Drop Python 3.11 support

.github/workflows/dist.yml

@@ -208,7 +208,6 @@ jobs:
         - "macos-15" # arm64
         - "windows-2025"
         python_version:
-        - '3.11'
         - '3.12'
         - '3.13'
         - '3.14'

devtools/ci.py

@@ -4,10 +4,8 @@
 
 import subprocess
 import sys
-import typing as T
 
 import click
-from packaging.requirements import Requirement
 from packaging.version import Version
 
 from .ctx import Context
@@ -105,7 +103,7 @@ def build_other_wheels(ctx: Context, no_test: bool):
 @click.option("--buildtype", help="meson build type (debug, release, etc)")
 @click.pass_obj
 def build_meson_wheels(
-    ctx: Context, no_test: bool, cross: T.Optional[str], buildtype: T.Optional[str]
+    ctx: Context, no_test: bool, cross: str | None, buildtype: str | None
 ):
     """
     Builds wheels that use meson, runs tests.

devtools/ci_check_wpistructs.py

@@ -26,7 +26,7 @@ def _normalize_cpp_type(type_name: str) -> str:
     return " ".join(type_name.split())
 
 
-def _find_struct_specializations(text: str) -> T.List[str]:
+def _find_struct_specializations(text: str) -> list[str]:
     """Find concrete wpi::util::Struct<T> specializations in C++ text."""
     types = []
     for match in _STRUCT_SPECIALIZATION_RE.finditer(text):
@@ -43,7 +43,7 @@ def _find_struct_specializations(text: str) -> T.List[str]:
 
 def _struct_header_to_owner_header(
     header: pathlib.Path, include_root: pathlib.Path
-) -> T.Optional[str]:
+) -> str | None:
     """Map wpi/foo/struct/BarStruct.hpp to wpi/foo/Bar.hpp."""
     rel_parts = header.relative_to(include_root).parts
     if len(rel_parts) < 2 or rel_parts[-2] != "struct":
@@ -65,7 +65,7 @@ def _has_setup_wpistruct(yaml_path: pathlib.Path, type_name: str) -> bool:
     return f"SetupWPyStruct<{compact_type}>" in compact
 
 
-def _native_include_roots(project) -> T.List[pathlib.Path]:
+def _native_include_roots(project) -> list[pathlib.Path]:
     native_root = project.path / "src" / "native"
     if not native_root.exists():
         return []
@@ -83,9 +83,9 @@ def _iter_native_headers(include_root: pathlib.Path) -> T.Iterator[pathlib.Path]
 
 def _collect_wpistruct_checks(
     ctx: Context,
-) -> T.List[T.Tuple[str, pathlib.Path, str, pathlib.Path, bool]]:
-    checks: T.List[T.Tuple[str, pathlib.Path, str, pathlib.Path, bool]] = []
-    seen: T.Set[T.Tuple[str, pathlib.Path, str, pathlib.Path]] = set()
+) -> list[tuple[str, pathlib.Path, str, pathlib.Path, bool]]:
+    checks: list[tuple[str, pathlib.Path, str, pathlib.Path, bool]] = []
+    seen: set[tuple[str, pathlib.Path, str, pathlib.Path]] = set()
 
     for project in ctx.subprojects.values():
         if not getattr(project, "is_semiwrap_project", lambda: False)():
@@ -152,7 +152,7 @@ def _collect_wpistruct_checks(
 
 def _collect_missing_wpistructs(
     ctx: Context,
-) -> T.List[T.Tuple[str, pathlib.Path, str, pathlib.Path]]:
+) -> list[tuple[str, pathlib.Path, str, pathlib.Path]]:
     return [
         (project_name, yaml_path, type_name, struct_header)
         for project_name, yaml_path, type_name, struct_header, found in _collect_wpistruct_checks(

devtools/config.py

@@ -1,6 +1,5 @@
 import dataclasses
 import tomlkit
-import typing as T
 
 from .util import parse_input
 
@@ -26,29 +25,29 @@ class Parameters:
 
     mrclib_bin_version: str
     mrclib_bin_url: str
-    mrclib_artifacts: T.Set[str]
+    mrclib_artifacts: set[str]
 
     #: semiwrap name_transform known_words shared by all wrapper projects
-    known_words: T.List[str]
+    known_words: list[str]
 
     #: renames [project.entry-points.KEY*] to [project.entry-points.VALUE]
-    entrypoints: T.Dict[str, str]
+    entrypoints: dict[str, str]
 
-    exclude_artifacts: T.Set[str]
+    exclude_artifacts: set[str]
 
-    requirements: T.Dict[str, str]
+    requirements: dict[str, str]
 
     robot_wheel_platform: str
 
 
 @dataclasses.dataclass
 class UpdateConfig:
-    py_versions: T.Dict[str, str]
+    py_versions: dict[str, str]
     params: Parameters
-    subprojects: T.Dict[str, SubprojectConfig]
+    subprojects: dict[str, SubprojectConfig]
 
 
-def load(fname) -> T.Tuple[UpdateConfig, tomlkit.TOMLDocument]:
+def load(fname) -> tuple[UpdateConfig, tomlkit.TOMLDocument]:
     with open(fname) as fp:
         cfgdata = tomlkit.parse(fp.read())
 

devtools/ctx.py

@@ -3,7 +3,6 @@
 import subprocess
 import sys
 import sysconfig
-import typing as T
 
 import toposort
 
@@ -30,7 +29,7 @@ def __init__(self, verbose: bool) -> None:
         self.wheel_path = self.root_path / "dist"
         self.other_wheel_path = self.root_path / "dist-other"
 
-        subprojects: T.List[Subproject] = []
+        subprojects: list[Subproject] = []
         for project, cfg in self.cfg.subprojects.items():
             # Skip projects that aren't compatible with the robot
             if self.is_robot and not cfg.robot:

devtools/examples.py

@@ -32,8 +32,8 @@ def _validate_example_list(root: pathlib.Path, expected_dirs: T.Sequence[str]) -
 
 @dataclasses.dataclass
 class ExamplesTests:
-    base: T.List[str]
-    ignored: T.List[str]
+    base: list[str]
+    ignored: list[str]
 
 
 @dataclasses.dataclass

devtools/pyproject.py

@@ -135,10 +135,10 @@ def _render(self, name: str) -> RenderedProject:
             text = tomlkit.dumps(data)
             return RenderedProject(path, path.parent / "pyproject.toml", data, text)
 
-    def render_all(self) -> T.Dict[str, RenderedProject]:
+    def render_all(self) -> dict[str, RenderedProject]:
         return {name: self._render(name) for name in self.cfg.subprojects}
 
-    def validate_templates(self) -> T.List[str]:
+    def validate_templates(self) -> list[str]:
         errors = []
 
         def check(path, field, actual, expected):

devtools/subproject.py

@@ -59,7 +59,7 @@ def is_native_project(self) -> bool:
     # Tasks
     #
 
-    def _config_settings(self, config_settings: T.List[str]) -> T.List[str]:
+    def _config_settings(self, config_settings: list[str]) -> list[str]:
         if sys.platform == "win32" and self.is_meson_project():
             config_settings = config_settings + [
                 "setup-args=-Dcpp_std=none",
@@ -68,7 +68,7 @@ def _config_settings(self, config_settings: T.List[str]) -> T.List[str]:
 
         return config_settings
 
-    def develop(self, buildtype: str, jobs: T.Optional[int] = None):
+    def develop(self, buildtype: str, jobs: int | None = None):
 
         config_settings = [f"setup-args=-Dbuildtype={buildtype}"]
         if jobs is not None:
@@ -154,7 +154,7 @@ def build_wheel(
         wheel_path: pathlib.Path,
         other_wheel_path: pathlib.Path,
         install: bool,
-        config_settings: T.List[str],
+        config_settings: list[str],
     ):
         wheel_path.mkdir(parents=True, exist_ok=True)
 

devtools/util.py

@@ -1,6 +1,5 @@
 import shlex
 import subprocess
-import sys
 import typing
 
 from validobj import errors
@@ -37,7 +36,7 @@ def _convert_validation_error(fname, ve: errors.ValidationError) -> ValidationEr
     return ValidationError(vmsg)
 
 
-def parse_input(value: typing.Any, spec: typing.Type[T], fname) -> T:
+def parse_input(value: typing.Any, spec: type[T], fname) -> T:
     try:
         return validobj.validation.parse_input(value, spec)
     except errors.ValidationError as ve:

examples/check_header.py

@@ -9,7 +9,7 @@
 
 
 def check_file_content(file_path):
-    with open(file_path, "r") as file:
+    with open(file_path) as file:
         lines = file.readlines()
 
         if file.name.endswith("robot.py"):

examples/robot/ArcadeDrive/robot.py

@@ -5,6 +5,8 @@
 # the WPILib BSD license file in the root directory of this project.
 #
 
+from typing import override
+
 import wpilib
 import wpilib_drivers
 
@@ -29,6 +31,7 @@ def __init__(self):
         # gearbox is constructed, you might have to invert the left side instead.
         right_motor.set_inverted(True)
 
+    @override
     def teleop_periodic(self):
         # Drive with arcade drive.
         # That means that the Y axis drives forward

examples/robot/ArcadeDriveXboxController/robot.py

@@ -5,6 +5,8 @@
 # the WPILib BSD license file in the root directory of this project.
 #
 
+from typing import override
+
 import wpilib
 import wpilib_drivers
 
@@ -29,6 +31,7 @@ def __init__(self):
         # gearbox is constructed, you might have to invert the left side instead.
         right_motor.set_inverted(True)
 
+    @override
     def teleop_periodic(self):
         # Drive with split arcade style
         # That means that the Y axis of the left stick moves forward

examples/robot/ArmSimulation/robot.py

@@ -5,6 +5,8 @@
 # the WPILib BSD license file in the root directory of this project.
 #
 
+from typing import override
+
 import wpilib
 
 from constants import Constants
@@ -19,12 +21,15 @@ def __init__(self) -> None:
         self.arm = Arm()
         self.joystick = wpilib.Joystick(Constants.JOYSTICK_PORT)
 
+    @override
     def simulation_periodic(self) -> None:
         self.arm.simulation_periodic()
 
+    @override
     def teleop_init(self) -> None:
         self.arm.load_preferences()
 
+    @override
     def teleop_periodic(self) -> None:
         if self.joystick.get_trigger():
             # Here, we run PID control like normal.
@@ -33,6 +38,7 @@ def teleop_periodic(self) -> None:
             # Otherwise, we disable the motor.
             self.arm.stop()
 
+    @override
     def disabled_init(self) -> None:
         # This just makes sure that our simulation code knows that the motor's off.
         self.arm.stop()

examples/robot/DSGamepadChooser/robot.py

@@ -5,8 +5,10 @@
 # the WPILib BSD license file in the root directory of this project.
 #
 
-from hal import RobotMode
+from typing import override
+
 import wpilib
+from hal import RobotMode
 from wpilib.opmodes import OpModeRobot
 
 
@@ -28,15 +30,18 @@ def __init__(self) -> None:
         self.delay = 0
         self.speed = 0.25
 
-    def disabledPeriodic(self) -> None:
+    @override
+    def disabled_periodic(self) -> None:
         self.chooser.update()
         wpilib.DriverStationDisplay.update_lines()
 
+    @override
     def start(self) -> None:
         self.target = self.chooser.get_selected("Target")
         self.delay = self.chooser.get_selected_integer("Delay")
         self.speed = self.chooser.get_selected_double("Speed")
 
+    @override
     def periodic(self) -> None:
         wpilib.DriverStationDisplay.add_data("Selected Auto", "Score")
         wpilib.DriverStationDisplay.add_data("Target", self.target)
@@ -59,15 +64,18 @@ def __init__(self) -> None:
         self.attempts = 1
         self.turnScale = 0.5
 
-    def disabledPeriodic(self) -> None:
+    @override
+    def disabled_periodic(self) -> None:
         self.chooser.update()
         wpilib.DriverStationDisplay.update_lines()
 
+    @override
     def start(self) -> None:
         self.approach = self.chooser.get_selected("Approach")
         self.attempts = self.chooser.get_selected_integer("Attempts")
         self.turnScale = self.chooser.get_selected_double("Turn Scale")
 
+    @override
     def periodic(self) -> None:
         wpilib.DriverStationDisplay.add_data("Selected Auto", "Balance")
         wpilib.DriverStationDisplay.add_data("Approach", self.approach)

examples/robot/DifferentialDriveBot/robot.py

@@ -5,6 +5,8 @@
 # the WPILib BSD license file in the root directory of this project.
 #
 
+from typing import override
+
 import wpimath
 import wpilib
 
@@ -22,10 +24,12 @@ def __init__(self) -> None:
         self.velocity_limiter = wpimath.SlewRateLimiter(3)
         self.rot_limiter = wpimath.SlewRateLimiter(3)
 
+    @override
     def autonomous_periodic(self) -> None:
         self.teleop_periodic()
         self.drive.update_odometry()
 
+    @override
     def teleop_periodic(self) -> None:
         # Get the x velocity. We are inverting this because Xbox controllers return
         # negative values when we push forward.

examples/robot/DifferentialDrivePoseEstimator/robot.py

@@ -5,6 +5,8 @@
 # the WPILib BSD license file in the root directory of this project.
 #
 
+from typing import override
+
 import ntcore
 import wpilib
 import wpimath
@@ -26,16 +28,20 @@ def __init__(self) -> None:
         self.velocity_limiter = wpimath.SlewRateLimiter(3)
         self.rot_limiter = wpimath.SlewRateLimiter(3)
 
+    @override
     def autonomous_periodic(self) -> None:
         self.teleop_periodic()
         self.drive.update_odometry()
 
+    @override
     def simulation_periodic(self) -> None:
         self.drive.simulation_periodic()
 
+    @override
     def robot_periodic(self) -> None:
         self.drive.periodic()
 
+    @override
     def teleop_periodic(self) -> None:
         # Get the x velocity. We are inverting this because Xbox controllers return
         # negative values when we push forward.

examples/robot/DriveDistanceOffboard/constants.py

@@ -10,8 +10,6 @@
 changes.
 """
 
-import math
-
 
 class DriveConstants:
     DT = 0.02