Upgrade to wpiformat 2025.48 (#2186)

.clang-format

@@ -68,19 +68,26 @@ ForEachMacros:
   - BOOST_FOREACH
 IncludeBlocks:   Regroup
 IncludeCategories:
-  - Regex:           '^<ext/.*\.h>'
+  # C standard library headers
-    Priority:        2
+  #
-    SortPriority:    0
+  # https://en.cppreference.com/w/cpp/header:
-  - Regex:           '^<.*\.h>'
+  #  * C compatibility headers
-    Priority:        1
+  #  * Special C compatibility headers
-    SortPriority:    0
+  #  * Empty C headers
-  - Regex:           '^<.*'
+  #  * Meaningless C headers
-    Priority:        2
+  #  * Unsupported C headers
-    SortPriority:    0
+  - Regex:        '^<(assert\.h|ctype\.h|errno\.h|fenv\.h|float\.h|inttypes\.h|limits\.h|locale\.h|math\.h|setjmp\.h|signal\.h|stdarg\.h|stddef\.h|stdint\.h|stdio\.h|stdlib\.h|string\.h|time\.h|uchar\.h|wchar\.h|wctype\.h|stdatomic\.h|ccomplex|complex\.h|ctgmath|tgmath\.h|ciso646|cstdalign|cstdbool|iso646\.h|stdalign\.h|stdbool\.h|stdatomic\.h|stdnoreturn\.h|threads\.h)>'
-  - Regex:           '.*'
+    Priority:     1
-    Priority:        3
+  # C++ standard library headers (lowercase and underscores with no .h suffix)
-    SortPriority:    0
+  - Regex:        '^<[a-z_]+>'
-IncludeIsMainRegex: '([-_](test|unittest))?$'
+    Priority:     2
+  # Other library headers (angle brackets)
+  - Regex:        '^<.*'
+    Priority:     3
+  # Project headers (double quotes)
+  - Regex:        '^".*'
+    Priority:     4
+IncludeIsMainRegex: '(Test|_test)?$'
 IncludeIsMainSourceRegex: ''
 IndentCaseLabels: true
 IndentGotoLabels: true
@@ -136,7 +143,7 @@ RawStringFormats:
     CanonicalDelimiter: ''
     BasedOnStyle:    google
 ReflowComments:  true
-SortIncludes:    false
+SortIncludes:    true
 SortUsingDeclarations: true
 SpaceAfterCStyleCast: false
 SpaceAfterLogicalNot: false

.github/workflows/lint-format.yml

@@ -31,7 +31,7 @@ jobs:
         with:
           python-version: 3.11
       - name: Install wpiformat
-        run: pip3 install wpiformat==2025.34
+        run: pip3 install wpiformat==2025.48
       - name: Run
         run: wpiformat
       - name: Check output

.styleguide

@@ -1,8 +1,5 @@
 cppHeaderFileInclude {
   \.h$
-  \.hpp$
-  \.inc$
-  \.inl$
 }
 
 cppSrcFileInclude {
@@ -10,32 +7,21 @@ cppSrcFileInclude {
 }
 
 modifiableFileExclude {
-  \.jpg$
-  \.jpeg$
-  \.png$
-  \.gif$
-  \.so$
   \.dll$
-  \.webp$
+  \.gif$
   \.ico$
-  \.rknn$
+  \.jpeg$
-  \.tflite$
+  \.jpg$
   \.mp4$
+  \.png$
+  \.rknn$
+  \.so$
+  \.tflite$
   \.ttf$
+  \.webp$
   \.woff2$
   gradlew
   photon-lib/py/photonlibpy/generated/
-  photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/generate/
   photon-targeting/src/generated/
-}
+  photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/generate/
-
-includeProject {
-  ^photonLib/
-}
-
-includeOtherLibs {
-  ^frc/
-  ^networktables/
-  ^units/
-  ^wpi/
 }

docs/.styleguide

@@ -1,18 +1,17 @@
-
 modifiableFileExclude {
-  \.jpg$
-  \.jpeg$
-  \.png$
-  \.gif$
-  \.so$
-  \.pdf$
-  \.mp4$
   \.dll$
-  \.webp$
+  \.gif$
   \.ico$
+  \.jpeg$
+  \.jpg$
+  \.mp4$
+  \.pdf$
+  \.png$
   \.rknn$
-  \.tflite$
+  \.so$
   \.svg$
+  \.tflite$
+  \.webp$
   \.woff2$
   gradlew
 }

photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp

@@ -24,9 +24,6 @@
 
 #include "photon/PhotonCamera.h"
 
-#include <hal/FRCUsageReporting.h>
-#include <net/TimeSyncServer.h>
-
 #include <stdexcept>
 #include <string>
 #include <string_view>
@@ -36,6 +33,8 @@
 #include <frc/Errors.h>
 #include <frc/RobotController.h>
 #include <frc/Timer.h>
+#include <hal/FRCUsageReporting.h>
+#include <net/TimeSyncServer.h>
 #include <opencv2/core.hpp>
 #include <opencv2/core/mat.hpp>
 #include <wpi/json.h>

photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp

@@ -24,8 +24,6 @@
 
 #include "photon/PhotonPoseEstimator.h"
 
-#include <hal/FRCUsageReporting.h>
-
 #include <cmath>
 #include <iostream>
 #include <limits>
@@ -41,6 +39,7 @@
 #include <frc/geometry/Pose3d.h>
 #include <frc/geometry/Rotation3d.h>
 #include <frc/geometry/Transform3d.h>
+#include <hal/FRCUsageReporting.h>
 #include <opencv2/calib3d.hpp>
 #include <opencv2/core/mat.hpp>
 #include <opencv2/core/types.hpp>

photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h

@@ -24,7 +24,16 @@
 
 #pragma once
 
+#include <algorithm>
+#include <limits>
+#include <string>
+#include <utility>
+#include <vector>
+
 #include <cameraserver/CameraServer.h>
+#include <frc/Timer.h>
+#include <frc/apriltag/AprilTagFieldLayout.h>
+#include <frc/apriltag/AprilTagFields.h>
 #include <photon/PhotonCamera.h>
 #include <photon/PhotonTargetSortMode.h>
 #include <photon/estimation/CameraTargetRelation.h>
@@ -33,16 +42,6 @@
 #include <photon/simulation/SimCameraProperties.h>
 #include <photon/simulation/VideoSimUtil.h>
 #include <photon/simulation/VisionTargetSim.h>
-
-#include <algorithm>
-#include <limits>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include <frc/Timer.h>
-#include <frc/apriltag/AprilTagFieldLayout.h>
-#include <frc/apriltag/AprilTagFields.h>
 #include <units/math.h>
 #include <wpi/timestamp.h>
 

photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h

@@ -24,8 +24,6 @@
 
 #pragma once
 
-#include <photon/estimation/OpenCVHelp.h>
-
 #include <algorithm>
 #include <random>
 #include <string>
@@ -37,6 +35,7 @@
 #include <frc/MathUtil.h>
 #include <frc/geometry/Rotation2d.h>
 #include <frc/geometry/Translation3d.h>
+#include <photon/estimation/OpenCVHelp.h>
 #include <units/frequency.h>
 #include <units/time.h>
 

photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h

@@ -24,8 +24,6 @@
 
 #pragma once
 
-#include <cscore_cv.h>
-
 #include <algorithm>
 #include <numeric>
 #include <string>
@@ -33,6 +31,7 @@
 #include <utility>
 #include <vector>
 
+#include <cscore_cv.h>
 #include <frc/apriltag/AprilTag.h>
 #include <opencv2/core.hpp>
 #include <opencv2/imgcodecs.hpp>

photon-lib/src/test/native/cpp/PhotonCameraTest.cpp

@@ -22,20 +22,19 @@
  * SOFTWARE.
  */
 
+#include <string>
+#include <vector>
+
 #include <fmt/ranges.h>
+#include <frc/smartdashboard/SmartDashboard.h>
 #include <gtest/gtest.h>
 #include <hal/HAL.h>
 #include <net/TimeSyncClient.h>
 #include <net/TimeSyncServer.h>
+#include <networktables/NetworkTableInstance.h>
 #include <photon/PhotonCamera.h>
 #include <photon/simulation/PhotonCameraSim.h>
 
-#include <string>
-#include <vector>
-
-#include <frc/smartdashboard/SmartDashboard.h>
-#include <networktables/NetworkTableInstance.h>
-
 TEST(TimeSyncProtocolTest, Smoketest) {
   using namespace wpi::tsp;
   using namespace std::chrono_literals;

photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp

@@ -22,6 +22,8 @@
  * SOFTWARE.
  */
 
+#include "photon/PhotonPoseEstimator.h"
+
 #include <map>
 #include <utility>
 #include <vector>
@@ -30,13 +32,12 @@
 #include <frc/geometry/Pose3d.h>
 #include <frc/geometry/Rotation3d.h>
 #include <frc/geometry/Transform3d.h>
+#include <gtest/gtest.h>
 #include <units/angle.h>
 #include <units/length.h>
 #include <wpi/SmallVector.h>
 
-#include "gtest/gtest.h"
 #include "photon/PhotonCamera.h"
-#include "photon/PhotonPoseEstimator.h"
 #include "photon/dataflow/structures/Packet.h"
 #include "photon/simulation/PhotonCameraSim.h"
 #include "photon/simulation/SimCameraProperties.h"

photon-lib/src/test/native/cpp/PhotonUtilsTest.cpp

@@ -22,7 +22,8 @@
  * SOFTWARE.
  */
 
-#include "gtest/gtest.h"
 #include "photon/PhotonUtils.h"
 
+#include <gtest/gtest.h>
+
 TEST(PhotonUtilsTest, Include) {}

photon-lib/src/test/native/cpp/VersionTest.cpp

@@ -24,8 +24,9 @@
 
 #include <iostream>
 
+#include <gtest/gtest.h>
+
 #include "PhotonVersion.h"
-#include "gtest/gtest.h"
 
 TEST(VersionTest, PrintVersion) {
   std::cout << photon::PhotonVersion::versionString << std::endl;

photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp

@@ -22,16 +22,17 @@
  * SOFTWARE.
  */
 
+#include "photon/simulation/VisionSystemSim.h"
+
 #include <chrono>
 #include <thread>
 #include <tuple>
 #include <vector>
 
+#include <gtest/gtest.h>
 #include <wpi/deprecated.h>
 
-#include "gtest/gtest.h"
 #include "photon/PhotonUtils.h"
-#include "photon/simulation/VisionSystemSim.h"
 
 // Ignore GetLatestResult warnings
 WPI_IGNORE_DEPRECATED

photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp

@@ -17,9 +17,6 @@
 
 #include "net/TimeSyncClient.h"
 
-#include <wpinet/UDPClient.h>
-#include <wpinet/uv/util.h>
-
 #include <atomic>
 #include <chrono>
 #include <cstdlib>
@@ -33,6 +30,8 @@
 #include <wpi/Logger.h>
 #include <wpi/print.h>
 #include <wpi/struct/Struct.h>
+#include <wpinet/UDPClient.h>
+#include <wpinet/uv/util.h>
 
 #include "ntcore_cpp.h"
 

photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp

@@ -17,9 +17,6 @@
 
 #include "net/TimeSyncServer.h"
 
-#include <wpinet/UDPClient.h>
-#include <wpinet/uv/util.h>
-
 #include <atomic>
 #include <chrono>
 #include <cstdlib>
@@ -32,6 +29,8 @@
 #include <wpi/Logger.h>
 #include <wpi/print.h>
 #include <wpi/struct/Struct.h>
+#include <wpinet/UDPClient.h>
+#include <wpinet/uv/util.h>
 
 #include "ntcore_cpp.h"
 

photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp

@@ -17,8 +17,6 @@
 
 #include "photon/constrained_solvepnp/wrap/casadi_wrapper.h"
 
-#include <fmt/core.h>
-
 #include <chrono>
 #include <cstdio>
 #include <iostream>
@@ -28,6 +26,7 @@
 #include <Eigen/Cholesky>
 #include <Eigen/Core>
 #include <Eigen/LU>
+#include <fmt/core.h>
 #include <frc/fmt/Eigen.h>
 #include <wpi/timestamp.h>
 

photon-targeting/src/main/native/include/net/TimeSyncClient.h

@@ -17,12 +17,6 @@
 
 #pragma once
 
-#include <wpinet/EventLoopRunner.h>
-#include <wpinet/UDPClient.h>
-#include <wpinet/uv/Buffer.h>
-#include <wpinet/uv/Timer.h>
-#include <wpinet/uv/Udp.h>
-
 #include <atomic>
 #include <chrono>
 #include <cstdlib>
@@ -40,6 +34,11 @@
 #include <wpi/print.h>
 #include <wpi/static_circular_buffer.h>
 #include <wpi/struct/Struct.h>
+#include <wpinet/EventLoopRunner.h>
+#include <wpinet/UDPClient.h>
+#include <wpinet/uv/Buffer.h>
+#include <wpinet/uv/Timer.h>
+#include <wpinet/uv/Udp.h>
 
 #include "TimeSyncStructs.h"
 #include "ntcore_cpp.h"

photon-targeting/src/main/native/include/net/TimeSyncServer.h

@@ -17,12 +17,6 @@
 
 #pragma once
 
-#include <wpinet/EventLoopRunner.h>
-#include <wpinet/UDPClient.h>
-#include <wpinet/uv/Buffer.h>
-#include <wpinet/uv/Timer.h>
-#include <wpinet/uv/Udp.h>
-
 #include <atomic>
 #include <chrono>
 #include <cstdlib>
@@ -38,6 +32,11 @@
 #include <wpi/Logger.h>
 #include <wpi/print.h>
 #include <wpi/struct/Struct.h>
+#include <wpinet/EventLoopRunner.h>
+#include <wpinet/UDPClient.h>
+#include <wpinet/uv/Buffer.h>
+#include <wpinet/uv/Timer.h>
+#include <wpinet/uv/Udp.h>
 
 #include "TimeSyncStructs.h"
 #include "ntcore_cpp.h"

photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h

@@ -29,9 +29,9 @@
 
 #define OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT
 #include <opencv2/core/eigen.hpp>
-#include "photon/targeting/PnpResult.h"
-#include "photon/targeting/MultiTargetPNPResult.h"
 
+#include "photon/targeting/MultiTargetPNPResult.h"
+#include "photon/targeting/PnpResult.h"
 #include "photon/targeting/TargetCorner.h"
 
 namespace photon {

photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp

@@ -15,13 +15,13 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-#include <fmt/core.h>
-#include <fmt/ranges.h>
-
 #include <iostream>
 #include <span>
 #include <vector>
 
+#include <fmt/core.h>
+#include <fmt/ranges.h>
+
 #include "org_photonvision_jni_ConstrainedSolvepnpJni.h"
 #include "photon/constrained_solvepnp/wrap/casadi_wrapper.h"
 

photon-targeting/src/main/native/jni/TimeSyncClientJNI.cpp

@@ -15,11 +15,11 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-#include <org_photonvision_jni_TimeSyncClient.h>
-
 #include <cstdio>
 #include <string>
 
+#include <org_photonvision_jni_TimeSyncClient.h>
+
 #include "jni_utils.h"
 #include "net/TimeSyncClient.h"
 

photon-targeting/src/main/native/jni/TimeSyncServerJNI.cpp

@@ -15,11 +15,11 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
+#include <cstdio>
+
 #include <org_photonvision_jni_TimeSyncClient.h>
 #include <org_photonvision_jni_TimeSyncServer.h>
 
-#include <cstdio>
-
 #include "jni_utils.h"
 #include "net/TimeSyncServer.h"
 

photon-targeting/src/test/native/cpp/CasadiWrapperTest.cpp

@@ -15,13 +15,12 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-#include <gtest/gtest.h>
-
 #include <chrono>
 #include <cstdio>
 #include <iostream>
 #include <vector>
 
+#include <gtest/gtest.h>
 #include <wpi/timestamp.h>
 
 #include "photon/constrained_solvepnp/wrap/casadi_wrapper.h"

photon-targeting/src/test/native/cpp/PacketTest.cpp

@@ -15,6 +15,8 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
+#include "photon/dataflow/structures/Packet.h"
+
 #include <chrono>
 #include <vector>
 
@@ -22,7 +24,6 @@
 #include <wpi/print.h>
 
 #include "gtest/gtest.h"
-#include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"

photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp

@@ -24,12 +24,11 @@
 
 #include "Robot.h"
 
-#include <photon/PhotonUtils.h>
-
 #include <iostream>
 
 #include <frc/simulation/BatterySim.h>
 #include <frc/simulation/RoboRioSim.h>
+#include <photon/PhotonUtils.h>
 
 void Robot::RobotInit() {}
 

photonlib-cpp-examples/aimandrange/src/main/include/Robot.h

@@ -24,10 +24,9 @@
 
 #pragma once
 
-#include <photon/PhotonCamera.h>
-
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
+#include <photon/PhotonCamera.h>
 
 #include "Constants.h"
 #include "VisionSim.h"

photonlib-cpp-examples/aimandrange/src/main/include/VisionSim.h

@@ -24,6 +24,11 @@
 
 #pragma once
 
+#include <limits>
+#include <memory>
+
+#include <frc/apriltag/AprilTagFieldLayout.h>
+#include <frc/apriltag/AprilTagFields.h>
 #include <photon/PhotonCamera.h>
 #include <photon/PhotonPoseEstimator.h>
 #include <photon/estimation/VisionEstimation.h>
@@ -31,12 +36,6 @@
 #include <photon/simulation/VisionTargetSim.h>
 #include <photon/targeting/PhotonPipelineResult.h>
 
-#include <limits>
-#include <memory>
-
-#include <frc/apriltag/AprilTagFieldLayout.h>
-#include <frc/apriltag/AprilTagFields.h>
-
 #include "Constants.h"
 
 class VisionSim {

photonlib-cpp-examples/aimattarget/src/main/include/Robot.h

@@ -24,10 +24,9 @@
 
 #pragma once
 
-#include <photon/PhotonCamera.h>
-
 #include <frc/TimedRobot.h>
 #include <frc/XboxController.h>
+#include <photon/PhotonCamera.h>
 
 #include "Constants.h"
 #include "VisionSim.h"

photonlib-cpp-examples/aimattarget/src/main/include/VisionSim.h

@@ -24,6 +24,11 @@
 
 #pragma once
 
+#include <limits>
+#include <memory>
+
+#include <frc/apriltag/AprilTagFieldLayout.h>
+#include <frc/apriltag/AprilTagFields.h>
 #include <photon/PhotonCamera.h>
 #include <photon/PhotonPoseEstimator.h>
 #include <photon/estimation/VisionEstimation.h>
@@ -31,12 +36,6 @@
 #include <photon/simulation/VisionTargetSim.h>
 #include <photon/targeting/PhotonPipelineResult.h>
 
-#include <limits>
-#include <memory>
-
-#include <frc/apriltag/AprilTagFieldLayout.h>
-#include <frc/apriltag/AprilTagFields.h>
-
 #include "Constants.h"
 
 class VisionSim {

photonlib-cpp-examples/poseest/src/main/include/Vision.h

@@ -24,19 +24,18 @@
 
 #pragma once
 
-#include <photon/PhotonCamera.h>
-#include <photon/PhotonPoseEstimator.h>
-#include <photon/estimation/VisionEstimation.h>
-#include <photon/simulation/VisionSystemSim.h>
-#include <photon/simulation/VisionTargetSim.h>
-#include <photon/targeting/PhotonPipelineResult.h>
-
 #include <functional>
 #include <limits>
 #include <memory>
 
 #include <frc/apriltag/AprilTagFieldLayout.h>
 #include <frc/apriltag/AprilTagFields.h>
+#include <photon/PhotonCamera.h>
+#include <photon/PhotonPoseEstimator.h>
+#include <photon/estimation/VisionEstimation.h>
+#include <photon/simulation/VisionSystemSim.h>
+#include <photon/simulation/VisionTargetSim.h>
+#include <photon/targeting/PhotonPipelineResult.h>
 
 #include "Constants.h"