robotpy · virtuald · Jan 4, 2026 · Jan 2, 2026 · Jan 2, 2026 · Jan 2, 2026
diff --git a/.github/workflows/dist.yml b/.github/workflows/dist.yml
@@ -283,8 +283,6 @@ jobs:
         os:
         - container: wpilib/systemcore-cross-ubuntu:2026-24.04-py314
           name: systemcore
-        - container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04-py313
-          name: raspbian
 
     container:
       image: "${{ matrix.os.container }}"
@@ -323,19 +321,6 @@ jobs:
           name: systemcore
           base: systemcore
 
-        - container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04-py311
-          name: raspbian-py311
-          base: raspbian
-        - container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04-py312
-          name: raspbian-py312
-          base: raspbian
-        - container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04-py313
-          name: raspbian-py313
-          base: raspbian
-        - container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04-py314
-          name: raspbian-py314
-          base: raspbian
-
     container:
       image: "${{ matrix.os.container }}"
 

diff --git a/rdev.toml b/rdev.toml
@@ -22,7 +22,7 @@ wrapper = "2027.0.0a3"
 
 [params]
 
-wpilib_bin_version = "2027.0.0-alpha-3-144-g59edbdd"
+wpilib_bin_version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 # wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 

diff --git a/subprojects/pyntcore/semiwrap/NetworkTableInstance.yml b/subprojects/pyntcore/semiwrap/NetworkTableInstance.yml
@@ -117,11 +117,11 @@ classes:
       StopLocal:
       StartServer:
         cpp_code: |
-          [](NetworkTableInstance * self, std::string_view persist_filename,  const char* listen_address,
-             unsigned int port) {
+          [](NetworkTableInstance * self, std::string_view persist_filename,  std::string_view listen_address,
+             std::string_view mdns_service, unsigned int port) {
             pyntcore::onInstanceStart(self);
             py::gil_scoped_release release;
-            self->StartServer(persist_filename, listen_address, port);
+            self->StartServer(persist_filename, listen_address, mdns_service, port);
           }
       StopServer:
       StopClient:
@@ -156,7 +156,7 @@ classes:
       operator==:
       StartClient:
     inline_code: |
-      .def("configPythonLogging", [](NetworkTableInstance * self, 
+      .def("configPythonLogging", [](NetworkTableInstance * self,
         NetworkTableInstance::LogLevel minLevel, NetworkTableInstance::LogLevel maxLevel, py::str logName) {
           py::module::import("ntcore._logutil").attr("_config_logging")(self, minLevel, maxLevel, logName);
         }, py::kw_only(),

diff --git a/subprojects/robotpy-commands-v2/commands2/commandscheduler.py b/subprojects/robotpy-commands-v2/commands2/commandscheduler.py
@@ -9,9 +9,9 @@
 import hal
 from typing_extensions import Self
 from wpilib import (
+    DriverStation,
     EventLoop,
     RobotBase,
-    RobotState,
     TimedRobot,
     Watchdog,
     reportWarning,
@@ -192,7 +192,7 @@ def _schedule(self, command: Optional[Command]) -> None:
         if self.isScheduled(command):
             return
 
-        if RobotState.isDisabled() and not command.runsWhenDisabled():
+        if DriverStation.isDisabled() and not command.runsWhenDisabled():
             return
 
         requirements = command.getRequirements()
@@ -250,7 +250,7 @@ def run(self) -> None:
         self._watchdog.addEpoch("buttons.run()")
 
         self._inRunLoop = True
-        isDisabled = RobotState.isDisabled()
+        isDisabled = DriverStation.isDisabled()
 
         # Run scheduled commands, remove finished commands.
         for command in self._scheduledCommands.copy():

diff --git a/subprojects/robotpy-commands-v2/tests/test_robotdisabledcommand.py b/subprojects/robotpy-commands-v2/tests/test_robotdisabledcommand.py
@@ -7,7 +7,6 @@
     from .util import *
 
 import pytest
-from wpilib import RobotState
 
 
 def test_robotDisabledCommandCancel(scheduler: commands2.CommandScheduler):

diff --git a/subprojects/robotpy-cscore/pyproject.toml b/subprojects/robotpy-cscore/pyproject.toml
@@ -44,7 +44,7 @@ version_file = "cscore/version.py"
 artifact_id = "cscore-cpp"
 group_id = "org.wpilib.cscore"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 
 staticlibs = ["cscore"]
 extract_to = "lib"
@@ -53,7 +53,7 @@ extract_to = "lib"
 artifact_id = "cameraserver-cpp"
 group_id = "org.wpilib.cameraserver"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 
 staticlibs = ["cameraserver"]
 extract_to = "lib"

diff --git a/subprojects/robotpy-hal/semiwrap/DriverStation.yml b/subprojects/robotpy-hal/semiwrap/DriverStation.yml
@@ -36,9 +36,10 @@ functions:
   HAL_ProvideNewDataEventHandle:
   HAL_RemoveNewDataEventHandle:
   HAL_ObserveUserProgramStarting:
-  HAL_ObserveUserProgramDisabled:
-  HAL_ObserveUserProgramAutonomous:
-  HAL_ObserveUserProgramTeleop:
-  HAL_ObserveUserProgramTest:
   HAL_GetJoystickIsGamepad:
   HAL_GetJoystickTouchpads:
+  HAL_GetUncachedControlWord:
+  HAL_SetOpModeOptions:
+  HAL_ObserveUserProgram:
+  GetControlWord:
+  GetUncachedControlWord:
diff --git a/subprojects/robotpy-hal/semiwrap/DriverStationTypes.yml b/subprojects/robotpy-hal/semiwrap/DriverStationTypes.yml
@@ -11,17 +11,15 @@ enums:
     value_prefix: HAL_JoystickPOV
   HAL_MatchType:
     value_prefix: HAL_kMatchType
+  HAL_RobotMode:
+    rename: _RobotMode
+    value_prefix: HAL_ROBOTMODE
+  RobotMode:
 classes:
   HAL_ControlWord:
+    rename: _ControlWord
     attributes:
-      enabled:
-      autonomous:
-      test:
-      eStop:
-      fmsAttached:
-      dsAttached:
-      control_reserved:
-      watchdogEnabled:
+      value:
   HAL_JoystickAxes:
     attributes:
       axes:
@@ -62,3 +60,49 @@ classes:
     attributes:
       count:
       touchpads:
+  HAL_OpModeOption:
+    attributes:
+      id:
+      name:
+      group:
+      description:
+      textColor:
+      backgroundColor:
+  wpi::hal::ControlWord:
+    methods:
+      ControlWord:
+        overloads:
+          "":
+          int64_t, RobotMode, bool, bool, bool, bool:
+          HAL_ControlWord:
+      Update:
+        overloads:
+          int64_t, RobotMode, bool, bool, bool, bool:
+          HAL_ControlWord:
+      IsEnabled:
+      GetRobotMode:
+      GetOpModeId:
+      SetOpModeId:
+      IsEStopped:
+      IsFMSAttached:
+      IsDSAttached:
+      IsAutonomous:
+      IsAutonomousEnabled:
+      IsTeleop:
+      IsTeleopEnabled:
+      IsTest:
+      IsTestEnabled:
+      GetValue:
+functions:
+  HAL_MakeControlWord:
+  HAL_ControlWord_GetOpModeHash:
+  HAL_ControlWord_GetOpModeId:
+  HAL_ControlWord_SetOpModeId:
+  HAL_ControlWord_GetRobotMode:
+  HAL_ControlWord_IsEnabled:
+  HAL_ControlWord_IsEStopped:
+  HAL_ControlWord_IsFMSAttached:
+  HAL_ControlWord_IsDSAttached:
+  HAL_MakeOpModeId:
+  HAL_OpMode_GetRobotMode:
+  HAL_OpMode_GetHash:
diff --git a/subprojects/robotpy-hal/semiwrap/simulation/DriverStationData.yml b/subprojects/robotpy-hal/semiwrap/simulation/DriverStationData.yml
@@ -8,16 +8,6 @@ functions:
   HALSIM_CancelDriverStationEnabledCallback:
   HALSIM_GetDriverStationEnabled:
   HALSIM_SetDriverStationEnabled:
-  HALSIM_RegisterDriverStationAutonomousCallback:
-    ignore: true
-  HALSIM_CancelDriverStationAutonomousCallback:
-  HALSIM_GetDriverStationAutonomous:
-  HALSIM_SetDriverStationAutonomous:
-  HALSIM_RegisterDriverStationTestCallback:
-    ignore: true
-  HALSIM_CancelDriverStationTestCallback:
-  HALSIM_GetDriverStationTest:
-  HALSIM_SetDriverStationTest:
   HALSIM_RegisterDriverStationEStopCallback:
     ignore: true
   HALSIM_CancelDriverStationEStopCallback:
@@ -123,3 +113,18 @@ functions:
   HALSIM_SetJoystickTouchpads:
   HALSIM_SetJoystickTouchpadCounts:
   HALSIM_SetJoystickTouchpadFinger:
+  HALSIM_RegisterDriverStationRobotModeCallback:
+    ignore: true
+  HALSIM_CancelDriverStationRobotModeCallback:
+  HALSIM_GetDriverStationRobotMode:
+  HALSIM_SetDriverStationRobotMode:
+  HALSIM_RegisterDriverStationOpModeCallback:
+    ignore: true
+  HALSIM_CancelDriverStationOpModeCallback:
+  HALSIM_GetDriverStationOpMode:
+  HALSIM_SetDriverStationOpMode:
+  HALSIM_RegisterOpModeOptionsCallback:
+    ignore: true
+  HALSIM_CancelOpModeOptionsCallback:
+  HALSIM_GetOpModeOptions:
+  HALSIM_FreeOpModeOptionsArray:
diff --git a/subprojects/robotpy-hal/semiwrap/simulation/MockHooks.yml b/subprojects/robotpy-hal/semiwrap/simulation/MockHooks.yml
@@ -10,6 +10,10 @@ functions:
   HALSIM_WaitForProgramStart:
   HALSIM_SetProgramStarted:
   HALSIM_GetProgramStarted:
+  HALSIM_SetProgramState:
+  HALSIM_GetProgramState:
+  SetProgramState:
+  GetProgramState:
   HALSIM_RestartTiming:
   HALSIM_PauseTiming:
   HALSIM_ResumeTiming:

diff --git a/subprojects/robotpy-halsim-ds-socket/pyproject.toml b/subprojects/robotpy-halsim-ds-socket/pyproject.toml
@@ -29,7 +29,7 @@ version_file = "halsim_ds_socket/version.py"
 artifact_id = "halsim_ds_socket"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 use_headers = false
 
 extract_to = "halsim_ds_socket"

diff --git a/subprojects/robotpy-halsim-gui/pyproject.toml b/subprojects/robotpy-halsim-gui/pyproject.toml
@@ -37,7 +37,7 @@ version_file = "halsim_gui/version.py"
 artifact_id = "halsim_gui"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 use_headers = true
 
 libs = ["halsim_gui"]

diff --git a/subprojects/robotpy-halsim-ws/pyproject.toml b/subprojects/robotpy-halsim-ws/pyproject.toml
@@ -34,7 +34,7 @@ version_file = "halsim_ws/version.py"
 artifact_id = "halsim_ws_server"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 use_headers = false
 
 extract_to = "halsim_ws/server"
@@ -44,7 +44,7 @@ libs = ["halsim_ws_server"]
 artifact_id = "halsim_ws_client"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 use_headers = false
 
 extract_to = "halsim_ws/client"

diff --git a/subprojects/robotpy-native-apriltag/pyproject.toml b/subprojects/robotpy-native-apriltag/pyproject.toml
@@ -26,7 +26,7 @@ packages = ["src/native"]
 artifact_id = "apriltag-cpp"
 group_id = "org.wpilib.apriltag"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 
 extract_to = "src/native/apriltag"
 libs = ["apriltag"]

diff --git a/subprojects/robotpy-native-datalog/pyproject.toml b/subprojects/robotpy-native-datalog/pyproject.toml
@@ -25,7 +25,7 @@ packages = ["src/native"]
 artifact_id = "datalog-cpp"
 group_id = "org.wpilib.datalog"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 
 extract_to = "src/native/datalog"
 libs = ["datalog"]

diff --git a/subprojects/robotpy-native-ntcore/pyproject.toml b/subprojects/robotpy-native-ntcore/pyproject.toml
@@ -28,7 +28,7 @@ packages = ["src/native"]
 artifact_id = "ntcore-cpp"
 group_id = "org.wpilib.ntcore"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 
 extract_to = "src/native/ntcore"
 libs = ["ntcore"]

diff --git a/subprojects/robotpy-native-romi/pyproject.toml b/subprojects/robotpy-native-romi/pyproject.toml
@@ -24,7 +24,7 @@ packages = ["src/native"]
 artifact_id = "romiVendordep-cpp"
 group_id = "org.wpilib.romiVendordep"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 
 extract_to = "src/native/romi"
 libs = ["romiVendordep"]

diff --git a/subprojects/robotpy-native-wpihal/pyproject.toml b/subprojects/robotpy-native-wpihal/pyproject.toml
@@ -26,7 +26,7 @@ packages = ["src/native"]
 artifact_id = "hal-cpp"
 group_id = "org.wpilib.hal"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 
 extract_to = "src/native/wpihal"
 libs = ["wpiHal"]

diff --git a/subprojects/robotpy-native-wpilib/pyproject.toml b/subprojects/robotpy-native-wpilib/pyproject.toml
@@ -32,7 +32,7 @@ packages = ["src/native"]
 artifact_id = "wpilibc-cpp"
 group_id = "org.wpilib.wpilibc"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 
 extract_to = "src/native/wpilib"
 libs = ["wpilibc"]

diff --git a/subprojects/robotpy-native-wpimath/pyproject.toml b/subprojects/robotpy-native-wpimath/pyproject.toml
@@ -24,7 +24,7 @@ packages = ["src/native"]
 artifact_id = "wpimath-cpp"
 group_id = "org.wpilib.wpimath"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 
 extract_to = "src/native/wpimath"
 libs = ["wpimath"]

diff --git a/subprojects/robotpy-native-wpinet/pyproject.toml b/subprojects/robotpy-native-wpinet/pyproject.toml
@@ -24,7 +24,7 @@ packages = ["src/native"]
 artifact_id = "wpinet-cpp"
 group_id = "org.wpilib.wpinet"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 
 extract_to = "src/native/wpinet"
 libs = ["wpinet"]

diff --git a/subprojects/robotpy-native-wpiutil/pyproject.toml b/subprojects/robotpy-native-wpiutil/pyproject.toml
@@ -23,7 +23,7 @@ packages = ["src/native"]
 artifact_id = "wpiutil-cpp"
 group_id = "org.wpilib.wpiutil"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 
 extract_to = "src/native/wpiutil"
 libs = ["wpiutil"]

diff --git a/subprojects/robotpy-native-xrp/pyproject.toml b/subprojects/robotpy-native-xrp/pyproject.toml
@@ -24,7 +24,7 @@ packages = ["src/native"]
 artifact_id = "xrpVendordep-cpp"
 group_id = "org.wpilib.xrpVendordep"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-3-144-g59edbdd"
+version = "2027.0.0-alpha-3-189-g32cd2ddf8"
 
 extract_to = "src/native/xrp"
 libs = ["xrpVendordep"]

diff --git a/subprojects/robotpy-wpilib/meson.build b/subprojects/robotpy-wpilib/meson.build
@@ -6,7 +6,6 @@ subdir('semiwrap')
 
 wpilib_sources += files(
     'wpilib/src/main.cpp',
-    'wpilib/src/rpy/ControlWord.cpp',
     'wpilib/src/rpy/Notifier.cpp',
     'wpilib/src/rpy/SmartDashboardData.cpp',
     'wpilib/src/rpy/MotorControllerGroup.cpp',