Update formatting to clang-format 16 (#5370)

.clang-format

@@ -1,111 +1,171 @@
 ---
+Language:        Cpp
 BasedOnStyle:  Google
 AccessModifierOffset: -1
 AlignAfterOpenBracket: Align
-AlignConsecutiveMacros: false
-AlignConsecutiveAssignments: false
-AlignConsecutiveDeclarations: false
+AlignArrayOfStructures: None
+AlignConsecutiveAssignments:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCompound:   false
+  PadOperators:    true
+AlignConsecutiveBitFields:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCompound:   false
+  PadOperators:    false
+AlignConsecutiveDeclarations:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCompound:   false
+  PadOperators:    false
+AlignConsecutiveMacros:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCompound:   false
+  PadOperators:    false
 AlignEscapedNewlines: Left
-AlignOperands:   true
-AlignTrailingComments: true
+AlignOperands:   Align
+AlignTrailingComments:
+  Kind:            Always
+  OverEmptyLines:  0
 AllowAllArgumentsOnNextLine: true
-AllowAllConstructorInitializersOnNextLine: true
 AllowAllParametersOfDeclarationOnNextLine: true
 AllowShortBlocksOnASingleLine: Never
 AllowShortCaseLabelsOnASingleLine: false
+AllowShortEnumsOnASingleLine: true
 AllowShortFunctionsOnASingleLine: Inline
-AllowShortLambdasOnASingleLine: All
 AllowShortIfStatementsOnASingleLine: Never
+AllowShortLambdasOnASingleLine: All
 AllowShortLoopsOnASingleLine: false
 AlwaysBreakAfterDefinitionReturnType: None
 AlwaysBreakAfterReturnType: None
 AlwaysBreakBeforeMultilineStrings: true
 AlwaysBreakTemplateDeclarations: Yes
+AttributeMacros:
+  - __capability
 BinPackArguments: true
 BinPackParameters: true
+BitFieldColonSpacing: Both
 BraceWrapping:
   AfterCaseLabel:  false
   AfterClass:      false
-  AfterControlStatement: false
+  AfterControlStatement: Never
   AfterEnum:       false
+  AfterExternBlock: false
   AfterFunction:   false
   AfterNamespace:  false
   AfterObjCDeclaration: false
   AfterStruct:     false
   AfterUnion:      false
-  AfterExternBlock: false
   BeforeCatch:     false
   BeforeElse:      false
+  BeforeLambdaBody: false
+  BeforeWhile:     false
   IndentBraces:    false
   SplitEmptyFunction: true
   SplitEmptyRecord: true
   SplitEmptyNamespace: true
-BreakBeforeBinaryOperators: None
-BreakBeforeBraces: Attach
-BreakBeforeInheritanceComma: false
-BreakInheritanceList: BeforeColon
-BreakBeforeTernaryOperators: true
-BreakConstructorInitializersBeforeComma: false
-BreakConstructorInitializers: BeforeColon
+BreakAfterAttributes: Always
 BreakAfterJavaFieldAnnotations: false
+BreakArrays:     true
+BreakBeforeBinaryOperators: None
+BreakBeforeConceptDeclarations: Always
+BreakBeforeBraces: Attach
+BreakBeforeInlineASMColon: OnlyMultiline
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializers: BeforeColon
+BreakInheritanceList: BeforeColon
 BreakStringLiterals: true
 ColumnLimit:     80
 CommentPragmas:  '^ IWYU pragma:'
 CompactNamespaces: false
-ConstructorInitializerAllOnOneLineOrOnePerLine: true
 ConstructorInitializerIndentWidth: 4
 ContinuationIndentWidth: 4
 Cpp11BracedListStyle: true
-DeriveLineEnding: true
 DerivePointerAlignment: false
 DisableFormat:   false
+EmptyLineAfterAccessModifier: Never
+EmptyLineBeforeAccessModifier: LogicalBlock
 ExperimentalAutoDetectBinPacking: false
 FixNamespaceComments: true
 ForEachMacros:
   - foreach
   - Q_FOREACH
   - BOOST_FOREACH
+IfMacros:
+  - KJ_IF_MAYBE
 IncludeBlocks:   Regroup
 IncludeCategories:
   - Regex:           '^<ext/.*\.h>'
     Priority:        2
     SortPriority:    0
+    CaseSensitive:   false
   - Regex:           '^<.*\.h>'
     Priority:        1
     SortPriority:    0
+    CaseSensitive:   false
   - Regex:           '^<.*'
     Priority:        2
     SortPriority:    0
+    CaseSensitive:   false
   - Regex:           '.*'
     Priority:        3
     SortPriority:    0
+    CaseSensitive:   false
 IncludeIsMainRegex: '([-_](test|unittest))?$'
 IncludeIsMainSourceRegex: ''
+IndentAccessModifiers: false
+IndentCaseBlocks: false
 IndentCaseLabels: true
+IndentExternBlock: AfterExternBlock
 IndentGotoLabels: true
 IndentPPDirectives: None
+IndentRequiresClause: true
 IndentWidth:     2
 IndentWrappedFunctionNames: false
+InsertBraces:    false
+InsertNewlineAtEOF: false
+InsertTrailingCommas: None
+IntegerLiteralSeparator:
+  Binary:          0
+  BinaryMinDigits: 0
+  Decimal:         0
+  DecimalMinDigits: 0
+  Hex:             0
+  HexMinDigits:    0
 JavaScriptQuotes: Leave
 JavaScriptWrapImports: true
 KeepEmptyLinesAtTheStartOfBlocks: false
+LambdaBodyIndentation: Signature
+LineEnding:      DeriveLF
 MacroBlockBegin: ''
 MacroBlockEnd:   ''
 MaxEmptyLinesToKeep: 1
 NamespaceIndentation: None
 ObjCBinPackProtocolList: Never
 ObjCBlockIndentWidth: 2
+ObjCBreakBeforeNestedBlockParam: true
 ObjCSpaceAfterProperty: false
 ObjCSpaceBeforeProtocolList: true
+PackConstructorInitializers: NextLine
 PenaltyBreakAssignment: 2
 PenaltyBreakBeforeFirstCallParameter: 1
 PenaltyBreakComment: 300
 PenaltyBreakFirstLessLess: 120
+PenaltyBreakOpenParenthesis: 0
 PenaltyBreakString: 1000
 PenaltyBreakTemplateDeclaration: 10
 PenaltyExcessCharacter: 1000000
+PenaltyIndentedWhitespace: 0
 PenaltyReturnTypeOnItsOwnLine: 200
 PointerAlignment: Left
+PPIndentWidth:   -1
+QualifierAlignment: Leave
 RawStringFormats:
   - Language:        Cpp
     Delimiters:
@@ -132,34 +192,65 @@ RawStringFormats:
       - PARSE_TEXT_PROTO
       - ParseTextOrDie
       - ParseTextProtoOrDie
-    CanonicalDelimiter: ''
+      - ParseTestProto
+      - ParsePartialTestProto
+    CanonicalDelimiter: pb
     BasedOnStyle:    google
+ReferenceAlignment: Pointer
 ReflowComments:  true
+RemoveBracesLLVM: false
+RemoveSemicolon: false
+RequiresClausePosition: OwnLine
+RequiresExpressionIndentation: OuterScope
+SeparateDefinitionBlocks: Leave
+ShortNamespaceLines: 1
 SortIncludes:    false
-SortUsingDeclarations: true
+SortJavaStaticImport: Before
+SortUsingDeclarations: LexicographicNumeric
 SpaceAfterCStyleCast: false
 SpaceAfterLogicalNot: false
 SpaceAfterTemplateKeyword: true
+SpaceAroundPointerQualifiers: Default
 SpaceBeforeAssignmentOperators: true
+SpaceBeforeCaseColon: false
 SpaceBeforeCpp11BracedList: false
 SpaceBeforeCtorInitializerColon: true
 SpaceBeforeInheritanceColon: true
 SpaceBeforeParens: ControlStatements
+SpaceBeforeParensOptions:
+  AfterControlStatements: true
+  AfterForeachMacros: true
+  AfterFunctionDefinitionName: false
+  AfterFunctionDeclarationName: false
+  AfterIfMacros:   true
+  AfterOverloadedOperator: false
+  AfterRequiresInClause: false
+  AfterRequiresInExpression: false
+  BeforeNonEmptyParentheses: false
 SpaceBeforeRangeBasedForLoopColon: true
+SpaceBeforeSquareBrackets: false
 SpaceInEmptyBlock: false
 SpaceInEmptyParentheses: false
 SpacesBeforeTrailingComments: 2
-SpacesInAngles:  false
+SpacesInAngles:  Never
 SpacesInConditionalStatement: false
 SpacesInContainerLiterals: true
 SpacesInCStyleCastParentheses: false
+SpacesInLineCommentPrefix:
+  Minimum:         1
+  Maximum:         -1
 SpacesInParentheses: false
 SpacesInSquareBrackets: false
-SpaceBeforeSquareBrackets: false
 Standard:        c++20
 StatementMacros:
   - Q_UNUSED
   - QT_REQUIRE_VERSION
 TabWidth:        8
 UseTab:          Never
+WhitespaceSensitiveMacros:
+  - BOOST_PP_STRINGIZE
+  - CF_SWIFT_NAME
+  - NS_SWIFT_NAME
+  - PP_STRINGIZE
+  - STRINGIZE
 ...

.clang-tidy

@@ -35,7 +35,6 @@ Checks:
   bugprone-unhandled-self-assignment,
   bugprone-unused-raii,
   bugprone-virtual-near-miss,
-  cert-dcl58-cpp,
   cert-err52-cpp,
   cert-err60-cpp,
   cert-mem57-cpp,

.github/workflows/lint-format.yml

@@ -26,16 +26,10 @@ jobs:
         uses: actions/setup-python@v4
         with:
           python-version: 3.8
-      - name: Install clang-format
-        run: |
-          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
-          sudo apt-get update -q
-          sudo apt-get install -y clang-format-14
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Run
-        run: wpiformat -clang 14
+        run: wpiformat
       - name: Check output
         run: git --no-pager diff --exit-code HEAD
       - name: Generate diff
@@ -70,12 +64,6 @@ jobs:
         uses: actions/setup-python@v4
         with:
           python-version: 3.8
-      - name: Install clang-tidy
-        run: |
-          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
-          sudo apt-get update -q
-          sudo apt-get install -y clang-tidy-14 clang-format-14
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Create compile_commands.json
@@ -83,7 +71,7 @@ jobs:
       - name: List changed files
         run: wpiformat -list-changed-files
       - name: Run clang-tidy
-        run: wpiformat -clang 14 -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
+        run: wpiformat -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
   javaformat:
     name: "Java format"
     runs-on: ubuntu-22.04

README.md

@@ -62,7 +62,7 @@ On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be ab
 
 Clone the WPILib repository and follow the instructions above for installing any required tooling.
 
-See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions. We use clang-format 14.
+See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions.
 
 ## Building
 
@@ -120,7 +120,7 @@ Once a PR has been submitted, formatting can be run in CI by commenting `/format
 
 #### wpiformat
 
-wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat -clang 14` on Windows or `python3 -m wpiformat -clang 14` on other platforms.
+wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on Windows or `python3 -m wpiformat` on other platforms.
 
 #### Java Code Quality Tools
 

cscore/src/main/native/cpp/Image.h

@@ -22,9 +22,7 @@ class Image {
 
  public:
 #ifndef __linux__
-  explicit Image(size_t capacity) {
-    m_data.reserve(capacity);
-  }
+  explicit Image(size_t capacity) { m_data.reserve(capacity); }
 #else
   explicit Image(size_t capacity)
       : m_data{capacity, default_init_allocator<uchar>{}} {
@@ -39,35 +37,19 @@ class Image {
   operator std::string_view() const {  // NOLINT
     return str();
   }
-  std::string_view str() const {
-    return {data(), size()};
-  }
-  size_t capacity() const {
-    return m_data.capacity();
-  }
+  std::string_view str() const { return {data(), size()}; }
+  size_t capacity() const { return m_data.capacity(); }
   const char* data() const {
     return reinterpret_cast<const char*>(m_data.data());
   }
-  char* data() {
-    return reinterpret_cast<char*>(m_data.data());
-  }
-  size_t size() const {
-    return m_data.size();
-  }
+  char* data() { return reinterpret_cast<char*>(m_data.data()); }
+  size_t size() const { return m_data.size(); }
 
-  const std::vector<uchar>& vec() const {
-    return m_data;
-  }
-  std::vector<uchar>& vec() {
-    return m_data;
-  }
+  const std::vector<uchar>& vec() const { return m_data; }
+  std::vector<uchar>& vec() { return m_data; }
 
-  void resize(size_t size) {
-    m_data.resize(size);
-  }
-  void SetSize(size_t size) {
-    m_data.resize(size);
-  }
+  void resize(size_t size) { m_data.resize(size); }
+  void SetSize(size_t size) { m_data.resize(size); }
 
   cv::Mat AsMat() {
     int type;
@@ -90,9 +72,7 @@ class Image {
     return cv::Mat{height, width, type, m_data.data()};
   }
 
-  cv::_InputArray AsInputArray() {
-    return cv::_InputArray{m_data};
-  }
+  cv::_InputArray AsInputArray() { return cv::_InputArray{m_data}; }
 
   bool Is(int width_, int height_) {
     return width == width_ && height == height_;
@@ -114,12 +94,8 @@ class Image {
   bool IsLarger(const Image& oth) {
     return width >= oth.width && height >= oth.height;
   }
-  bool IsSmaller(int width_, int height_) {
-    return !IsLarger(width_, height_);
-  }
-  bool IsSmaller(const Image& oth) {
-    return !IsLarger(oth);
-  }
+  bool IsSmaller(int width_, int height_) { return !IsLarger(width_, height_); }
+  bool IsSmaller(const Image& oth) { return !IsLarger(oth); }
 
  private:
   std::vector<uchar> m_data;

cscore/src/main/native/include/cscore_cv.h

@@ -152,8 +152,8 @@ class CvSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrame(cv::Mat& image,
-                                   double timeout = 0.225) const;
+  [[nodiscard]]
+  uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225) const;
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -163,7 +163,8 @@ class CvSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
+  [[nodiscard]]
+  uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
 };
 
 inline CvSource::CvSource(std::string_view name, const VideoMode& mode) {

cscore/src/main/native/include/cscore_raw.h

@@ -174,8 +174,8 @@ class RawSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrame(RawFrame& image,
-                                   double timeout = 0.225) const;
+  [[nodiscard]]
+  uint64_t GrabFrame(RawFrame& image, double timeout = 0.225) const;
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -185,7 +185,8 @@ class RawSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameNoTimeout(RawFrame& image) const;
+  [[nodiscard]]
+  uint64_t GrabFrameNoTimeout(RawFrame& image) const;
 };
 
 inline RawSource::RawSource(std::string_view name, const VideoMode& mode) {

cscore/src/main/native/include/cscore_raw_cv.h

@@ -111,7 +111,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225);
+  [[nodiscard]]
+  uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225);
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -121,7 +122,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameNoTimeout(cv::Mat& image);
+  [[nodiscard]]
+  uint64_t GrabFrameNoTimeout(cv::Mat& image);
 
   /**
    * Wait for the next frame and get the image.
@@ -132,8 +134,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameDirect(cv::Mat& image,
-                                         double timeout = 0.225);
+  [[nodiscard]]
+  uint64_t GrabFrameDirect(cv::Mat& image, double timeout = 0.225);
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -143,7 +145,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameNoTimeoutDirect(cv::Mat& image);
+  [[nodiscard]]
+  uint64_t GrabFrameNoTimeoutDirect(cv::Mat& image);
 
  private:
   RawFrame rawFrame;

hal/src/main/native/athena/FPGACalls.h

@@ -8,7 +8,8 @@
 
 namespace hal {
 namespace init {
-[[nodiscard]] int InitializeFPGA();
+[[nodiscard]]
+int InitializeFPGA();
 }  // namespace init
 
 using HAL_NiFpga_ReserveIrqContextFunc =

ntcore/src/main/native/cpp/ListenerStorage.h

@@ -50,14 +50,16 @@ class ListenerStorage final : public IListenerStorage {
   NT_ListenerPoller CreateListenerPoller();
 
   // returns listener handle and mask for each listener that was destroyed
-  [[nodiscard]] std::vector<std::pair<NT_Listener, unsigned int>>
-  DestroyListenerPoller(NT_ListenerPoller pollerHandle);
+  [[nodiscard]]
+  std::vector<std::pair<NT_Listener, unsigned int>> DestroyListenerPoller(
+      NT_ListenerPoller pollerHandle);
 
   std::vector<Event> ReadListenerQueue(NT_ListenerPoller pollerHandle);
 
   // returns listener handle and mask for each listener that was destroyed
-  [[nodiscard]] std::vector<std::pair<NT_Listener, unsigned int>>
-  RemoveListener(NT_Listener listenerHandle);
+  [[nodiscard]]
+  std::vector<std::pair<NT_Listener, unsigned int>> RemoveListener(
+      NT_Listener listenerHandle);
 
   bool WaitForListenerQueue(double timeout);
 

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

@@ -169,7 +169,8 @@ class Topic {
    * @param options subscribe options
    * @return subscriber
    */
-  [[nodiscard]] GenericSubscriber GenericSubscribe(
+  [[nodiscard]]
+  GenericSubscriber GenericSubscribe(
       const PubSubOptions& options = kDefaultPubSubOptions);
 
   /**
@@ -186,7 +187,8 @@ class Topic {
    * @param options subscribe options
    * @return subscriber
    */
-  [[nodiscard]] GenericSubscriber GenericSubscribe(
+  [[nodiscard]]
+  GenericSubscriber GenericSubscribe(
       std::string_view typeString,
       const PubSubOptions& options = kDefaultPubSubOptions);
 
@@ -206,7 +208,8 @@ class Topic {
    * @param options publish options
    * @return publisher
    */
-  [[nodiscard]] GenericPublisher GenericPublish(
+  [[nodiscard]]
+  GenericPublisher GenericPublish(
       std::string_view typeString,
       const PubSubOptions& options = kDefaultPubSubOptions);
 
@@ -228,7 +231,8 @@ class Topic {
    * @param options publish options
    * @return publisher
    */
-  [[nodiscard]] GenericPublisher GenericPublishEx(
+  [[nodiscard]]
+  GenericPublisher GenericPublishEx(
       std::string_view typeString, const wpi::json& properties,
       const PubSubOptions& options = kDefaultPubSubOptions);
 
@@ -250,7 +254,8 @@ class Topic {
    * @param options publish and/or subscribe options
    * @return entry
    */
-  [[nodiscard]] GenericEntry GetGenericEntry(
+  [[nodiscard]]
+  GenericEntry GetGenericEntry(
       const PubSubOptions& options = kDefaultPubSubOptions);
 
   /**
@@ -272,7 +277,8 @@ class Topic {
    * @param options publish and/or subscribe options
    * @return entry
    */
-  [[nodiscard]] GenericEntry GetGenericEntry(
+  [[nodiscard]]
+  GenericEntry GetGenericEntry(
       std::string_view typeString,
       const PubSubOptions& options = kDefaultPubSubOptions);
 

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

@@ -295,7 +295,8 @@ class UnitTopic final : public Topic {
    * @param options subscribe options
    * @return subscriber
    */
-  [[nodiscard]] SubscriberType Subscribe(
+  [[nodiscard]]
+  SubscriberType Subscribe(
       ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions);
 
@@ -315,7 +316,8 @@ class UnitTopic final : public Topic {
    * @param options subscribe options
    * @return subscriber
    */
-  [[nodiscard]] SubscriberType SubscribeEx(
+  [[nodiscard]]
+  SubscriberType SubscribeEx(
       std::string_view typeString, ParamType defaultValue,
       const PubSubOptions& options = kDefaultPubSubOptions);
 
@@ -334,8 +336,8 @@ class UnitTopic final : public Topic {
    * @param options publish options
    * @return publisher
    */
-  [[nodiscard]] PublisherType Publish(
-      const PubSubOptions& options = kDefaultPubSubOptions);
+  [[nodiscard]]
+  PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions);
 
   /**
    * Create a new publisher to the topic, with type string and initial
@@ -355,9 +357,10 @@ class UnitTopic final : public Topic {
    * @param options publish options
    * @return publisher
    */
-  [[nodiscard]] PublisherType PublishEx(
-      std::string_view typeString, const wpi::json& properties,
-      const PubSubOptions& options = kDefaultPubSubOptions);
+  [[nodiscard]]
+  PublisherType PublishEx(std::string_view typeString,
+                          const wpi::json& properties,
+                          const PubSubOptions& options = kDefaultPubSubOptions);
 
   /**
    * Create a new entry for the topic.
@@ -379,9 +382,9 @@ class UnitTopic final : public Topic {
    * @param options publish and/or subscribe options
    * @return entry
    */
-  [[nodiscard]] EntryType GetEntry(
-      ParamType defaultValue,
-      const PubSubOptions& options = kDefaultPubSubOptions);
+  [[nodiscard]]
+  EntryType GetEntry(ParamType defaultValue,
+                     const PubSubOptions& options = kDefaultPubSubOptions);
 
   /**
    * Create a new entry for the topic, with specific type string.
@@ -404,9 +407,9 @@ class UnitTopic final : public Topic {
    * @param options publish and/or subscribe options
    * @return entry
    */
-  [[nodiscard]] EntryType GetEntryEx(
-      std::string_view typeString, ParamType defaultValue,
-      const PubSubOptions& options = kDefaultPubSubOptions);
+  [[nodiscard]]
+  EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
+                       const PubSubOptions& options = kDefaultPubSubOptions);
 };
 
 }  // namespace nt

simulation/halsim_gui/src/main/native/include/HALDataSource.h

@@ -57,9 +57,13 @@
         HALSIM_Cancel##cbname##Callback(m_index, m_callback);                 \
     }                                                                         \
                                                                               \
-    int32_t GetIndex() const { return m_index; }                              \
+    int32_t GetIndex() const {                                                \
+      return m_index;                                                         \
+    }                                                                         \
                                                                               \
-    int GetChannel() const { return m_channel; }                              \
+    int GetChannel() const {                                                  \
+      return m_channel;                                                       \
+    }                                                                         \
                                                                               \
    private:                                                                   \
     static void CallbackFunc(const char*, void* param,                        \
@@ -96,9 +100,13 @@
         HALSIM_Cancel##cbname##Callback(m_index, m_channel, m_callback);      \
     }                                                                         \
                                                                               \
-    int32_t GetIndex() const { return m_index; }                              \
+    int32_t GetIndex() const {                                                \
+      return m_index;                                                         \
+    }                                                                         \
                                                                               \
-    int32_t GetChannel() const { return m_channel; }                          \
+    int32_t GetChannel() const {                                              \
+      return m_channel;                                                       \
+    }                                                                         \
                                                                               \
    private:                                                                   \
     static void CallbackFunc(const char*, void* param,                        \

wpilibNewCommands/src/main/native/include/frc2/command/Command.h

@@ -124,7 +124,8 @@ class Command {
    * @param duration the timeout duration
    * @return the command with the timeout added
    */
-  [[nodiscard]] CommandPtr WithTimeout(units::second_t duration) &&;
+  [[nodiscard]]
+  CommandPtr WithTimeout(units::second_t duration) &&;
 
   /**
    * Decorates this command with an interrupt condition.  If the specified
@@ -135,7 +136,8 @@ class Command {
    * @param condition the interrupt condition
    * @return the command with the interrupt condition added
    */
-  [[nodiscard]] CommandPtr Until(std::function<bool()> condition) &&;
+  [[nodiscard]]
+  CommandPtr Until(std::function<bool()> condition) &&;
 
   /**
    * Decorates this command with a run condition.  If the specified condition
@@ -146,7 +148,8 @@ class Command {
    * @param condition the interrupt condition
    * @return the command with the interrupt condition added
    */
-  [[nodiscard]] CommandPtr OnlyWhile(std::function<bool()> condition) &&;
+  [[nodiscard]]
+  CommandPtr OnlyWhile(std::function<bool()> condition) &&;
 
   /**
    * Decorates this command with an interrupt condition.  If the specified
@@ -159,7 +162,8 @@ class Command {
    * @deprecated Replace with Until()
    */
   WPI_DEPRECATED("Replace with Until()")
-  [[nodiscard]] CommandPtr WithInterrupt(std::function<bool()> condition) &&;
+  [[nodiscard]]
+  CommandPtr WithInterrupt(std::function<bool()> condition) &&;
 
   /**
    * Decorates this command with a runnable to run before this command starts.
@@ -168,9 +172,9 @@ class Command {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr BeforeStarting(
-      std::function<void()> toRun,
-      std::initializer_list<Subsystem*> requirements) &&;
+  [[nodiscard]]
+  CommandPtr BeforeStarting(std::function<void()> toRun,
+                            std::initializer_list<Subsystem*> requirements) &&;
 
   /**
    * Decorates this command with a runnable to run before this command starts.
@@ -179,9 +183,9 @@ class Command {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr BeforeStarting(
-      std::function<void()> toRun,
-      std::span<Subsystem* const> requirements = {}) &&;
+  [[nodiscard]]
+  CommandPtr BeforeStarting(std::function<void()> toRun,
+                            std::span<Subsystem* const> requirements = {}) &&;
 
   /**
    * Decorates this command with a runnable to run after the command finishes.
@@ -190,9 +194,9 @@ class Command {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr AndThen(
-      std::function<void()> toRun,
-      std::initializer_list<Subsystem*> requirements) &&;
+  [[nodiscard]]
+  CommandPtr AndThen(std::function<void()> toRun,
+                     std::initializer_list<Subsystem*> requirements) &&;
 
   /**
    * Decorates this command with a runnable to run after the command finishes.
@@ -201,9 +205,9 @@ class Command {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr AndThen(
-      std::function<void()> toRun,
-      std::span<Subsystem* const> requirements = {}) &&;
+  [[nodiscard]]
+  CommandPtr AndThen(std::function<void()> toRun,
+                     std::span<Subsystem* const> requirements = {}) &&;
 
   /**
    * Decorates this command to run perpetually, ignoring its ordinary end
@@ -231,7 +235,8 @@ safe) semantics.
    *
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr Repeatedly() &&;
+  [[nodiscard]]
+  CommandPtr Repeatedly() &&;
 
   /**
    * Decorates this command to run "by proxy" by wrapping it in a
@@ -243,7 +248,8 @@ safe) semantics.
    *
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr AsProxy() &&;
+  [[nodiscard]]
+  CommandPtr AsProxy() &&;
 
   /**
    * Decorates this command to only run if this condition is not met. If the
@@ -254,7 +260,8 @@ safe) semantics.
    * @param condition the condition that will prevent the command from running
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr Unless(std::function<bool()> condition) &&;
+  [[nodiscard]]
+  CommandPtr Unless(std::function<bool()> condition) &&;
 
   /**
    * Decorates this command to only run if this condition is met. If the command
@@ -265,7 +272,8 @@ safe) semantics.
    * @param condition the condition that will allow the command to run
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr OnlyIf(std::function<bool()> condition) &&;
+  [[nodiscard]]
+  CommandPtr OnlyIf(std::function<bool()> condition) &&;
 
   /**
    * Decorates this command to run or stop when disabled.
@@ -273,7 +281,8 @@ safe) semantics.
    * @param doesRunWhenDisabled true to run when disabled.
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr IgnoringDisable(bool doesRunWhenDisabled) &&;
+  [[nodiscard]]
+  CommandPtr IgnoringDisable(bool doesRunWhenDisabled) &&;
 
   /**
    * Decorates this command to run or stop when disabled.
@@ -281,7 +290,8 @@ safe) semantics.
    * @param interruptBehavior true to run when disabled.
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr WithInterruptBehavior(
+  [[nodiscard]]
+  CommandPtr WithInterruptBehavior(
       Command::InterruptionBehavior interruptBehavior) &&;
 
   /**
@@ -292,7 +302,8 @@ safe) semantics.
    * command was interrupted.
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr FinallyDo(std::function<void(bool)> end) &&;
+  [[nodiscard]]
+  CommandPtr FinallyDo(std::function<void(bool)> end) &&;
 
   /**
    * Decorates this command with a lambda to call on interrupt, following the
@@ -301,7 +312,8 @@ safe) semantics.
    * @param handler a lambda to run when the command is interrupted
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr HandleInterrupt(std::function<void()> handler) &&;
+  [[nodiscard]]
+  CommandPtr HandleInterrupt(std::function<void()> handler) &&;
 
   /**
    * Decorates this Command with a name.
@@ -309,7 +321,8 @@ safe) semantics.
    * @param name name
    * @return the decorated Command
    */
-  [[nodiscard]] CommandPtr WithName(std::string_view name) &&;
+  [[nodiscard]]
+  CommandPtr WithName(std::string_view name) &&;
 
   /**
    * Schedules this command.

wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h

@@ -45,7 +45,8 @@ class CommandPtr final {
    *
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr Repeatedly() &&;
+  [[nodiscard]]
+  CommandPtr Repeatedly() &&;
 
   /**
    * Decorates this command to run "by proxy" by wrapping it in a
@@ -55,7 +56,8 @@ class CommandPtr final {
    *
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr AsProxy() &&;
+  [[nodiscard]]
+  CommandPtr AsProxy() &&;
 
   /**
    * Decorates this command to run or stop when disabled.
@@ -63,7 +65,8 @@ class CommandPtr final {
    * @param doesRunWhenDisabled true to run when disabled.
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr IgnoringDisable(bool doesRunWhenDisabled) &&;
+  [[nodiscard]]
+  CommandPtr IgnoringDisable(bool doesRunWhenDisabled) &&;
 
   /**
    * Decorates this command to run or stop when disabled.
@@ -71,7 +74,8 @@ class CommandPtr final {
    * @param interruptBehavior true to run when disabled.
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr WithInterruptBehavior(
+  [[nodiscard]]
+  CommandPtr WithInterruptBehavior(
       Command::InterruptionBehavior interruptBehavior) &&;
 
   /**
@@ -81,9 +85,9 @@ class CommandPtr final {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr AndThen(
-      std::function<void()> toRun,
-      std::span<Subsystem* const> requirements = {}) &&;
+  [[nodiscard]]
+  CommandPtr AndThen(std::function<void()> toRun,
+                     std::span<Subsystem* const> requirements = {}) &&;
 
   /**
    * Decorates this command with a runnable to run after the command finishes.
@@ -92,9 +96,9 @@ class CommandPtr final {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr AndThen(
-      std::function<void()> toRun,
-      std::initializer_list<Subsystem*> requirements) &&;
+  [[nodiscard]]
+  CommandPtr AndThen(std::function<void()> toRun,
+                     std::initializer_list<Subsystem*> requirements) &&;
 
   /**
    * Decorates this command with a set of commands to run after it in sequence.
@@ -104,7 +108,8 @@ class CommandPtr final {
    * @param next the commands to run next
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr AndThen(CommandPtr&& next) &&;
+  [[nodiscard]]
+  CommandPtr AndThen(CommandPtr&& next) &&;
 
   /**
    * Decorates this command with a runnable to run before this command starts.
@@ -113,9 +118,9 @@ class CommandPtr final {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr BeforeStarting(
-      std::function<void()> toRun,
-      std::initializer_list<Subsystem*> requirements) &&;
+  [[nodiscard]]
+  CommandPtr BeforeStarting(std::function<void()> toRun,
+                            std::initializer_list<Subsystem*> requirements) &&;
 
   /**
    * Decorates this command with a runnable to run before this command starts.
@@ -124,9 +129,9 @@ class CommandPtr final {
    * @param requirements the required subsystems
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr BeforeStarting(
-      std::function<void()> toRun,
-      std::span<Subsystem* const> requirements = {}) &&;
+  [[nodiscard]]
+  CommandPtr BeforeStarting(std::function<void()> toRun,
+                            std::span<Subsystem* const> requirements = {}) &&;
 
   /**
    * Decorates this command with another command to run before this command
@@ -135,7 +140,8 @@ class CommandPtr final {
    * @param before the command to run before this one
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr BeforeStarting(CommandPtr&& before) &&;
+  [[nodiscard]]
+  CommandPtr BeforeStarting(CommandPtr&& before) &&;
 
   /**
    * Decorates this command with a timeout.  If the specified timeout is
@@ -146,7 +152,8 @@ class CommandPtr final {
    * @param duration the timeout duration
    * @return the command with the timeout added
    */
-  [[nodiscard]] CommandPtr WithTimeout(units::second_t duration) &&;
+  [[nodiscard]]
+  CommandPtr WithTimeout(units::second_t duration) &&;
 
   /**
    * Decorates this command with an interrupt condition.  If the specified
@@ -157,7 +164,8 @@ class CommandPtr final {
    * @param condition the interrupt condition
    * @return the command with the interrupt condition added
    */
-  [[nodiscard]] CommandPtr Until(std::function<bool()> condition) &&;
+  [[nodiscard]]
+  CommandPtr Until(std::function<bool()> condition) &&;
 
   /**
    * Decorates this command with a run condition.  If the specified condition
@@ -168,7 +176,8 @@ class CommandPtr final {
    * @param condition the interrupt condition
    * @return the command with the interrupt condition added
    */
-  [[nodiscard]] CommandPtr OnlyWhile(std::function<bool()> condition) &&;
+  [[nodiscard]]
+  CommandPtr OnlyWhile(std::function<bool()> condition) &&;
 
   /**
    * Decorates this command to only run if this condition is not met. If the
@@ -179,7 +188,8 @@ class CommandPtr final {
    * @param condition the condition that will prevent the command from running
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr Unless(std::function<bool()> condition) &&;
+  [[nodiscard]]
+  CommandPtr Unless(std::function<bool()> condition) &&;
 
   /**
    * Decorates this command to only run if this condition is met. If the command
@@ -190,7 +200,8 @@ class CommandPtr final {
    * @param condition the condition that will allow the command to run
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr OnlyIf(std::function<bool()> condition) &&;
+  [[nodiscard]]
+  CommandPtr OnlyIf(std::function<bool()> condition) &&;
 
   /**
    * Decorates this command with a set of commands to run parallel to it, ending
@@ -201,7 +212,8 @@ class CommandPtr final {
    * @param parallel the commands to run in parallel
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr DeadlineWith(CommandPtr&& parallel) &&;
+  [[nodiscard]]
+  CommandPtr DeadlineWith(CommandPtr&& parallel) &&;
 
   /**
    * Decorates this command with a set of commands to run parallel to it, ending
@@ -211,7 +223,8 @@ class CommandPtr final {
    * @param parallel the commands to run in parallel
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr AlongWith(CommandPtr&& parallel) &&;
+  [[nodiscard]]
+  CommandPtr AlongWith(CommandPtr&& parallel) &&;
 
   /**
    * Decorates this command with a set of commands to run parallel to it, ending
@@ -221,7 +234,8 @@ class CommandPtr final {
    * @param parallel the commands to run in parallel
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr RaceWith(CommandPtr&& parallel) &&;
+  [[nodiscard]]
+  CommandPtr RaceWith(CommandPtr&& parallel) &&;
 
   /**
    * Decorates this command with a lambda to call on interrupt or end, following
@@ -231,7 +245,8 @@ class CommandPtr final {
    * command was interrupted.
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr FinallyDo(std::function<void(bool)> end) &&;
+  [[nodiscard]]
+  CommandPtr FinallyDo(std::function<void(bool)> end) &&;
 
   /**
    * Decorates this command with a lambda to call on interrupt, following the
@@ -240,7 +255,8 @@ class CommandPtr final {
    * @param handler a lambda to run when the command is interrupted
    * @return the decorated command
    */
-  [[nodiscard]] CommandPtr HandleInterrupt(std::function<void()> handler) &&;
+  [[nodiscard]]
+  CommandPtr HandleInterrupt(std::function<void()> handler) &&;
 
   /**
    * Decorates this Command with a name. Is an inline function for
@@ -249,7 +265,8 @@ class CommandPtr final {
    * @param name name
    * @return the decorated Command
    */
-  [[nodiscard]] CommandPtr WithName(std::string_view name) &&;
+  [[nodiscard]]
+  CommandPtr WithName(std::string_view name) &&;
 
   /**
    * Get a raw pointer to the held command.

wpilibNewCommands/src/main/native/include/frc2/command/Commands.h

@@ -27,7 +27,8 @@ namespace cmd {
 /**
  * Constructs a command that does nothing, finishing immediately.
  */
-[[nodiscard]] CommandPtr None();
+[[nodiscard]]
+CommandPtr None();
 
 // Action Commands
 
@@ -37,9 +38,9 @@ namespace cmd {
  * @param action the action to run
  * @param requirements subsystems the action requires
  */
-[[nodiscard]] CommandPtr RunOnce(
-    std::function<void()> action,
-    std::initializer_list<Subsystem*> requirements);
+[[nodiscard]]
+CommandPtr RunOnce(std::function<void()> action,
+                   std::initializer_list<Subsystem*> requirements);
 
 /**
  * Constructs a command that runs an action once and finishes.
@@ -47,8 +48,9 @@ namespace cmd {
  * @param action the action to run
  * @param requirements subsystems the action requires
  */
-[[nodiscard]] CommandPtr RunOnce(std::function<void()> action,
-                                 std::span<Subsystem* const> requirements = {});
+[[nodiscard]]
+CommandPtr RunOnce(std::function<void()> action,
+                   std::span<Subsystem* const> requirements = {});
 
 /**
  * Constructs a command that runs an action every iteration until interrupted.
@@ -56,8 +58,9 @@ namespace cmd {
  * @param action the action to run
  * @param requirements subsystems the action requires
  */
-[[nodiscard]] CommandPtr Run(std::function<void()> action,
-                             std::initializer_list<Subsystem*> requirements);
+[[nodiscard]]
+CommandPtr Run(std::function<void()> action,
+               std::initializer_list<Subsystem*> requirements);
 
 /**
  * Constructs a command that runs an action every iteration until interrupted.
@@ -65,8 +68,9 @@ namespace cmd {
  * @param action the action to run
  * @param requirements subsystems the action requires
  */
-[[nodiscard]] CommandPtr Run(std::function<void()> action,
-                             std::span<Subsystem* const> requirements = {});
+[[nodiscard]]
+CommandPtr Run(std::function<void()> action,
+               std::span<Subsystem* const> requirements = {});
 
 /**
  * Constructs a command that runs an action once and another action when the
@@ -76,9 +80,9 @@ namespace cmd {
  * @param end the action to run on interrupt
  * @param requirements subsystems the action requires
  */
-[[nodiscard]] CommandPtr StartEnd(
-    std::function<void()> start, std::function<void()> end,
-    std::initializer_list<Subsystem*> requirements);
+[[nodiscard]]
+CommandPtr StartEnd(std::function<void()> start, std::function<void()> end,
+                    std::initializer_list<Subsystem*> requirements);
 
 /**
  * Constructs a command that runs an action once and another action when the
@@ -88,9 +92,9 @@ namespace cmd {
  * @param end the action to run on interrupt
  * @param requirements subsystems the action requires
  */
-[[nodiscard]] CommandPtr StartEnd(
-    std::function<void()> start, std::function<void()> end,
-    std::span<Subsystem* const> requirements = {});
+[[nodiscard]]
+CommandPtr StartEnd(std::function<void()> start, std::function<void()> end,
+                    std::span<Subsystem* const> requirements = {});
 
 /**
  * Constructs a command that runs an action every iteration until interrupted,
@@ -100,9 +104,9 @@ namespace cmd {
  * @param end the action to run on interrupt
  * @param requirements subsystems the action requires
  */
-[[nodiscard]] CommandPtr RunEnd(std::function<void()> run,
-                                std::function<void()> end,
-                                std::initializer_list<Subsystem*> requirements);
+[[nodiscard]]
+CommandPtr RunEnd(std::function<void()> run, std::function<void()> end,
+                  std::initializer_list<Subsystem*> requirements);
 
 /**
  * Constructs a command that runs an action every iteration until interrupted,
@@ -112,16 +116,17 @@ namespace cmd {
  * @param end the action to run on interrupt
  * @param requirements subsystems the action requires
  */
-[[nodiscard]] CommandPtr RunEnd(std::function<void()> run,
-                                std::function<void()> end,
-                                std::span<Subsystem* const> requirements = {});
+[[nodiscard]]
+CommandPtr RunEnd(std::function<void()> run, std::function<void()> end,
+                  std::span<Subsystem* const> requirements = {});
 
 /**
  * Constructs a command that prints a message and finishes.
  *
  * @param msg the message to print
  */
-[[nodiscard]] CommandPtr Print(std::string_view msg);
+[[nodiscard]]
+CommandPtr Print(std::string_view msg);
 
 // Idling Commands
 
@@ -130,7 +135,8 @@ namespace cmd {
  *
  * @param duration after how long the command finishes
  */
-[[nodiscard]] CommandPtr Wait(units::second_t duration);
+[[nodiscard]]
+CommandPtr Wait(units::second_t duration);
 
 /**
  * Constructs a command that does nothing, finishing once a condition becomes
@@ -138,7 +144,8 @@ namespace cmd {
  *
  * @param condition the condition
  */
-[[nodiscard]] CommandPtr WaitUntil(std::function<bool()> condition);
+[[nodiscard]]
+CommandPtr WaitUntil(std::function<bool()> condition);
 
 // Selector Commands
 
@@ -149,8 +156,9 @@ namespace cmd {
  * @param onFalse the command to run if the selector function returns false
  * @param selector the selector function
  */
-[[nodiscard]] CommandPtr Either(CommandPtr&& onTrue, CommandPtr&& onFalse,
-                                std::function<bool()> selector);
+[[nodiscard]]
+CommandPtr Either(CommandPtr&& onTrue, CommandPtr&& onFalse,
+                  std::function<bool()> selector);
 
 /**
  * Runs one of several commands, based on the selector function.
@@ -159,8 +167,9 @@ namespace cmd {
  * @param commands map of commands to select from
  */
 template <typename Key, class... Types>
-[[nodiscard]] CommandPtr Select(std::function<Key()> selector,
-                                std::pair<Key, Types>&&... commands) {
+[[nodiscard]]
+CommandPtr Select(std::function<Key()> selector,
+                  std::pair<Key, Types>&&... commands) {
   std::vector<std::pair<Key, std::unique_ptr<Command>>> vec;
 
   ((void)vec.emplace_back(commands.first, std::move(commands.second).Unwrap()),
@@ -189,13 +198,15 @@ std::vector<CommandPtr> MakeVector(Args&&... args) {
 /**
  * Runs a group of commands in series, one after the other.
  */
-[[nodiscard]] CommandPtr Sequence(std::vector<CommandPtr>&& commands);
+[[nodiscard]]
+CommandPtr Sequence(std::vector<CommandPtr>&& commands);
 
 /**
  * Runs a group of commands in series, one after the other.
  */
 template <typename... Args>
-[[nodiscard]] CommandPtr Sequence(Args&&... commands) {
+[[nodiscard]]
+CommandPtr Sequence(Args&&... commands) {
   return Sequence(impl::MakeVector(std::forward<Args>(commands)...));
 }
 
@@ -203,14 +214,16 @@ template <typename... Args>
  * Runs a group of commands in series, one after the other. Once the last
  * command ends, the group is restarted.
  */
-[[nodiscard]] CommandPtr RepeatingSequence(std::vector<CommandPtr>&& commands);
+[[nodiscard]]
+CommandPtr RepeatingSequence(std::vector<CommandPtr>&& commands);
 
 /**
  * Runs a group of commands in series, one after the other. Once the last
  * command ends, the group is restarted.
  */
 template <typename... Args>
-[[nodiscard]] CommandPtr RepeatingSequence(Args&&... commands) {
+[[nodiscard]]
+CommandPtr RepeatingSequence(Args&&... commands) {
   return RepeatingSequence(impl::MakeVector(std::forward<Args>(commands)...));
 }
 
@@ -218,14 +231,16 @@ template <typename... Args>
  * Runs a group of commands at the same time. Ends once all commands in the
  * group finish.
  */
-[[nodiscard]] CommandPtr Parallel(std::vector<CommandPtr>&& commands);
+[[nodiscard]]
+CommandPtr Parallel(std::vector<CommandPtr>&& commands);
 
 /**
  * Runs a group of commands at the same time. Ends once all commands in the
  * group finish.
  */
 template <typename... Args>
-[[nodiscard]] CommandPtr Parallel(Args&&... commands) {
+[[nodiscard]]
+CommandPtr Parallel(Args&&... commands) {
   return Parallel(impl::MakeVector(std::forward<Args>(commands)...));
 }
 
@@ -233,14 +248,16 @@ template <typename... Args>
  * Runs a group of commands at the same time. Ends once any command in the group
  * finishes, and cancels the others.
  */
-[[nodiscard]] CommandPtr Race(std::vector<CommandPtr>&& commands);
+[[nodiscard]]
+CommandPtr Race(std::vector<CommandPtr>&& commands);
 
 /**
  * Runs a group of commands at the same time. Ends once any command in the group
  * finishes, and cancels the others.
  */
 template <typename... Args>
-[[nodiscard]] CommandPtr Race(Args&&... commands) {
+[[nodiscard]]
+CommandPtr Race(Args&&... commands) {
   return Race(impl::MakeVector(std::forward<Args>(commands)...));
 }
 
@@ -248,15 +265,16 @@ template <typename... Args>
  * Runs a group of commands at the same time. Ends once a specific command
  * finishes, and cancels the others.
  */
-[[nodiscard]] CommandPtr Deadline(CommandPtr&& deadline,
-                                  std::vector<CommandPtr>&& others);
+[[nodiscard]]
+CommandPtr Deadline(CommandPtr&& deadline, std::vector<CommandPtr>&& others);
 
 /**
  * Runs a group of commands at the same time. Ends once a specific command
  * finishes, and cancels the others.
  */
 template <typename... Args>
-[[nodiscard]] CommandPtr Deadline(CommandPtr&& deadline, Args&&... commands) {
+[[nodiscard]]
+CommandPtr Deadline(CommandPtr&& deadline, Args&&... commands) {
   return Deadline(std::move(deadline),
                   impl::MakeVector(std::forward<Args>(commands)...));
 }

wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h

@@ -117,7 +117,8 @@ class Subsystem {
    *
    * @param action the action to run
    */
-  [[nodiscard]] CommandPtr RunOnce(std::function<void()> action);
+  [[nodiscard]]
+  CommandPtr RunOnce(std::function<void()> action);
 
   /**
    * Constructs a command that runs an action every iteration until interrupted.
@@ -125,7 +126,8 @@ class Subsystem {
    *
    * @param action the action to run
    */
-  [[nodiscard]] CommandPtr Run(std::function<void()> action);
+  [[nodiscard]]
+  CommandPtr Run(std::function<void()> action);
 
   /**
    * Constructs a command that runs an action once and another action when the
@@ -134,8 +136,8 @@ class Subsystem {
    * @param start the action to run on start
    * @param end the action to run on interrupt
    */
-  [[nodiscard]] CommandPtr StartEnd(std::function<void()> start,
-                                    std::function<void()> end);
+  [[nodiscard]]
+  CommandPtr StartEnd(std::function<void()> start, std::function<void()> end);
 
   /**
    * Constructs a command that runs an action every iteration until interrupted,
@@ -144,7 +146,7 @@ class Subsystem {
    * @param run the action to run every iteration
    * @param end the action to run on interrupt
    */
-  [[nodiscard]] CommandPtr RunEnd(std::function<void()> run,
-                                  std::function<void()> end);
+  [[nodiscard]]
+  CommandPtr RunEnd(std::function<void()> run, std::function<void()> end);
 };
 }  // namespace frc2

wpilibc/src/main/native/include/frc/Errors.h

@@ -95,15 +95,16 @@ inline void ReportError(int32_t status, const char* fileName, int lineNumber,
  * @param[in]  args error message format args
  * @return runtime error object
  */
-[[nodiscard]] RuntimeError MakeErrorV(int32_t status, const char* fileName,
-                                      int lineNumber, const char* funcName,
-                                      fmt::string_view format,
-                                      fmt::format_args args);
+[[nodiscard]]
+RuntimeError MakeErrorV(int32_t status, const char* fileName, int lineNumber,
+                        const char* funcName, fmt::string_view format,
+                        fmt::format_args args);
 
 template <typename... Args>
-[[nodiscard]] inline RuntimeError MakeError(
-    int32_t status, const char* fileName, int lineNumber, const char* funcName,
-    fmt::string_view format, Args&&... args) {
+[[nodiscard]]
+inline RuntimeError MakeError(int32_t status, const char* fileName,
+                              int lineNumber, const char* funcName,
+                              fmt::string_view format, Args&&... args) {
   return MakeErrorV(status, fileName, lineNumber, funcName, format,
                     fmt::make_format_args(args...));
 }

wpilibc/src/main/native/include/frc/RobotBase.h

@@ -227,9 +227,7 @@ class RobotBase {
    *
    * @return If the robot is running in simulation.
    */
-  static constexpr bool IsSimulation() {
-    return !IsReal();
-  }
+  static constexpr bool IsSimulation() { return !IsReal(); }
 
   /**
    * Constructor for a generic robot program.

wpilibc/src/main/native/include/frc/simulation/AddressableLEDSim.h

@@ -60,7 +60,8 @@ class AddressableLEDSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object storing this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -85,7 +86,8 @@ class AddressableLEDSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterOutputPortCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterOutputPortCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -110,8 +112,9 @@ class AddressableLEDSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterLengthCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterLengthCallback(NotifyCallback callback,
+                                                        bool initialNotify);
 
   /**
    * Get the length of the LED strip.
@@ -135,7 +138,8 @@ class AddressableLEDSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterRunningCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterRunningCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -160,7 +164,8 @@ class AddressableLEDSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterDataCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterDataCallback(
       ConstBufferCallback callback, bool initialNotify);
 
   /**

wpilibc/src/main/native/include/frc/simulation/AnalogGyroSim.h

@@ -40,8 +40,9 @@ class AnalogGyroSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterAngleCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterAngleCallback(NotifyCallback callback,
+                                                       bool initialNotify);
 
   /**
    * Get the current angle of the gyro.
@@ -64,8 +65,9 @@ class AnalogGyroSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterRateCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterRateCallback(NotifyCallback callback,
+                                                      bool initialNotify);
 
   /**
    * Get the rate of angle change on this gyro.
@@ -89,7 +91,8 @@ class AnalogGyroSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**

wpilibc/src/main/native/include/frc/simulation/AnalogInputSim.h

@@ -41,7 +41,8 @@ class AnalogInputSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -66,7 +67,8 @@ class AnalogInputSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterAverageBitsCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterAverageBitsCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -91,7 +93,8 @@ class AnalogInputSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterOversampleBitsCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterOversampleBitsCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -116,7 +119,8 @@ class AnalogInputSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterVoltageCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterVoltageCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -141,9 +145,9 @@ class AnalogInputSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore>
-  RegisterAccumulatorInitializedCallback(NotifyCallback callback,
-                                         bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterAccumulatorInitializedCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Check if the accumulator has been initialized.
@@ -167,7 +171,8 @@ class AnalogInputSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterAccumulatorValueCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterAccumulatorValueCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -192,7 +197,8 @@ class AnalogInputSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterAccumulatorCountCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterAccumulatorCountCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -217,9 +223,9 @@ class AnalogInputSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore>
-  RegisterAccumulatorCenterCallback(NotifyCallback callback,
-                                    bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterAccumulatorCenterCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Get the accumulator center.
@@ -243,9 +249,9 @@ class AnalogInputSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore>
-  RegisterAccumulatorDeadbandCallback(NotifyCallback callback,
-                                      bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterAccumulatorDeadbandCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Get the accumulator deadband.

wpilibc/src/main/native/include/frc/simulation/AnalogOutputSim.h

@@ -40,7 +40,8 @@ class AnalogOutputSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterVoltageCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterVoltageCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -64,7 +65,8 @@ class AnalogOutputSim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**

wpilibc/src/main/native/include/frc/simulation/AnalogTriggerSim.h

@@ -53,7 +53,8 @@ class AnalogTriggerSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -78,9 +79,9 @@ class AnalogTriggerSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore>
-  RegisterTriggerLowerBoundCallback(NotifyCallback callback,
-                                    bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterTriggerLowerBoundCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Get the lower bound.
@@ -104,9 +105,9 @@ class AnalogTriggerSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore>
-  RegisterTriggerUpperBoundCallback(NotifyCallback callback,
-                                    bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterTriggerUpperBoundCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Get the upper bound.

wpilibc/src/main/native/include/frc/simulation/BuiltInAccelerometerSim.h

@@ -40,8 +40,9 @@ class BuiltInAccelerometerSim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterActiveCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterActiveCallback(NotifyCallback callback,
+                                                        bool initialNotify);
 
   /**
    * Check whether the accelerometer is active.
@@ -64,8 +65,9 @@ class BuiltInAccelerometerSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterRangeCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterRangeCallback(NotifyCallback callback,
+                                                       bool initialNotify);
 
   /**
    * Check the range of this accelerometer.
@@ -88,8 +90,9 @@ class BuiltInAccelerometerSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterXCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterXCallback(NotifyCallback callback,
+                                                   bool initialNotify);
 
   /**
    * Measure the X axis value.
@@ -112,8 +115,9 @@ class BuiltInAccelerometerSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterYCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterYCallback(NotifyCallback callback,
+                                                   bool initialNotify);
 
   /**
    * Measure the Y axis value.
@@ -136,8 +140,9 @@ class BuiltInAccelerometerSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterZCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterZCallback(NotifyCallback callback,
+                                                   bool initialNotify);
 
   /**
    * Measure the Z axis value.

wpilibc/src/main/native/include/frc/simulation/CTREPCMSim.h

@@ -33,21 +33,24 @@ class CTREPCMSim : public PneumaticsBaseSim {
 
   ~CTREPCMSim() override = default;
 
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
       NotifyCallback callback, bool initialNotify) override;
 
   bool GetInitialized() const override;
 
   void SetInitialized(bool initialized) override;
 
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
       int channel, NotifyCallback callback, bool initialNotify) override;
 
   bool GetSolenoidOutput(int channel) const override;
 
   void SetSolenoidOutput(int channel, bool solenoidOutput) override;
 
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
       NotifyCallback callback, bool initialNotify) override;
 
   bool GetCompressorOn() const override;
@@ -62,9 +65,9 @@ class CTREPCMSim : public PneumaticsBaseSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore>
-  RegisterClosedLoopEnabledCallback(NotifyCallback callback,
-                                    bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterClosedLoopEnabledCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Check whether the closed loop compressor control is active.
@@ -88,7 +91,8 @@ class CTREPCMSim : public PneumaticsBaseSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
       NotifyCallback callback, bool initialNotify) override;
 
   /**
@@ -112,9 +116,9 @@ class CTREPCMSim : public PneumaticsBaseSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore>
-  RegisterCompressorCurrentCallback(NotifyCallback callback,
-                                    bool initialNotify) override;
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterCompressorCurrentCallback(
+      NotifyCallback callback, bool initialNotify) override;
 
   /**
    * Read the compressor current.

wpilibc/src/main/native/include/frc/simulation/DIOSim.h

@@ -48,7 +48,8 @@ class DIOSim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -73,8 +74,9 @@ class DIOSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterValueCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterValueCallback(NotifyCallback callback,
+                                                       bool initialNotify);
 
   /**
    * Read the value of the DIO port.
@@ -97,7 +99,8 @@ class DIOSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterPulseLengthCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterPulseLengthCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -122,7 +125,8 @@ class DIOSim {
    *                      initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterIsInputCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterIsInputCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -147,7 +151,8 @@ class DIOSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterFilterIndexCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterFilterIndexCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**

wpilibc/src/main/native/include/frc/simulation/DigitalPWMSim.h

@@ -54,7 +54,8 @@ class DigitalPWMSim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -78,7 +79,8 @@ class DigitalPWMSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterDutyCycleCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterDutyCycleCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -102,8 +104,9 @@ class DigitalPWMSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterPinCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterPinCallback(NotifyCallback callback,
+                                                     bool initialNotify);
 
   /**
    * Check the pin number.

wpilibc/src/main/native/include/frc/simulation/DriverStationSim.h

@@ -26,7 +26,8 @@ class DriverStationSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore> RegisterEnabledCallback(
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterEnabledCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -51,8 +52,9 @@ class DriverStationSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterAutonomousCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterAutonomousCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Check if the DS is in autonomous.
@@ -76,7 +78,8 @@ class DriverStationSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore> RegisterTestCallback(
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterTestCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -101,7 +104,8 @@ class DriverStationSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore> RegisterEStopCallback(
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterEStopCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -126,8 +130,9 @@ class DriverStationSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterFmsAttachedCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterFmsAttachedCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Check if the FMS is connected.
@@ -151,8 +156,9 @@ class DriverStationSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterDsAttachedCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterDsAttachedCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Check if the DS is attached.
@@ -176,9 +182,9 @@ class DriverStationSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterAllianceStationIdCallback(NotifyCallback callback,
-                                    bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterAllianceStationIdCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Get the alliance station ID (color + number).
@@ -202,7 +208,8 @@ class DriverStationSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore> RegisterMatchTimeCallback(
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterMatchTimeCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**

wpilibc/src/main/native/include/frc/simulation/DutyCycleSim.h

@@ -51,7 +51,8 @@ class DutyCycleSim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -75,7 +76,8 @@ class DutyCycleSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterFrequencyCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterFrequencyCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -99,8 +101,9 @@ class DutyCycleSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterOutputCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterOutputCallback(NotifyCallback callback,
+                                                        bool initialNotify);
 
   /**
    * Measure the output from this duty cycle port.

wpilibc/src/main/native/include/frc/simulation/EncoderSim.h

@@ -53,7 +53,8 @@ class EncoderSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -78,8 +79,9 @@ class EncoderSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterCountCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterCountCallback(NotifyCallback callback,
+                                                       bool initialNotify);
 
   /**
    * Read the count of the encoder.
@@ -103,8 +105,9 @@ class EncoderSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterPeriodCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterPeriodCallback(NotifyCallback callback,
+                                                        bool initialNotify);
 
   /**
    * Read the period of the encoder.
@@ -127,8 +130,9 @@ class EncoderSim {
    * @param initialNotify whether to run the callback on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterResetCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterResetCallback(NotifyCallback callback,
+                                                       bool initialNotify);
 
   /**
    * Check if the encoder has been reset.
@@ -152,7 +156,8 @@ class EncoderSim {
    * @param initialNotify whether to run the callback on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterMaxPeriodCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterMaxPeriodCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -177,7 +182,8 @@ class EncoderSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterDirectionCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterDirectionCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -202,7 +208,8 @@ class EncoderSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterReverseDirectionCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterReverseDirectionCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -227,7 +234,8 @@ class EncoderSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterSamplesToAverageCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterSamplesToAverageCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -252,7 +260,8 @@ class EncoderSim {
    * @param initialNotify if true, the callback will be run on the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterDistancePerPulseCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterDistancePerPulseCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**

wpilibc/src/main/native/include/frc/simulation/PWMSim.h

@@ -48,7 +48,8 @@ class PWMSim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -72,7 +73,8 @@ class PWMSim {
    * @param initialNotify whether to run the callback with the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterRawValueCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterRawValueCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -96,8 +98,9 @@ class PWMSim {
    * @param initialNotify whether to run the callback with the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterSpeedCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterSpeedCallback(NotifyCallback callback,
+                                                       bool initialNotify);
 
   /**
    * Get the PWM speed.
@@ -120,7 +123,8 @@ class PWMSim {
    * @param initialNotify whether to run the callback with the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterPositionCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterPositionCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -144,7 +148,8 @@ class PWMSim {
    * @param initialNotify whether to run the callback with the initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterPeriodScaleCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterPeriodScaleCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -168,7 +173,8 @@ class PWMSim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterZeroLatchCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterZeroLatchCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**

wpilibc/src/main/native/include/frc/simulation/PneumaticsBaseSim.h

@@ -42,8 +42,9 @@ class PneumaticsBaseSim {
    * Save a reference to this object; it being deconstructed cancels the
    * callback.
    */
-  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
-  RegisterInitializedCallback(NotifyCallback callback, bool initialNotify) = 0;
+  [[nodiscard]]
+  virtual std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+      NotifyCallback callback, bool initialNotify) = 0;
 
   /**
    * Check if the compressor is on.
@@ -68,8 +69,9 @@ class PneumaticsBaseSim {
    * Save a reference to this object; it being deconstructed cancels the
    * callback.
    */
-  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
-  RegisterCompressorOnCallback(NotifyCallback callback, bool initialNotify) = 0;
+  [[nodiscard]]
+  virtual std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
+      NotifyCallback callback, bool initialNotify) = 0;
 
   /**
    * Check the solenoid output on a specific channel.
@@ -98,9 +100,9 @@ class PneumaticsBaseSim {
    * Save a reference to this object; it being deconstructed cancels the
    * callback.
    */
-  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
-  RegisterSolenoidOutputCallback(int channel, NotifyCallback callback,
-                                 bool initialNotify) = 0;
+  [[nodiscard]]
+  virtual std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
+      int channel, NotifyCallback callback, bool initialNotify) = 0;
 
   /**
    * Check the value of the pressure switch.
@@ -126,9 +128,9 @@ class PneumaticsBaseSim {
    * Save a reference to this object; it being deconstructed cancels the
    * callback.
    */
-  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
-  RegisterPressureSwitchCallback(NotifyCallback callback,
-                                 bool initialNotify) = 0;
+  [[nodiscard]]
+  virtual std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
+      NotifyCallback callback, bool initialNotify) = 0;
 
   /**
    * Read the compressor current.
@@ -153,9 +155,9 @@ class PneumaticsBaseSim {
    * Save a reference to this object; it being deconstructed cancels the
    * callback.
    */
-  [[nodiscard]] virtual std::unique_ptr<CallbackStore>
-  RegisterCompressorCurrentCallback(NotifyCallback callback,
-                                    bool initialNotify) = 0;
+  [[nodiscard]]
+  virtual std::unique_ptr<CallbackStore> RegisterCompressorCurrentCallback(
+      NotifyCallback callback, bool initialNotify) = 0;
 
   /**
    * Get the current value of all solenoid outputs.

wpilibc/src/main/native/include/frc/simulation/PowerDistributionSim.h

@@ -40,7 +40,8 @@ class PowerDistributionSim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -65,7 +66,8 @@ class PowerDistributionSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterTemperatureCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterTemperatureCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -90,7 +92,8 @@ class PowerDistributionSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterVoltageCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterVoltageCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -116,7 +119,8 @@ class PowerDistributionSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterCurrentCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterCurrentCallback(
       int channel, NotifyCallback callback, bool initialNotify);
 
   /**

wpilibc/src/main/native/include/frc/simulation/REVPHSim.h

@@ -37,21 +37,24 @@ class REVPHSim : public PneumaticsBaseSim {
 
   ~REVPHSim() override = default;
 
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterInitializedCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedCallback(
       NotifyCallback callback, bool initialNotify) override;
 
   bool GetInitialized() const override;
 
   void SetInitialized(bool solenoidInitialized) override;
 
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterSolenoidOutputCallback(
       int channel, NotifyCallback callback, bool initialNotify) override;
 
   bool GetSolenoidOutput(int channel) const override;
 
   void SetSolenoidOutput(int channel, bool solenoidOutput) override;
 
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterCompressorOnCallback(
       NotifyCallback callback, bool initialNotify) override;
 
   /**
@@ -76,9 +79,9 @@ class REVPHSim : public PneumaticsBaseSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore>
-  RegisterCompressorConfigTypeCallback(NotifyCallback callback,
-                                       bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterCompressorConfigTypeCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Check whether the closed loop compressor control is active.
@@ -94,16 +97,17 @@ class REVPHSim : public PneumaticsBaseSim {
    */
   void SetCompressorConfigType(int compressorConfigType);
 
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterPressureSwitchCallback(
       NotifyCallback callback, bool initialNotify) override;
 
   bool GetPressureSwitch() const override;
 
   void SetPressureSwitch(bool pressureSwitch) override;
 
-  [[nodiscard]] std::unique_ptr<CallbackStore>
-  RegisterCompressorCurrentCallback(NotifyCallback callback,
-                                    bool initialNotify) override;
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterCompressorCurrentCallback(
+      NotifyCallback callback, bool initialNotify) override;
 
   double GetCompressorCurrent() const override;
 

wpilibc/src/main/native/include/frc/simulation/RelaySim.h

@@ -40,9 +40,9 @@ class RelaySim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore>
-  RegisterInitializedForwardCallback(NotifyCallback callback,
-                                     bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedForwardCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Check whether the forward direction has been initialized.
@@ -65,9 +65,9 @@ class RelaySim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore>
-  RegisterInitializedReverseCallback(NotifyCallback callback,
-                                     bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterInitializedReverseCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Check whether the reverse direction has been initialized.
@@ -90,7 +90,8 @@ class RelaySim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterForwardCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterForwardCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**
@@ -114,7 +115,8 @@ class RelaySim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterReverseCallback(
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterReverseCallback(
       NotifyCallback callback, bool initialNotify);
 
   /**

wpilibc/src/main/native/include/frc/simulation/RoboRioSim.h

@@ -26,8 +26,9 @@ class RoboRioSim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterFPGAButtonCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterFPGAButtonCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Query the state of the FPGA button.
@@ -50,8 +51,9 @@ class RoboRioSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterVInVoltageCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterVInVoltageCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Measure the Vin voltage.
@@ -75,8 +77,9 @@ class RoboRioSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterVInCurrentCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterVInCurrentCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Measure the Vin current.
@@ -100,8 +103,9 @@ class RoboRioSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterUserVoltage6VCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterUserVoltage6VCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Measure the 6V rail voltage.
@@ -125,8 +129,9 @@ class RoboRioSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterUserCurrent6VCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterUserCurrent6VCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Measure the 6V rail current.
@@ -150,8 +155,9 @@ class RoboRioSim {
    *                      initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterUserActive6VCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterUserActive6VCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Get the 6V rail active state.
@@ -175,8 +181,9 @@ class RoboRioSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterUserVoltage5VCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterUserVoltage5VCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Measure the 5V rail voltage.
@@ -200,8 +207,9 @@ class RoboRioSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterUserCurrent5VCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterUserCurrent5VCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Measure the 5V rail current.
@@ -225,8 +233,9 @@ class RoboRioSim {
    *                      initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterUserActive5VCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterUserActive5VCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Get the 5V rail active state.
@@ -250,8 +259,9 @@ class RoboRioSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterUserVoltage3V3Callback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterUserVoltage3V3Callback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Measure the 3.3V rail voltage.
@@ -275,8 +285,9 @@ class RoboRioSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterUserCurrent3V3Callback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterUserCurrent3V3Callback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Measure the 3.3V rail current.
@@ -300,8 +311,9 @@ class RoboRioSim {
    *                      initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterUserActive3V3Callback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterUserActive3V3Callback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Get the 3.3V rail active state.
@@ -326,8 +338,9 @@ class RoboRioSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterUserFaults6VCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterUserFaults6VCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Get the 6V rail number of faults.
@@ -352,8 +365,9 @@ class RoboRioSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterUserFaults5VCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterUserFaults5VCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Get the 5V rail number of faults.
@@ -378,8 +392,9 @@ class RoboRioSim {
    *                      initial value
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterUserFaults3V3Callback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterUserFaults3V3Callback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Get the 3.3V rail number of faults.
@@ -402,8 +417,9 @@ class RoboRioSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] static std::unique_ptr<CallbackStore>
-  RegisterBrownoutVoltageCallback(NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  static std::unique_ptr<CallbackStore> RegisterBrownoutVoltageCallback(
+      NotifyCallback callback, bool initialNotify);
 
   /**
    * Measure the brownout voltage.

wpilibc/src/main/native/include/frc/simulation/SPIAccelerometerSim.h

@@ -25,8 +25,9 @@ class SPIAccelerometerSim {
    * @param initialNotify whether to run the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterActiveCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterActiveCallback(NotifyCallback callback,
+                                                        bool initialNotify);
 
   /**
    * Check whether the accelerometer is active.
@@ -49,8 +50,9 @@ class SPIAccelerometerSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterRangeCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterRangeCallback(NotifyCallback callback,
+                                                       bool initialNotify);
 
   /**
    * Check the range of this accelerometer.
@@ -73,8 +75,9 @@ class SPIAccelerometerSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterXCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterXCallback(NotifyCallback callback,
+                                                   bool initialNotify);
 
   /**
    * Measure the X axis value.
@@ -97,8 +100,9 @@ class SPIAccelerometerSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterYCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterYCallback(NotifyCallback callback,
+                                                   bool initialNotify);
 
   /**
    * Measure the Y axis value.
@@ -121,8 +125,9 @@ class SPIAccelerometerSim {
    * @param initialNotify whether to call the callback with the initial state
    * @return the CallbackStore object associated with this callback
    */
-  [[nodiscard]] std::unique_ptr<CallbackStore> RegisterZCallback(
-      NotifyCallback callback, bool initialNotify);
+  [[nodiscard]]
+  std::unique_ptr<CallbackStore> RegisterZCallback(NotifyCallback callback,
+                                                   bool initialNotify);
 
   /**
    * Measure the Z axis value.

wpilibc/src/main/native/include/frc/simulation/SolenoidSim.h

@@ -29,7 +29,8 @@ class SolenoidSim {
    * Save a reference to this object; it being deconstructed cancels the
    * callback.
    */
-  [[nodiscard]] virtual std::unique_ptr<CallbackStore> RegisterOutputCallback(
+  [[nodiscard]]
+  virtual std::unique_ptr<CallbackStore> RegisterOutputCallback(
       NotifyCallback callback, bool initialNotify);
 
   std::shared_ptr<PneumaticsBaseSim> GetModuleSim() const;

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.h

@@ -25,8 +25,9 @@ class Drive : public frc2::SubsystemBase {
    * @param fwd the commanded forward movement
    * @param rot the commanded rotation
    */
-  [[nodiscard]] frc2::CommandPtr ArcadeDriveCommand(
-      std::function<double()> fwd, std::function<double()> rot);
+  [[nodiscard]]
+  frc2::CommandPtr ArcadeDriveCommand(std::function<double()> fwd,
+                                      std::function<double()> rot);
 
   /**
    * Returns a command that drives the robot forward a specified distance at a
@@ -35,8 +36,8 @@ class Drive : public frc2::SubsystemBase {
    * @param distance The distance to drive forward in meters
    * @param speed The fraction of max speed at which to drive
    */
-  [[nodiscard]] frc2::CommandPtr DriveDistanceCommand(units::meter_t distance,
-                                                      double speed);
+  [[nodiscard]]
+  frc2::CommandPtr DriveDistanceCommand(units::meter_t distance, double speed);
 
  private:
   frc::PWMSparkMax m_leftLeader{DriveConstants::kLeftMotor1Port};

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.h

@@ -19,10 +19,12 @@ class Intake : public frc2::SubsystemBase {
 
   /** Returns a command that deploys the intake, and then runs the intake motor
    * indefinitely. */
-  [[nodiscard]] frc2::CommandPtr IntakeCommand();
+  [[nodiscard]]
+  frc2::CommandPtr IntakeCommand();
 
   /** Returns a command that turns off and retracts the intake. */
-  [[nodiscard]] frc2::CommandPtr RetractCommand();
+  [[nodiscard]]
+  frc2::CommandPtr RetractCommand();
 
  private:
   frc::PWMSparkMax m_motor{IntakeConstants::kMotorPort};

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.h

@@ -28,8 +28,8 @@ class Shooter : public frc2::SubsystemBase {
    *
    * @param setpointRotationsPerSecond The desired shooter velocity
    */
-  [[nodiscard]] frc2::CommandPtr ShootCommand(
-      units::turns_per_second_t setpoint);
+  [[nodiscard]]
+  frc2::CommandPtr ShootCommand(units::turns_per_second_t setpoint);
 
  private:
   frc::PWMSparkMax m_shooterMotor{ShooterConstants::kShooterMotorPort};

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.h

@@ -15,7 +15,8 @@ class Storage : frc2::SubsystemBase {
  public:
   Storage();
   /** Returns a command that runs the storage motor indefinitely. */
-  [[nodiscard]] frc2::CommandPtr RunCommand();
+  [[nodiscard]]
+  frc2::CommandPtr RunCommand();
 
   /** Whether the ball storage is full. */
   bool IsFull() const;

wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h

@@ -147,10 +147,10 @@ class SwerveDriveKinematics {
    * @return The resulting chassis speed.
    */
   template <typename... ModuleStates>
-  requires(std::is_same_v<std::remove_reference_t<ModuleStates>,
-                          SwerveModuleState>&&...) ChassisSpeeds
-      ToChassisSpeeds(ModuleStates&&... wheelStates)
-  const;
+    requires(std::is_same_v<std::remove_reference_t<ModuleStates>,
+                            SwerveModuleState> &&
+             ...)
+  ChassisSpeeds ToChassisSpeeds(ModuleStates&&... wheelStates) const;
 
   /**
    * Performs forward kinematics to return the resulting chassis state from the

wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc

@@ -66,11 +66,11 @@ SwerveDriveKinematics<NumModules>::ToSwerveModuleStates(
 
 template <size_t NumModules>
 template <typename... ModuleStates>
-requires(std::is_same_v<std::remove_reference_t<ModuleStates>,
-                        SwerveModuleState>&&...)
-    ChassisSpeeds SwerveDriveKinematics<NumModules>::ToChassisSpeeds(
-        ModuleStates&&... wheelStates)
-const {
+  requires(std::is_same_v<std::remove_reference_t<ModuleStates>,
+                          SwerveModuleState> &&
+           ...)
+ChassisSpeeds SwerveDriveKinematics<NumModules>::ToChassisSpeeds(
+    ModuleStates&&... wheelStates) const {
   static_assert(sizeof...(wheelStates) == NumModules,
                 "Number of modules is not consistent with number of wheel "
                 "locations provided in constructor.");

wpinet/src/test/native/cpp/WebSocketTest.h

@@ -48,9 +48,7 @@ class WebSocketTest : public ::testing::Test {
     failTimer->Unreference();
   }
 
-  ~WebSocketTest() override {
-    Finish();
-  }
+  ~WebSocketTest() override { Finish(); }
 
   void Finish() {
     loop->Walk([](uv::Handle& it) { it.Close(); });

wpiutil/src/main/native/include/wpi/MappedFileRegion.h

@@ -59,19 +59,13 @@ class MappedFileRegion {
     return *this;
   }
 
-  explicit operator bool() const {
-    return m_mapping != nullptr;
-  }
+  explicit operator bool() const { return m_mapping != nullptr; }
 
   void Flush();
   void Unmap();
 
-  uint64_t size() const {
-    return m_size;
-  }
-  uint8_t* data() const {
-    return static_cast<uint8_t*>(m_mapping);
-  }
+  uint64_t size() const { return m_size; }
+  uint8_t* data() const { return static_cast<uint8_t*>(m_mapping); }
   const uint8_t* const_data() const {
     return static_cast<const uint8_t*>(m_mapping);
   }

wpiutil/src/main/native/include/wpi/priority_queue.h

@@ -65,7 +65,10 @@ class priority_queue {
     std::make_heap(c.begin(), c.end(), comp);
   }
 
-  [[nodiscard]] bool empty() const { return c.empty(); }
+  [[nodiscard]]
+  bool empty() const {
+    return c.empty();
+  }
 
   size_type size() const { return c.size(); }