add wpiformat

- adds github action for wpiformat checkign
- adds wpiformat required config

- Isaac

.editorconfig

@@ -3,4 +3,3 @@ root = true
 [*]
 indent_style = space
 indent_size = 2
-

.gitattributes

@@ -1,3 +1,2 @@
 # Auto detect text files and perform LF normalization
 * text=auto
-

.github/ISSUE_TEMPLATE/bug_report.md

@@ -22,4 +22,3 @@ A clear and concise description of what you expected to happen.
 
 **Additional context**
 Add any other context about the problem here.
-

.github/ISSUE_TEMPLATE/feature_request.md

@@ -18,4 +18,3 @@ A clear and concise description of any alternative solutions or features you've
 
 **Additional context**
 Add any other context or screenshots about the feature request here.
-

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,8 +1,7 @@
-**What this PR does**  
+**What this PR does**
 
-**What does it fix/add?**  
+**What does it fix/add?**
 _Reference issues with "Fixes #10" or "Closes #10", where #10 is the number assigned to the issue_
 
 **What does this depend on?**
 _References pull requests or branches/forks that this pull request depends on_
-

.github/dependabot.yml

@@ -1,7 +1,7 @@
 version: 2
 - package-ecosystem: "gradle"
   directory: "/"
-  schedule: 
+  schedule:
     interval: "daily"
 - package-ecosystem: "gradle"
   directory: "/wombat"
@@ -11,4 +11,3 @@ version: 2
     directory: "/"
     schedule:
       interval: "daily"
-

.github/workflows/ci.yml

@@ -32,4 +32,3 @@ jobs:
     # Runs a single command using the runners shell
     - name: Compile and run tests on robot code
       run: ./gradlew build
-

.github/workflows/lint-format.yml

@@ -0,0 +1,34 @@
+name: Lint and Format
+
+on:
+  pull_request:
+  push:
+
+jobs:
+  wpiformat:
+    name: "wpiformat"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git config --global --add safe.directory /__w/allwpilib/allwpilib
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v4
+        with:
+          python-version: 3.8
+      - name: Install clang-format
+        run: |
+          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
+          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
+          sudo apt-get update -q
+          sudo apt-get install -y clang-format-14
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Run
+        run: wpiformat -clang 14
+      - name: Check output
+        run: git --no-pager diff --exit-code HEAD

.github/workflows/release.yml

@@ -25,4 +25,3 @@ jobs:
             The latest release of our 2024 build season code!
           draft: false
           prerelease: false
-

.styleguide

@@ -0,0 +1,14 @@
+cppHeaderFileInclude {
+   \.h$
+   \.hpp$
+   \.inc$
+   \.inl$
+}
+
+cppSrcFileInclude {
+   \.cpp$
+}
+
+modifiableFileExclude {
+   gradle/
+}

.styleguide-license

@@ -0,0 +1,3 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project

CODE_OF_CONDUCT.md

@@ -111,4 +111,3 @@ individual, or aggression toward or disparagement of classes of individuals.
 
 **Consequence**: A permanent ban from any sort of public interaction within
 the community.
-

CONTRIBUTING.md

@@ -1,11 +1,11 @@
-# Contributing to our 2024 Codebase. 
-Our 2024 Codebase is split up into two main projects, our robot code and our library Wombat. This will only focus on our robot code but if you our on programming team it is recomended that you also read the contributing guide for Wombat. This guide assumes you have already read the README.md.   
+# Contributing to our 2024 Codebase.
+Our 2024 Codebase is split up into two main projects, our robot code and our library Wombat. This will only focus on our robot code but if you our on programming team it is recomended that you also read the contributing guide for Wombat. This guide assumes you have already read the README.md.
 
 ## Git
-Whenever you start on something new create a new branch from your master branch. The branch name should describe what it aims to achieve. When you are done you should open a pull request to CurtinFRC master. 
+Whenever you start on something new create a new branch from your master branch. The branch name should describe what it aims to achieve. When you are done you should open a pull request to CurtinFRC master.
 
 ## Git History
-Try and keep git history clean. Commit messages should be *descriptive*.  
+Try and keep git history clean. Commit messages should be *descriptive*.
 An example of good Git usage would be as follows :
 ```bash
 git add .
@@ -14,10 +14,10 @@ git push _remotename_ _branchname_ eg origin intake-fix
 ```
 
 ## Creating Issues
-Issues should be created to report bugs or request features. Use the appropriate template for your issue and make sure to apply the appropriate labels. If you are working on an issue assign yourself to the issue. 
+Issues should be created to report bugs or request features. Use the appropriate template for your issue and make sure to apply the appropriate labels. If you are working on an issue assign yourself to the issue.
 
 ## Creating Pull Requests
-Pull requests should be created to resolve issues. Reference the issue you are resolving in your pull request. Pull requests are required to pass continuous integration checks that run automatically, follow formatting rules as per Wombat documentation. Request a review from programming captain. 
+Pull requests should be created to resolve issues. Reference the issue you are resolving in your pull request. Pull requests are required to pass continuous integration checks that run automatically, follow formatting rules as per Wombat documentation. Request a review from programming captain.
 
 ## Wombat Contributions
-Wombat contributions are expected to follow the guidelines set out in the contributing guide for Wombat. All Wombat changes during build season will be periodically reviewed and merged into a seperate branch of Wombat during build season. Outside of build season it will be less periodically merged in but will be directly merged to master. As Wombat is a 4788 published library there are stricter standards. 
+Wombat contributions are expected to follow the guidelines set out in the contributing guide for Wombat. All Wombat changes during build season will be periodically reviewed and merged into a seperate branch of Wombat during build season. Outside of build season it will be less periodically merged in but will be directly merged to master. As Wombat is a 4788 published library there are stricter standards.

LICENSE.md

@@ -18,4 +18,4 @@ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
+SOFTWARE.

README.md

@@ -36,7 +36,7 @@ Build
 ------
 `./gradlew build`
 Build will compile and get the code ready without deploying it.
-It will also run all automated tests, which is great for testing your code before it ever gets run on a robot (which also means you can build whenever).  
+It will also run all automated tests, which is great for testing your code before it ever gets run on a robot (which also means you can build whenever).
 
 `./gradlew :wombat:build`
 Will compile and build the Wombat library.

build.gradle

@@ -113,4 +113,3 @@ model {
 subprojects {
   project.buildDir = rootProject.buildDir
 }
-

compile_flags.txt

@@ -2,4 +2,3 @@
 -I wombat/src/main/include/*
 -L/usr/local/lib
 -I/usr/local/include
-

format.ps1

@@ -1,2 +1 @@
 find **\**\** -iname *.h -o -iname *.cpp | xargs clang-format -i
-

format.sh

@@ -1,2 +1 @@
 find **/**/** -iname *.h -o -iname *.cpp | xargs clang-format -i
-

init.ps1

@@ -1,3 +1,2 @@
 .\gradlew installRoborioToolchain
 .\gradlew build
-

init.sh

@@ -4,4 +4,3 @@ sudo apt install -y openjdk-11-jre-headless
 chmod +x gradlew
 ./gradlew installRoborioToolchain
 ./gradlew build
-

settings.gradle

@@ -28,4 +28,3 @@ pluginManagement {
 
 include 'wombat'
 rootProject.name = '2024-Crescendo'
-

src/main/cpp/Main.cpp

@@ -1,3 +1,7 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 /*
   Dont edit this file
   Go to Robot.cpp

src/main/cpp/Robot.cpp

@@ -1,3 +1,7 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 #include "Robot.h"
 
 void Robot::RobotInit() {

src/main/deploy/example.txt

@@ -1,4 +1,4 @@
 Files placed in this directory will be deployed to the RoboRIO into the
   'deploy' directory in the home folder. Use the 'frc::filesystem::GetDeployDirectory'
   function from the 'frc/Filesystem.h' header to get a proper path relative to the deploy
-  directory.
+  directory.

src/main/include/Robot.h

@@ -1,3 +1,7 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 #pragma once
 
 #include <frc/TimedRobot.h>

src/main/include/RobotMap.h

@@ -1,3 +1,7 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 #pragma once
 
 #include <ctre/Phoenix.h>

src/test/cpp/main.cpp

@@ -1,3 +1,7 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 #include <hal/HAL.h>
 
 #include "gtest/gtest.h"

wombat/.gitignore

@@ -3,4 +3,3 @@
 .gradle
 *.exe
 *.out
-

wombat/build.gradle

@@ -8,7 +8,7 @@ model {
   components {
     Wombat(NativeLibrarySpec) {
       targetPlatform NativePlatforms.desktop
-      targetPlatform NativePlatforms.roborio 
+      targetPlatform NativePlatforms.roborio
 
       sources {
         sources.cpp {
@@ -20,7 +20,7 @@ model {
           exportedHeaders {
             srcDir 'src/main/include'
           }
-        } 
+        }
       }
 
       binaries.all {

wombat/src/main/cpp/behaviour/Behaviour.cpp

@@ -1,3 +1,7 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 #include "behaviour/Behaviour.h"
 
 using namespace behaviour;
@@ -266,4 +270,4 @@ Print::Print(std::string message) : _message(message) {}
 void Print::OnTick(units::time::second_t dt) {
   std::cout << _message << std::endl;
   SetDone();
-}
+}

wombat/src/main/cpp/behaviour/BehaviourScheduler.cpp

@@ -1,3 +1,7 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 #include "behaviour/BehaviourScheduler.h"
 
 using namespace behaviour;
@@ -73,4 +77,4 @@ void BehaviourScheduler::InterruptAll() {
   for (HasBehaviour *sys : _systems) {
     if (sys->_active_behaviour) sys->_active_behaviour->Interrupt();
   }
-}
+}

wombat/src/main/cpp/behaviour/HasBehaviour.cpp

@@ -1,3 +1,7 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 #include "behaviour/HasBehaviour.h"
 
 #include "behaviour/Behaviour.h"
@@ -10,4 +14,4 @@ void HasBehaviour::SetDefaultBehaviour(std::function<std::shared_ptr<Behaviour>(
 
 std::shared_ptr<Behaviour> HasBehaviour::GetActiveBehaviour() {
   return _active_behaviour;
-}
+}

wombat/src/main/cpp/drivetrain/Drivetrain.cpp

@@ -1,3 +1,7 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 #include "drivetrain/Drivetrain.h"
 
 using namespace frc;

wombat/src/main/cpp/drivetrain/SwerveDrive.cpp

@@ -1,3 +1,7 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 #include "drivetrain/SwerveDrive.h"
 
 wom::drivetrain::SwerveModule::SwerveModule(wom::drivetrain::SwerveModuleConfig config,
@@ -107,7 +111,9 @@ wom::drivetrain::Swerve::Swerve(wom::drivetrain::SwerveConfig config, wom::drive
                                 wom::vision::Limelight *vision)
     : _config(config), _state(state), _vision(vision) {}
 
-wom::drivetrain::Swerve::Swerve(wom::drivetrain::SwerveConfig config, wom::drivetrain::SwerveState state, Pigeon2 *gyro) : _config(config), _state(state), _gyro(gyro) {}
+wom::drivetrain::Swerve::Swerve(wom::drivetrain::SwerveConfig config, wom::drivetrain::SwerveState state,
+                                Pigeon2 *gyro)
+    : _config(config), _state(state), _gyro(gyro) {}
 
 wom::drivetrain::SwerveConfig wom::drivetrain::Swerve::GetConfig() {
   return _config;
@@ -170,6 +176,21 @@ void wom::drivetrain::Swerve::OnUpdate(units::second_t dt, wom::vision::Limeligh
     case wom::drivetrain::SwerveState::kFieldRelative:
       FieldRelativeControl(desiredPose, dt);
       break;
+    default:
+      std::cout << "Invalid State" << std::endl;
+      break;
+  }
+}
+
+void wom::drivetrain::Swerve::RobotRelativeControl(units::second_t dt, units::radian_t desiredDirection,
+                                                   units::meter_t magnitude) {}
+
+void wom::drivetrain::Swerve::OnUpdate(units::second_t dt, Pigeon2 *gyro) {
+  switch (_state) {
+    case wom::drivetrain::SwerveState::kIdle:
+      break;
+    case wom::drivetrain::SwerveState::kPose:
+      break;
     case wom::drivetrain::SwerveState::kRobotRelative:
       break;
     default:

wombat/src/main/cpp/drivetrain/behaviours/DrivetrainBehaviours.cpp

@@ -1,3 +1,7 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 #include "drivetrain/behaviours/DrivetrainBehaviours.h"
 
 wom::drivetrain::behaviours::TankDrive::TankDrive(wom::drivetrain::Drivetrain *drivebase,

wombat/src/main/cpp/drivetrain/behaviours/SwerveBehaviours.cpp

@@ -1,4 +1,8 @@
-#include <drivetrain/behaviours/SwerveBehaviours.h>
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
+#include "drivetrain/behaviours/SwerveBehaviours.h"
 
 wom::drivetrain::behaviours::FieldRelativeSwerveDrive::FieldRelativeSwerveDrive(
     wom::drivetrain::Swerve *swerve, frc::XboxController &driver)

wombat/src/main/cpp/example/Example.cpp

@@ -1,3 +1,7 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 // This should be the only include in your subsystem files
 #include "example/Example.h"
 
@@ -48,7 +52,7 @@ void Example::OnUpdate(units::second_t dt) {
     case ExampleState::kIdle:
       break;
     case ExampleState::kRunning:
-      double speed = (fabs(_driver.GetLeftY()) > 0.05) ? _driver.GetLeftY() : 0;
+      double speed = (std::fabs(_driver.GetLeftY()) > 0.05) ? _driver.GetLeftY() : 0;
       _config->leftGearbox.transmission->SetVoltage(speed * 1_V);
       break;
   }

wombat/src/main/cpp/example/behaviours/ExampleBehaviours.cpp

@@ -1,3 +1,7 @@
+// Copyright (c) 2023 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
 // this should be your only include in your behaviour cpp files
 #include "example/behaviour/ExampleBehaviours.h"