第三方库

Teams that are using non-PWM motor controllers or advanced sensors will most likely need to install external vendor dependencies.

What Are Vendor Dependencies?

A vendor dependency is a way for vendors to add their software library to robot projects. This library can interface with motor controllers and other devices. This way, teams can interact with their devices via CAN and have access to more complex and in-depth features than traditional PWM control.

Managing Vendor Dependencies

Vendor dependencies are installed on a per-project basis (so each robot project can have its own set of vendor dependencies). Vendor dependencies can be installed “online” or “offline”. The “online” functionality is done by downloading the dependencies over the internet, while offline is typically provided by a vendor-specific installer.

警告

If installing a vendor dependency via the “online” mode, make sure to reconnect the computer to the internet and rebuild about every 30 days otherwise the cache will clear, completely deleting the downloaded library install.

备注

Vendors recommend using their offline installers when available, because the offline installer is typically bundled with additional programs that are extremely useful when working with their devices.

Installing Libraries

Java/C++

VS Code

All vendordep operations can be controlled by the Dependency Manager. Click the WPILib logo in the activity bar as shown above to access the interface.

Select the desired libraries to add to the project by clicking the Install button next to each. The JSON file will be copied to the vendordeps folder in the project, adding the library as a dependency to the project.

When an update is available for an installed vendordep you will see the To Latest button become available. To update you can either press that or the Update All to move all vendordeps to the latest version.

The button with the trash icon will uninstall the vendordep. The dropdown shows what version is currently installed but you can change that to a different version to update or downgrade to the specified version.

备注

The Dependency Manager will automatically build your program when it loses focus. This allows you to use the changed dependencies.

Python

All RobotPy project dependencies are specified in pyproject.toml. You can specify optional WPILib components by adding the component name to components.

参见

pyproject.toml usage

Optional WPILib components:

	components	requires
Apriltag	apriltag	robotpy-apriltag
Commands	commands2	robotpy-commands-v2
cscore	cscore	robotpy-cscore
Romi	romi	robotpy-romi
XRP	xrp	robotpy-xrp

To add vendor libraries to your project, you must add the PyPI package name to requires.

Optional vendor-specific components (not all are available at the beginning of the season):

	Origin	requires
ChoreoLib	Vendor	sleipnirgroup-choreolib
CTRE Phoenix 6	Vendor	phoenix6
CTRE Phoenix 5	Community	robotpy-ctre
PathPlannerLib	Vendor	robotpy-pathplannerlib
PhotonVision	Vendor	photonlibpy
Playing With Fusion	Community	robotpy-playingwithfusion
REVLib	Community	robotpy-rev
Studica	Community	robotpy-navx
URCL	Community	robotpy-urcl

When using requires, you should specify a version by appending ==<version> to the package name, e.g. robotpy-commands-v2==2024.0.0. If you do not specify a version, the latest version will be installed.

To check what version of packages are currently installed, run the command pip list.

Note that pinning versions may cause issues with incompatibilities between different components. Unpinning all versions, installing, then re-pinning to the latest set is a good practice when updating.

Pinning versions is a good practice to do after most robot code is written and validated, before and during a competition. However, outside of this window, remaining on the latest version of the components is recommended, as it will ensure you have the latest bug fixes and features.

See https://pip.pypa.io/en/stable/topics/repeatable-installs/ for more information on how to specify versions.

Java/C++ (Legacy)

VS Code

要添加由脱机安装程序安装的供应商库，请按Ctrl + Shift + P并输入WPILib/单击右上角的WPILib图标，以打开WPILib命令面板。然后，输入“Manage Vendor Libraries”，然后从下拉菜单中选择它。 选择“Install new libraries (offline)”的选项。

选中每个库旁边的框，选择 要添加到项目中的所需库，然后单击“确定”。 这样，JSON文件将被复制到项目中的vendordeps文件夹中，并将库添加为项目的依赖项。

In order to install a vendor library in online mode, press Ctrl+Shift+P and type WPILib or click on the WPILib icon in the top right to open the WPILib Command Palette and begin typing Manage Vendor Libraries and select it in the menu, and then click on Install new libraries (online) instead and copy + paste the vendor JSON URL.

Checking for Updates (Offline)

Since dependencies are version managed on a per-project basis, even when installed offline, you will need to Manage Vendor Libraries and select Check for updates (offline) for each project you wish to update.

Checking for Updates (Online)

供应商可以选择填充一部分JSON文件为在线更新。如果库指定了适当的位置，则运行“Check for updates (online)”可检查远程位置是否有可用的较新版本的库。

Removing a Library Dependency

要从项目中删除库依赖性，请从“Manage Vendor Libraries”菜单中选择“Manage Current Libraries”，选中要卸载的任何库的复选框，然后单击“确定”。这些库将从项目中删除。

Command-Line

还可以通过gradle任务通过命令行从供应商URL添加供应商库依赖项。在项目根目录下打开一个命令行，然后输入“gradlew vendordep –url = <url>”，其中<url>是供应商JSON URL。这会将供应商库依赖项JSON文件添加到项目的vendordeps文件夹中。供应商库可以用相同的方式更新。

The vendordep gradle task can also fetch vendordep JSONs from the user wpilib folder. To do so, pass FRCLOCAL/Filename.json as the file URL. For example, gradlew vendordep --url=FRCLOCAL/WPILibNewCommands.json will fetch the JSON for the command-based framework.

How Does It Work?

Java/C++

For Java and C++, a JSON file describing the vendor library is installed on your system to ~/wpilib/YYYY/vendordeps (where YYYY is the year and ~ is C:\Users\Public on Windows). This is often done by an offline installer, but may need to be done manually if a .zip of the .json files is provided. This file is then used from VS Code to add to the library to each individual project. Vendor library information is managed on a per-project basis to make sure that a project is always pointing to a consistent version of a given vendor library. The libraries themselves are placed in the Maven cache at C:\Users\Public\wpilib\YYYY\maven. Vendors can place a local copy here with an offline installer (recommended) or require users to be connected to the internet for an initial build to fetch the library from a remote Maven location.

This JSON file allows specification of complex libraries with multiple components (Java, C++, JNI, etc.) and also helps handle some complexities related to simulation.

LabVIEW

For LabVIEW teams, there might be a few new Third Party items on various palettes (specifically, one in Actuators, one in Actuators -> Motor Control labeled CAN Motor, and one in Sensors). These correspond to folders in C:\Program Files\National Instruments\LabVIEW 2023\vi.lib\Rock Robotics\WPI\Third Party

In order to install third party libraries for LabVIEW, download the VIs from the vendor (typically via some sort of installer). Then drag and drop the third party VIs into the respective folder mentioned above just like any other VI.

Python

Third party libraries are packaged into Python wheels and uploaded to PyPI (if pure python) and/or WPILib’s artifactory. Users can enable them as dependencies either by adding them by adding an explicit dependency for the PyPI package in requires. The dependencies are downloaded when robotpy sync is executed, and installed on the roboRIO when robotpy deploy is executed.