Initial SystemCore empty HAL

.github/workflows/gradle.yml

@@ -12,9 +12,12 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2024-22.04
-            artifact-name: Athena
-            build-options: "-Ponlylinuxathena"
+          # - container: wpilib/roborio-cross-ubuntu:2025-22.04
+          #   artifact-name: Athena
+          #   build-options: "-Ponlylinuxathena"
+          - container: wpilib/systemcore-cross-ubuntu:2025-22.04
+            artifact-name: SystemCore
+            build-options: "-Ponlylinuxsystemcore"
           - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
             artifact-name: Arm32
             build-options: "-Ponlylinuxarm32"

.github/workflows/tools.yml

@@ -42,52 +42,52 @@ jobs:
             development
           retention-days: 1
 
-  Robotbuilder:
-    name: "Build - RobotBuilder"
-    needs: [build-artifacts]
-    runs-on: ubuntu-22.04
-    env:
-      DISPLAY: ':10'
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: wpilibsuite/robotbuilder
-          fetch-depth: 0
-      - uses: actions/download-artifact@v4
-        with:
-          name: MavenArtifacts
-      - name: Patch RobotBuilder to use local development
-        run: cd src/main/resources/export && echo "wpi.maven.useLocal = false" >> java/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> java/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.maven.useLocal = false" >> cpp/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> cpp/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> cpp/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> cpp/build.gradle
-      - name: Install and run xvfb
-        run: sudo apt-get update && sudo apt-get install -y xvfb && Xvfb $DISPLAY &
-      - name: Move artifacts
-        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
-      - uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: 'temurin'
-      - name: Build RobotBuilder with Gradle
-        run: ./gradlew build test --tests 'robotbuilder.exporters.*' -x htmlSanityCheck -PbuildServer -PreleaseMode ; cat build/test-results/test/TEST-robotbuilder.exporters.*.xml ;
-      - name: Summarize RobotBuilder Test Results
-        uses: EnricoMi/publish-unit-test-result-action@v2
-        if: always()
-        with:
-          files: |
-            build/test-results/test/TEST*.xml
-          check_run: false
-          comment_mode: off
-      - uses: actions/upload-artifact@v4
-        if: always()
-        with:
-          name: RobotBuilderTestResults
-          path: |
-            build/reports/
-      - uses: actions/upload-artifact@v4
-        with:
-          name: RobotBuilder Build
-          path: |
-            build/libs/
-          retention-days: 7
+  # Robotbuilder:
+  #   name: "Build - RobotBuilder"
+  #   needs: [build-artifacts]
+  #   runs-on: ubuntu-22.04
+  #   env:
+  #     DISPLAY: ':10'
+  #   steps:
+  #     - uses: actions/checkout@v4
+  #       with:
+  #         repository: wpilibsuite/robotbuilder
+  #         fetch-depth: 0
+  #     - uses: actions/download-artifact@v4
+  #       with:
+  #         name: MavenArtifacts
+  #     - name: Patch RobotBuilder to use local development
+  #       run: cd src/main/resources/export && echo "wpi.maven.useLocal = false" >> java/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> java/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.maven.useLocal = false" >> cpp/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> cpp/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> cpp/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> cpp/build.gradle
+  #     - name: Install and run xvfb
+  #       run: sudo apt-get update && sudo apt-get install -y xvfb && Xvfb $DISPLAY &
+  #     - name: Move artifacts
+  #       run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+  #     - uses: actions/setup-java@v4
+  #       with:
+  #         java-version: 17
+  #         distribution: 'temurin'
+  #     - name: Build RobotBuilder with Gradle
+  #       run: ./gradlew build test --tests 'robotbuilder.exporters.*' -x htmlSanityCheck -PbuildServer -PreleaseMode ; cat build/test-results/test/TEST-robotbuilder.exporters.*.xml ;
+  #     - name: Summarize RobotBuilder Test Results
+  #       uses: EnricoMi/publish-unit-test-result-action@v2
+  #       if: always()
+  #       with:
+  #         files: |
+  #           build/test-results/test/TEST*.xml
+  #         check_run: false
+  #         comment_mode: off
+  #     - uses: actions/upload-artifact@v4
+  #       if: always()
+  #       with:
+  #         name: RobotBuilderTestResults
+  #         path: |
+  #           build/reports/
+  #     - uses: actions/upload-artifact@v4
+  #       with:
+  #         name: RobotBuilder Build
+  #         path: |
+  #           build/libs/
+  #         retention-days: 7
 
   Shuffleboard:
     name: "Build - Shuffleboard"

build.gradle

@@ -11,7 +11,7 @@ buildscript {
 plugins {
     id 'base'
     id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '2023.0.1'
-    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
+    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2025.0'
     id 'edu.wpi.first.NativeUtils' apply false
     id 'edu.wpi.first.GradleJni' version '1.1.0'
     id 'edu.wpi.first.GradleVsCode'
@@ -32,6 +32,7 @@ allprojects {
         url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
     }
     }
+    wpilibRepositories.use2027Repos()
     if (project.hasProperty('releaseMode')) {
         wpilibRepositories.addAllReleaseRepositories(it)
     } else {

buildSrc/build.gradle

@@ -9,5 +9,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2025.3.0"
+    implementation "edu.wpi.first:native-utils:2025.7.1"
 }

cscore/build.gradle

@@ -23,6 +23,7 @@ model {
             enableCheckTask true
             javaCompileTasks << compileJava
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.systemcore)
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
 
@@ -177,7 +178,7 @@ model {
     components {
         examplesMap.each { key, value ->
             if (key == "usbviewer") {
-                if (!project.hasProperty('onlylinuxathena')) {
+                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxsystemcore')) {
                     "${key}"(NativeExecutableSpec) {
                         targetBuildTypes 'debug'
                         binaries.all {

datalogtool/build.gradle

@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (project.hasProperty('onlylinuxathena')) {
+if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxsystemcore')) {
     return;
 }
 

developerRobot/build.gradle

@@ -316,5 +316,20 @@ model {
                 }
             }
         }
+
+        installSystemCore(Task) {
+            $.binaries.each {
+                if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore && it.component.name == 'developerRobotCpp') {
+                    dependsOn it.tasks.install
+                }
+            }
+        }
+        installSystemCoreStatic(Task) {
+            $.binaries.each {
+                if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore && it.component.name == 'developerRobotCppStatic') {
+                    dependsOn it.tasks.install
+                }
+            }
+        }
     }
 }

fieldImages/build.gradle

@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (project.hasProperty('onlylinuxathena')) {
+if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxsystemcore')) {
     return;
 }
 

glass/build.gradle

@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (project.hasProperty('onlylinuxathena')) {
+if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxsystemcore')) {
     return;
 }
 

hal/.styleguide

@@ -14,6 +14,8 @@ generatedFileExclude {
   hal/src/main/native/athena/frccansae/
   hal/src/main/native/athena/visa/
   hal/src/main/native/include/ctre/
+  hal/src/main/native/systemcore/ctre/
+  hal/src/main/native/systemcore/rev/
   UsageReporting\.h$
 }
 

hal/build.gradle

@@ -26,7 +26,20 @@ ext {
                     }
                 }
             }
-        } else {
+        } else if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
+            it.sources {
+                systemCoreCpp(CppSourceSet) {
+                    source {
+                        srcDirs = ['src/main/native/systemcore']
+                        include '**/*.cpp'
+                    }
+                    exportedHeaders {
+                        srcDir 'src/main/native/include'
+                        srcDir generatedHeaders
+                    }
+                }
+            }
+        }  else {
             it.sources {
                 simCpp(CppSourceSet) {
                     source {
@@ -57,6 +70,10 @@ cppSourcesZip {
         into '/athena'
     }
 
+    from('src/main/native/systemcore') {
+        into '/systemcore'
+    }
+
     from('src/main/native/sim') {
         into '/sim'
     }

hal/src/main/native/include/hal/HALBase.h

@@ -33,7 +33,9 @@ HAL_ENUM(HAL_RuntimeType) {
   /** roboRIO 2.0 */
   HAL_Runtime_RoboRIO2,
   /** Simulation runtime */
-  HAL_Runtime_Simulation
+  HAL_Runtime_Simulation,
+  /** SystemCore */
+  HAL_Runtime_SystemCore,
 };
 
 #ifdef __cplusplus

hal/src/main/native/systemcore/Accelerometer.cpp

@@ -0,0 +1,58 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "hal/Accelerometer.h"
+
+#include <stdint.h>
+
+#include <cassert>
+#include <cstdio>
+#include <memory>
+
+#include "HALInitializer.h"
+#include "hal/HAL.h"
+
+using namespace hal;
+
+namespace hal::init {
+void InitializeAccelerometer() {}
+}  // namespace hal::init
+
+namespace hal {
+
+/**
+ * Initialize the accelerometer.
+ */
+static void initializeAccelerometer() {
+  hal::init::CheckInit();
+}
+
+}  // namespace hal
+
+extern "C" {
+
+void HAL_SetAccelerometerActive(HAL_Bool active) {
+  initializeAccelerometer();
+}
+
+void HAL_SetAccelerometerRange(HAL_AccelerometerRange range) {
+  initializeAccelerometer();
+}
+
+double HAL_GetAccelerometerX(void) {
+  initializeAccelerometer();
+  return 0.0;
+}
+
+double HAL_GetAccelerometerY(void) {
+  initializeAccelerometer();
+  return 0.0;
+}
+
+double HAL_GetAccelerometerZ(void) {
+  initializeAccelerometer();
+  return 0.0;
+}
+
+}  // extern "C"

hal/src/main/native/systemcore/AddressableLED.cpp

@@ -0,0 +1,84 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "hal/AddressableLED.h"
+
+#include <cstring>
+#include <memory>
+
+#include <fmt/format.h>
+
+#include "HALInitializer.h"
+#include "hal/Errors.h"
+
+using namespace hal;
+
+namespace hal::init {
+void InitializeAddressableLED() {}
+}  // namespace hal::init
+
+extern "C" {
+
+HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
+    HAL_DigitalHandle outputPort, int32_t* status) {
+  hal::init::CheckInit();
+
+  *status = HAL_HANDLE_ERROR;
+  return HAL_kInvalidHandle;
+}
+
+void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle) {}
+
+void HAL_SetAddressableLEDOutputPort(HAL_AddressableLEDHandle handle,
+                                     HAL_DigitalHandle outputPort,
+                                     int32_t* status) {
+  *status = HAL_HANDLE_ERROR;
+  return;
+}
+
+void HAL_SetAddressableLEDLength(HAL_AddressableLEDHandle handle,
+                                 int32_t length, int32_t* status) {
+  *status = HAL_HANDLE_ERROR;
+  return;
+}
+
+static_assert(sizeof(HAL_AddressableLEDData) == sizeof(uint32_t),
+              "LED Data must be 32 bit");
+
+void HAL_WriteAddressableLEDData(HAL_AddressableLEDHandle handle,
+                                 const struct HAL_AddressableLEDData* data,
+                                 int32_t length, int32_t* status) {
+  *status = HAL_HANDLE_ERROR;
+  return;
+}
+
+void HAL_SetAddressableLEDBitTiming(HAL_AddressableLEDHandle handle,
+                                    int32_t highTime0NanoSeconds,
+                                    int32_t lowTime0NanoSeconds,
+                                    int32_t highTime1NanoSeconds,
+                                    int32_t lowTime1NanoSeconds,
+                                    int32_t* status) {
+  *status = HAL_HANDLE_ERROR;
+  return;
+}
+
+void HAL_SetAddressableLEDSyncTime(HAL_AddressableLEDHandle handle,
+                                   int32_t syncTimeMicroSeconds,
+                                   int32_t* status) {
+  *status = HAL_HANDLE_ERROR;
+  return;
+}
+
+void HAL_StartAddressableLEDOutput(HAL_AddressableLEDHandle handle,
+                                   int32_t* status) {
+  *status = HAL_HANDLE_ERROR;
+  return;
+}
+
+void HAL_StopAddressableLEDOutput(HAL_AddressableLEDHandle handle,
+                                  int32_t* status) {
+  *status = HAL_HANDLE_ERROR;
+  return;
+}
+}  // extern "C"