despite the issue specifically mentioning Java.

Co-authored-by: Sam Carlberg <[email protected]>

into unit-overloads

Co-authored-by: Sam Carlberg <[email protected]>

wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java

Murat65536 · 2025-09-20T00:31:03Z

fyi, these changes can be ported to C++ as well, despite the issue specifically mentioning Java.

@calcmogul
I have very little experience with C++ compared to Java and VS Code shows a bunch of errors in any C++ file I try to open. Might be because I'm on Linux.

I see this:

allwpilib/wpilibc/src/main/native/cpp/TimedRobot.cpp

Lines 106 to 107 in ee3d55e

    
           void TimedRobot::AddPeriodic(std::function<void()> callback, 
        
                                        units::second_t period, units::second_t offset) {

~~What I don't see is where second_t is defined. I also don't see what units is. Something external?~~ I installed Windows. I see it now. Annoying that eveything's broken on Linux but I guess it makes sense. C++ isn't cross-platform until you make it behave that way.

ThadHouse · 2025-09-22T00:32:05Z

~~What I don't see is where second_t is defined. I also don't see what units is. Something external?~~ I installed Windows. I see it now. Annoying that eveything's broken on Linux but I guess it makes sense. C++ isn't cross-platform until you make it behave that way.

Linux definitely does work. However by default in allwpilib, the project intellisense generation doesn't run. You can run ./gradlew generateVsCodeConfig to force that generation.

Murat65536 · 2025-09-22T23:38:48Z

That makes more sense. There's probably a reason that it doesn't when I open up the project that I don't know. Maybe bad stuff happens if I close the project before the command completes?

Murat65536 · 2025-09-25T01:27:20Z

@calcmogul
Should I be using templates for this? Sorry if I'm missing something really easy or obvious. I don't have much experience with C++, especially in large projects.

KangarooKoala · 2025-09-26T17:50:33Z

You can just use the SI units (units::second_t, units::hertz_t, units::meter_t, etc.) for the C++ version, since our C++ units library will automatically convert between compatible unit types. (For example, you could pass 1_ft as an argument to a method expecting units::meter_t)

KangarooKoala

Nice work!

wpilibc/src/main/native/include/frc/TimedRobot.h

wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java

Co-authored-by: Joseph Eng <[email protected]>

into unit-overloads

KangarooKoala

Seems okay to me for what it's worth, though you should probably run wpiformat -f wpilibc/src/main/native/cpp/TimedRobot.cpp to make sure the long constructor line doesn't need to be broken up. (If you haven't installed wpiformat, just run python3 -m pip install wpiformat)

calcmogul · 2025-10-02T17:45:13Z

This PR is blocked on #8267.

KangarooKoala

Seems good to me, for what it's worth.

wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java

Add a few unit overloads.

a33cfdc

Murat65536 requested a review from a team as a code owner September 16, 2025 20:24

github-actions bot added the component: wpilibj WPILib Java label Sep 16, 2025

SamCarlberg requested changes Sep 17, 2025

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Murat65536 and others added 16 commits September 17, 2025 16:46

Remove Frequency overload in startSingle.

3d94afa

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9debc15

Co-authored-by: Sam Carlberg <[email protected]>

Fix debounce Frequency javadoc.

a5a895f

Fix debounce parameter name.

6147d2a

Merge branch 'unit-overloads' of https://github.com/Murat65536/allwpilib

912c745

into unit-overloads

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ed37170

Co-authored-by: Sam Carlberg <[email protected]>

Fix debounce javadoc.

ff9ab71

Fix debounce parameter name.

ba468e1

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1b1d81d

Co-authored-by: Sam Carlberg <[email protected]>

Apply suggestion from @SamCarlberg

4627280

Co-authored-by: Sam Carlberg <[email protected]>

Fix delay javadoc.

af04a3c

Remove Frequency overload on Delay.

b6dc355

Rename delay parameter.

f43bac7

Remove hasElapsed Frequency overload.

b37fda1

Rename hasElapsed parameter.

06eb5d7

Remove WatchDog constructor.

c0677ea

KangarooKoala reviewed Sep 18, 2025

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wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java Outdated Show resolved Hide resolved

Fix Lint and Format check.

2006b9e

Remove frequency overloads for debounce.

414cbc4

Add C++ constructors.

6b471ac

Murat65536 added 5 commits September 30, 2025 21:27

Apply requested changes.

38e1802

Remove unused imports.

3c32461

Remove unused import.

e604ba5

Rearrange import.

bb87fcc

Fix formatting.

cfdc1ed

KangarooKoala reviewed Oct 1, 2025

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wpilibc/src/main/native/include/frc/TimedRobot.h Outdated Show resolved Hide resolved

wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java Show resolved Hide resolved

Murat65536 and others added 3 commits October 1, 2025 16:41

Update wpilibc/src/main/native/include/frc/TimedRobot.h

b937642

Co-authored-by: Joseph Eng <[email protected]>

Add overload for StartPeriodic.

3831527

Merge branch 'unit-overloads' of https://github.com/Murat65536/allwpilib

f26103e

into unit-overloads

KangarooKoala reviewed Oct 2, 2025

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calcmogul added the state: blocked Something is blocking action. label Oct 2, 2025

calcmogul previously approved these changes Oct 2, 2025

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calcmogul removed the state: blocked Something is blocking action. label Oct 3, 2025

Merge branch 'main' into unit-overloads

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KangarooKoala approved these changes Oct 3, 2025

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auscompgeek reviewed Oct 4, 2025

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wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java Show resolved Hide resolved

Add suggested changes.

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Murat65536 dismissed calcmogul’s stale review via d2fd7b7 October 4, 2025 16:20

Update javadoc.

d9aa404

auscompgeek reviewed Oct 5, 2025

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wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java Outdated Show resolved Hide resolved

Reverted parameter name change.

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Murat65536 requested review from SamCarlberg and auscompgeek October 8, 2025 14:25

SamCarlberg approved these changes Oct 13, 2025

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Murat65536 requested a review from calcmogul October 13, 2025 21:48

calcmogul approved these changes Oct 13, 2025

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auscompgeek approved these changes Oct 19, 2025

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PeterJohnson merged commit 8b99ad8 into wpilibsuite:main Oct 29, 2025
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Murat65536 deleted the unit-overloads branch October 29, 2025 11:35

[wpilib] Add a few unit overloads #8231

[wpilib] Add a few unit overloads #8231

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Murat65536 commented Sep 16, 2025

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calcmogul commented Sep 17, 2025 •

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