[build] Build examples in CMake CI (#5667)

.github/workflows/cmake.yml

@@ -15,11 +15,11 @@ jobs:
           - os: ubuntu-22.04
             name: Linux
             container: wpilib/roborio-cross-ubuntu:2023-22.04
-            flags: ""
+            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
           - os: macOS-12
             name: macOS
             container: ""
-            flags: "-DWITH_JAVA=OFF"
+            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON"
 
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
@@ -75,8 +75,8 @@ jobs:
         run: python -m pip install jinja2
 
       - name: configure
-        run: cmake -S . -B build -G "Ninja Multi-Config"  -DWITH_JAVA=OFF -DWITH_TESTS=OFF -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=ON -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release
+        run: cmake -S . -B build -G "Ninja Multi-Config"  -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DWITH_TESTS=OFF -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=ON -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release
 
       - name: build
         working-directory: build
-        run: cmake --build . --parallel $(nproc) --config Release
+        run: cmake --build . --parallel 1 --config Release

CMakeLists.txt

@@ -317,6 +317,8 @@ if (WITH_WPILIB)
     add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
     add_subdirectory(wpilibNewCommands)
+    add_subdirectory(romiVendordep)
+    add_subdirectory(xrpVendordep)
     if (WITH_EXAMPLES)
         add_subdirectory(wpilibcExamples)
     endif()

cmake/modules/CompileWarnings.cmake

@@ -13,6 +13,12 @@ macro(wpilib_target_warnings target)
         target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-Wno-deprecated-anon-enum-enum-conversion>)
     endif()
 
+    # Suppress warning "enumeration types with a fixed underlying type are a
+    # Clang extension"
+    if(APPLE)
+      target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:C>:-Wno-fixed-enum-extension>)
+    endif()
+
     # Compress debug info with GCC
     if ((${CMAKE_BUILD_TYPE} STREQUAL "Debug" OR
          ${CMAKE_BUILD_TYPE} STREQUAL "RelWithDebInfo") AND

ntcore/src/main/native/include/networktables/NetworkTableValue.h

@@ -20,6 +20,11 @@
 
 namespace nt {
 
+#if __GNUC__ >= 13
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#endif
+
 /**
  * A network table entry value.
  * @ingroup ntcore_cpp_api
@@ -641,9 +646,13 @@ class Value final {
  private:
   NT_Value m_val = {};
   std::shared_ptr<void> m_storage;
-  size_t m_size;
+  size_t m_size = 0;
 };
 
+#if __GNUC__ >= 13
+#pragma GCC diagnostic pop
+#endif
+
 bool operator==(const Value& lhs, const Value& rhs);
 
 /**

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp

@@ -18,21 +18,25 @@ SwerveModule::SwerveModule(int driveMotorChannel, int turningMotorChannel,
     : m_driveMotor(driveMotorChannel),
       m_turningMotor(turningMotorChannel),
       m_driveEncoder(driveEncoderPorts[0], driveEncoderPorts[1]),
-      m_turningEncoder(turningEncoderPorts[0], turningEncoderPorts[1]),
-      m_reverseDriveEncoder(driveEncoderReversed),
-      m_reverseTurningEncoder(turningEncoderReversed) {
+      m_turningEncoder(turningEncoderPorts[0], turningEncoderPorts[1]) {
   // Set the distance per pulse for the drive encoder. We can simply use the
   // distance traveled for one rotation of the wheel divided by the encoder
   // resolution.
   m_driveEncoder.SetDistancePerPulse(
       ModuleConstants::kDriveEncoderDistancePerPulse);
 
+  // Set whether drive encoder should be reversed or not
+  m_driveEncoder.SetReverseDirection(driveEncoderReversed);
+
   // Set the distance (in this case, angle) per pulse for the turning encoder.
   // This is the the angle through an entire rotation (2 * std::numbers::pi)
   // divided by the encoder resolution.
   m_turningEncoder.SetDistancePerPulse(
       ModuleConstants::kTurningEncoderDistancePerPulse);
 
+  // Set whether turning encoder should be reversed or not
+  m_turningEncoder.SetReverseDirection(turningEncoderReversed);
+
   // Limit the PID Controller's input range between -pi and pi and set the input
   // to be continuous.
   m_turningPIDController.EnableContinuousInput(

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h

@@ -47,9 +47,6 @@ class SwerveModule {
   frc::Encoder m_driveEncoder;
   frc::Encoder m_turningEncoder;
 
-  bool m_reverseDriveEncoder;
-  bool m_reverseTurningEncoder;
-
   frc::PIDController m_drivePIDController{
       ModuleConstants::kPModuleDriveController, 0, 0};
   frc::ProfiledPIDController<units::radians> m_turningPIDController{

wpinet/src/test/native/cpp/WebSocketServerTest.cpp

@@ -396,7 +396,14 @@ TEST_F(WebSocketServerTest, ReceiveFragment) {
   std::vector<uint8_t> data2(4, 0x04);
   std::vector<uint8_t> data3(4, 0x05);
   std::vector<uint8_t> combData{data};
+#if __GNUC__ == 11
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wstringop-overread"
+#endif  // __GNUC__ == 11
   combData.insert(combData.end(), data2.begin(), data2.end());
+#if __GNUC__ == 11
+#pragma GCC diagnostic pop
+#endif  // __GNUC__ == 11
   combData.insert(combData.end(), data3.begin(), data3.end());
 
   setupWebSocket = [&] {
@@ -481,7 +488,14 @@ TEST_F(WebSocketServerTest, ReceiveFragmentWithControl) {
   std::vector<uint8_t> data3(4, 0x05);
   std::vector<uint8_t> data4(4, 0x06);
   std::vector<uint8_t> combData{data};
+#if __GNUC__ == 11
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wstringop-overread"
+#endif  // __GNUC__ == 11
   combData.insert(combData.end(), data2.begin(), data2.end());
+#if __GNUC__ == 11
+#pragma GCC diagnostic pop
+#endif  // __GNUC__ == 11
   combData.insert(combData.end(), data4.begin(), data4.end());
 
   setupWebSocket = [&] {