[wpiutil] Upgrade to macOS 12 to remove concept shims (#5379)

The macOS deployment target has been upgraded from 10.15 to 11. Also, a deprecation warning for sprintf() in libuv was suppressed.
2026-06-19 00:41:43 +00:00 · 2023-06-08 19:59:54 -07:00
parent 6414be0e5d
commit 652d1c44e3
51 changed files with 86 additions and 119 deletions
--- a/.github/workflows/cmake.yml
+++ b/.github/workflows/cmake.yml
@@ -16,7 +16,7 @@ jobs:
            name: Linux
            container: wpilib/roborio-cross-ubuntu:2023-22.04
            flags: ""
-          - os: macOS-11
+          - os: macOS-12
            name: macOS
            container: ""
            flags: "-DWITH_JAVA=OFF"
--- a/.github/workflows/gradle.yml
+++ b/.github/workflows/gradle.yml
@@ -46,7 +46,7 @@ jobs:

  build-host:
    env:
-      MACOSX_DEPLOYMENT_TARGET: 10.15
+      MACOSX_DEPLOYMENT_TARGET: 11
    strategy:
      fail-fast: false
      matrix:
@@ -63,7 +63,7 @@ jobs:
            build-options: "-PciReleaseOnly --max-workers 1"
            task: "copyAllOutputs"
            outputs: "build/allOutputs"
-          - os: macOS-11
+          - os: macOS-12
            artifact-name: macOS
            architecture: x64
            task: "build"
--- a/glass/src/lib/native/cpp/Storage.cpp
+++ b/glass/src/lib/native/cpp/Storage.cpp
@@ -4,9 +4,10 @@

 #include "glass/Storage.h"

+#include <concepts>
+
 #include <imgui.h>
 #include <wpi/StringExtras.h>
-#include <wpi/concepts.h>
 #include <wpi/json.h>

 using namespace glass;
--- a/glass/src/libnt/native/cpp/NetworkTables.cpp
+++ b/glass/src/libnt/native/cpp/NetworkTables.cpp
@@ -5,6 +5,7 @@
 #include "glass/networktables/NetworkTables.h"

 #include <cinttypes>
+#include <concepts>
 #include <cstdio>
 #include <cstring>
 #include <initializer_list>
@@ -24,7 +25,6 @@
 #include <wpi/SmallString.h>
 #include <wpi/SpanExtras.h>
 #include <wpi/StringExtras.h>
-#include <wpi/concepts.h>
 #include <wpi/mpack.h>
 #include <wpi/raw_ostream.h>

--- a/ntcore/src/main/native/cpp/net/WireDecoder.cpp
+++ b/ntcore/src/main/native/cpp/net/WireDecoder.cpp
@@ -5,11 +5,11 @@
 #include "WireDecoder.h"

 #include <algorithm>
+#include <concepts>

 #include <fmt/format.h>
 #include <wpi/Logger.h>
 #include <wpi/SpanExtras.h>
-#include <wpi/concepts.h>
 #include <wpi/json.h>
 #include <wpi/mpack.h>

--- a/ntcore/src/main/native/include/networktables/NetworkTableValue.h
+++ b/ntcore/src/main/native/include/networktables/NetworkTableValue.h
@@ -7,6 +7,7 @@
 #include <stdint.h>

 #include <cassert>
+#include <concepts>
 #include <initializer_list>
 #include <memory>
 #include <span>
@@ -15,8 +16,6 @@
 #include <utility>
 #include <vector>

-#include <wpi/concepts.h>
-
 #include "ntcore_c.h"

 namespace nt {
--- a/ntcore/src/test/native/cpp/net/ServerImplTest.cpp
+++ b/ntcore/src/test/native/cpp/net/ServerImplTest.cpp
@@ -4,12 +4,11 @@

 #include <stdint.h>

+#include <concepts>
 #include <span>
 #include <string_view>
 #include <vector>

-#include <wpi/concepts.h>
-
 #include "../MockLogger.h"
 #include "../PubSubOptionsMatcher.h"
 #include "../SpanMatcher.h"
--- a/upstream_utils/libuv_patches/0001-Fix-missing-casts.patch
+++ b/upstream_utils/libuv_patches/0001-Fix-missing-casts.patch
@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Tue, 26 Apr 2022 15:01:25 -0400
-Subject: [PATCH 1/9] Fix missing casts
+Subject: [PATCH 01/10] Fix missing casts

 ---
 include/uv/unix.h              |  2 +-
--- a/upstream_utils/libuv_patches/0002-Fix-warnings.patch
+++ b/upstream_utils/libuv_patches/0002-Fix-warnings.patch
@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Tue, 26 Apr 2022 15:09:43 -0400
-Subject: [PATCH 2/9] Fix warnings
+Subject: [PATCH 02/10] Fix warnings

 ---
 include/uv/win.h    |   5 +++
--- a/upstream_utils/libuv_patches/0003-Preprocessor-cleanup.patch
+++ b/upstream_utils/libuv_patches/0003-Preprocessor-cleanup.patch
@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Tue, 26 Apr 2022 15:19:14 -0400
-Subject: [PATCH 3/9] Preprocessor cleanup
+Subject: [PATCH 03/10] Preprocessor cleanup

 ---
 include/uv.h        | 18 +-----------------
--- a/upstream_utils/libuv_patches/0004-Cleanup-problematic-language.patch
+++ b/upstream_utils/libuv_patches/0004-Cleanup-problematic-language.patch
@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Tue, 26 Apr 2022 15:24:47 -0400
-Subject: [PATCH 4/9] Cleanup problematic language
+Subject: [PATCH 04/10] Cleanup problematic language

 ---
 src/unix/tty.c | 21 +++++++++++----------
--- a/upstream_utils/libuv_patches/0005-Use-roborio-time.patch
+++ b/upstream_utils/libuv_patches/0005-Use-roborio-time.patch
@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Tue, 26 Apr 2022 15:26:03 -0400
-Subject: [PATCH 5/9] Use roborio time
+Subject: [PATCH 05/10] Use roborio time

 ---
 src/unix/linux-core.c | 8 ++++++++
--- a/upstream_utils/libuv_patches/0006-Style-comments-cleanup.patch
+++ b/upstream_utils/libuv_patches/0006-Style-comments-cleanup.patch
@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Tue, 26 Apr 2022 15:28:52 -0400
-Subject: [PATCH 6/9] Style / comments cleanup
+Subject: [PATCH 06/10] Style / comments cleanup

 ---
 src/fs-poll.c     | 1 +
--- a/upstream_utils/libuv_patches/0007-Squelch-GCC-warnings-we-don-t-know-how-to-fix.patch
+++ b/upstream_utils/libuv_patches/0007-Squelch-GCC-warnings-we-don-t-know-how-to-fix.patch
@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Tue, 17 May 2022 21:36:57 -0700
-Subject: [PATCH 7/9] Squelch GCC warnings we don't know how to fix
+Subject: [PATCH 07/10] Squelch GCC warnings we don't know how to fix

 ---
 src/queue.h | 16 ++++++++++++++++
--- a/upstream_utils/libuv_patches/0008-Fix-Win32-warning-suppression-pragma.patch
+++ b/upstream_utils/libuv_patches/0008-Fix-Win32-warning-suppression-pragma.patch
@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Sat, 21 May 2022 22:58:06 -0700
-Subject: [PATCH 8/9] Fix Win32 warning suppression pragma
+Subject: [PATCH 08/10] Fix Win32 warning suppression pragma

 ---
 src/win/util.c | 2 +-
--- a/upstream_utils/libuv_patches/0009-Avoid-unused-variable-warning-on-Mac.patch
+++ b/upstream_utils/libuv_patches/0009-Avoid-unused-variable-warning-on-Mac.patch
@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Peter Johnson <johnson.peter@gmail.com>
 Date: Sun, 5 Jun 2022 15:40:35 -0700
-Subject: [PATCH 9/9] Avoid unused variable warning on Mac
+Subject: [PATCH 09/10] Avoid unused variable warning on Mac

 ---
 src/unix/darwin.c | 1 +
--- a/upstream_utils/libuv_patches/0010-Squelch-Apple-Clang-sprintf-deprecation-warning.patch
+++ b/upstream_utils/libuv_patches/0010-Squelch-Apple-Clang-sprintf-deprecation-warning.patch
@@ -0,0 +1,28 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Tyler Veness <calcmogul@gmail.com>
+Date: Wed, 7 Jun 2023 21:04:19 -0700
+Subject: [PATCH 10/10] Squelch Apple Clang sprintf deprecation warning
+
+---
+ src/inet.c | 7 +++++++
+ 1 file changed, 7 insertions(+)
+
+diff --git a/src/inet.c b/src/inet.c
+index 1b190255ed5f4813428dbb3ba81a50cfd26c5bf1..57e5c042ef8adb880279f94bcccc70f78df338fc 100644
+--- a/src/inet.c
+++ b/src/inet.c
+@@ -139,7 +139,14 @@ static int inet_ntop6(const unsigned char *src, char *dst, size_t size) {
+       tp += strlen(tp);
+       break;
+     }
+#if defined(__APPLE__) && defined(__clang__)
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+#endif  // defined(__APPLE__) && defined(__clang__)
+     tp += sprintf(tp, "%x", words[i]);
+#if defined(__APPLE__) && defined(__clang__)
+#pragma clang diagnostic pop
+#endif  // defined(__APPLE__) && defined(__clang__)
+   }
+   /* Was it a trailing run of 0x00's? */
+   if (best.base != -1 && (best.base + best.len) == ARRAY_SIZE(words))
--- a/upstream_utils/update_libuv.py
+++ b/upstream_utils/update_libuv.py
@@ -29,6 +29,7 @@ def main():
        "0007-Squelch-GCC-warnings-we-don-t-know-how-to-fix.patch",
        "0008-Fix-Win32-warning-suppression-pragma.patch",
        "0009-Avoid-unused-variable-warning-on-Mac.patch",
+        "0010-Squelch-Apple-Clang-sprintf-deprecation-warning.patch",
    ]:
        git_am(os.path.join(wpilib_root, "upstream_utils/libuv_patches", f))

--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandHelper.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandHelper.h
@@ -4,11 +4,10 @@

 #pragma once

+#include <concepts>
 #include <memory>
 #include <utility>

-#include <wpi/concepts.h>
-
 #include "frc2/command/Command.h"
 #include "frc2/command/CommandPtr.h"

--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
@@ -4,6 +4,7 @@

 #pragma once

+#include <concepts>
 #include <functional>
 #include <initializer_list>
 #include <memory>
@@ -12,8 +13,6 @@
 #include <utility>
 #include <vector>

-#include <wpi/concepts.h>
-
 #include "frc2/command/CommandBase.h"

 namespace frc2 {
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
@@ -4,6 +4,7 @@

 #pragma once

+#include <concepts>
 #include <initializer_list>
 #include <memory>
 #include <span>
@@ -15,7 +16,6 @@
 #include <networktables/NTSendable.h>
 #include <units/time.h>
 #include <wpi/FunctionExtras.h>
-#include <wpi/concepts.h>
 #include <wpi/sendable/SendableHelper.h>

 namespace frc2 {
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h
@@ -4,6 +4,7 @@

 #pragma once

+#include <concepts>
 #include <functional>
 #include <initializer_list>
 #include <memory>
@@ -13,8 +14,6 @@
 #include <utility>
 #include <vector>

-#include <wpi/concepts.h>
-
 #include "frc2/command/CommandPtr.h"
 #include "frc2/command/SelectCommand.h"

--- a/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h
@@ -4,12 +4,11 @@

 #pragma once

+#include <concepts>
 #include <functional>
 #include <memory>
 #include <utility>

-#include <wpi/concepts.h>
-
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"

--- a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h
@@ -9,13 +9,13 @@
 #pragma warning(disable : 4521)
 #endif

+#include <concepts>
 #include <memory>
 #include <type_traits>
 #include <utility>
 #include <vector>

 #include <wpi/DecayedDerivedFrom.h>
-#include <wpi/concepts.h>

 #include "frc2/command/CommandGroupBase.h"
 #include "frc2/command/CommandHelper.h"
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
@@ -9,13 +9,13 @@
 #pragma warning(disable : 4521)
 #endif

+#include <concepts>
 #include <memory>
 #include <type_traits>
 #include <utility>
 #include <vector>

 #include <wpi/DecayedDerivedFrom.h>
-#include <wpi/concepts.h>

 #include "frc2/command/CommandGroupBase.h"
 #include "frc2/command/CommandHelper.h"
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelRaceGroup.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelRaceGroup.h
@@ -9,13 +9,13 @@
 #pragma warning(disable : 4521)
 #endif

+#include <concepts>
 #include <memory>
 #include <type_traits>
 #include <utility>
 #include <vector>

 #include <wpi/DecayedDerivedFrom.h>
-#include <wpi/concepts.h>

 #include "frc2/command/CommandGroupBase.h"
 #include "frc2/command/CommandHelper.h"
--- a/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h
@@ -9,10 +9,10 @@
 #pragma warning(disable : 4521)
 #endif

+#include <concepts>
 #include <memory>
 #include <utility>

-#include <wpi/concepts.h>
 #include <wpi/deprecated.h>

 #include "frc2/command/CommandBase.h"
--- a/wpilibNewCommands/src/main/native/include/frc2/command/RepeatCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/RepeatCommand.h
@@ -9,11 +9,10 @@
 #pragma warning(disable : 4521)
 #endif

+#include <concepts>
 #include <memory>
 #include <utility>

-#include <wpi/concepts.h>
-
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"

--- a/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
@@ -9,13 +9,13 @@
 #pragma warning(disable : 4521)
 #endif

+#include <concepts>
 #include <memory>
 #include <string>
 #include <unordered_map>
 #include <utility>
 #include <vector>

-#include <wpi/concepts.h>
 #include <wpi/deprecated.h>
 #include <wpi/sendable/SendableBuilder.h>

--- a/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h
@@ -9,6 +9,7 @@
 #pragma warning(disable : 4521)
 #endif

+#include <concepts>
 #include <limits>
 #include <memory>
 #include <span>
@@ -17,7 +18,6 @@
 #include <vector>

 #include <wpi/DecayedDerivedFrom.h>
-#include <wpi/concepts.h>

 #include "frc2/command/CommandGroupBase.h"
 #include "frc2/command/CommandHelper.h"
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
@@ -4,10 +4,9 @@

 #pragma once

+#include <concepts>
 #include <utility>

-#include <wpi/concepts.h>
-
 #include "frc2/command/CommandScheduler.h"

 namespace frc2 {
--- a/wpilibNewCommands/src/main/native/include/frc2/command/WrapperCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/WrapperCommand.h
@@ -9,11 +9,10 @@
 #pragma warning(disable : 4521)
 #endif

+#include <concepts>
 #include <memory>
 #include <utility>

-#include <wpi/concepts.h>
-
 #include "frc2/command/CommandBase.h"
 #include "frc2/command/CommandHelper.h"

--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/Button.h
@@ -4,12 +4,12 @@

 #pragma once

+#include <concepts>
 #include <functional>
 #include <initializer_list>
 #include <span>
 #include <utility>

-#include <wpi/concepts.h>
 #include <wpi/deprecated.h>

 #include "Trigger.h"
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
@@ -4,6 +4,7 @@

 #pragma once

+#include <concepts>
 #include <functional>
 #include <initializer_list>
 #include <memory>
@@ -14,7 +15,6 @@
 #include <frc/event/EventLoop.h>
 #include <frc/filter/Debouncer.h>
 #include <units/time.h>
-#include <wpi/concepts.h>

 #include "frc2/command/Command.h"
 #include "frc2/command/CommandScheduler.h"
--- a/wpilibc/src/main/native/include/frc/Notifier.h
+++ b/wpilibc/src/main/native/include/frc/Notifier.h
@@ -7,6 +7,7 @@
 #include <stdint.h>

 #include <atomic>
+#include <concepts>
 #include <functional>
 #include <string_view>
 #include <thread>
@@ -14,7 +15,6 @@

 #include <hal/Types.h>
 #include <units/time.h>
-#include <wpi/concepts.h>
 #include <wpi/mutex.h>

 namespace frc {
--- a/wpilibc/src/main/native/include/frc/smartdashboard/MechanismObject2d.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/MechanismObject2d.h
@@ -4,6 +4,7 @@

 #pragma once

+#include <concepts>
 #include <memory>
 #include <stdexcept>
 #include <string>
@@ -12,7 +13,6 @@

 #include <networktables/NetworkTable.h>
 #include <wpi/StringMap.h>
-#include <wpi/concepts.h>

 #include "frc/Errors.h"

--- a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
@@ -4,11 +4,11 @@

 #pragma once

+#include <concepts>
 #include <memory>
 #include <string_view>

 #include <wpi/StringMap.h>
-#include <wpi/concepts.h>

 #include "frc/smartdashboard/SendableChooserBase.h"

--- a/wpimath/src/main/native/include/frc/StateSpaceUtil.h
+++ b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
@@ -6,11 +6,11 @@

 #include <array>
 #include <cmath>
+#include <concepts>
 #include <limits>
 #include <random>

 #include <wpi/SymbolExports.h>
-#include <wpi/concepts.h>
 #include <wpi/deprecated.h>

 #include "Eigen/Eigenvalues"
--- a/wpimath/src/main/native/include/frc/fmt/Eigen.h
+++ b/wpimath/src/main/native/include/frc/fmt/Eigen.h
@@ -4,8 +4,9 @@

 #pragma once

+#include <concepts>
+
 #include <fmt/format.h>
-#include <wpi/concepts.h>

 #include "Eigen/Core"
 #include "Eigen/SparseCore"
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
@@ -4,11 +4,11 @@

 #pragma once

+#include <concepts>
 #include <cstddef>

 #include <wpi/SymbolExports.h>
 #include <wpi/array.h>
-#include <wpi/concepts.h>

 #include "Eigen/QR"
 #include "frc/EigenCore.h"
--- a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
+++ b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
@@ -4,10 +4,10 @@

 #pragma once

+#include <concepts>
 #include <stdexcept>

 #include <wpi/SymbolExports.h>
-#include <wpi/concepts.h>

 #include "frc/system/LinearSystem.h"
 #include "frc/system/plant/DCMotor.h"
--- a/wpimath/src/main/native/include/frc/trajectory/TrajectoryConfig.h
+++ b/wpimath/src/main/native/include/frc/trajectory/TrajectoryConfig.h
@@ -4,12 +4,12 @@

 #pragma once

+#include <concepts>
 #include <memory>
 #include <utility>
 #include <vector>

 #include <wpi/SymbolExports.h>
-#include <wpi/concepts.h>

 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/kinematics/MecanumDriveKinematics.h"
--- a/wpimath/src/main/native/include/frc/trajectory/constraint/EllipticalRegionConstraint.h
+++ b/wpimath/src/main/native/include/frc/trajectory/constraint/EllipticalRegionConstraint.h
@@ -4,10 +4,9 @@

 #pragma once

+#include <concepts>
 #include <limits>

-#include <wpi/concepts.h>
-
 #include "frc/geometry/Rotation2d.h"
 #include "frc/geometry/Translation2d.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
--- a/wpimath/src/main/native/include/frc/trajectory/constraint/RectangularRegionConstraint.h
+++ b/wpimath/src/main/native/include/frc/trajectory/constraint/RectangularRegionConstraint.h
@@ -4,10 +4,9 @@

 #pragma once

+#include <concepts>
 #include <limits>

-#include <wpi/concepts.h>
-
 #include "frc/geometry/Rotation2d.h"
 #include "frc/geometry/Translation2d.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
--- a/wpinet/src/main/native/include/wpinet/uv/AsyncFunction.h
+++ b/wpinet/src/main/native/include/wpinet/uv/AsyncFunction.h
@@ -8,6 +8,7 @@
 #include <stdint.h>
 #include <uv.h>

+#include <concepts>
 #include <functional>
 #include <memory>
 #include <thread>
@@ -15,7 +16,6 @@
 #include <utility>
 #include <vector>

-#include <wpi/concepts.h>
 #include <wpi/future.h>
 #include <wpi/mutex.h>

--- a/wpinet/src/main/native/thirdparty/libuv/src/inet.cpp
+++ b/wpinet/src/main/native/thirdparty/libuv/src/inet.cpp
@@ -139,7 +139,14 @@ static int inet_ntop6(const unsigned char *src, char *dst, size_t size) {
      tp += strlen(tp);
      break;
    }
+#if defined(__APPLE__) && defined(__clang__)
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wdeprecated-declarations"
+#endif  // defined(__APPLE__) && defined(__clang__)
    tp += sprintf(tp, "%x", words[i]);
+#if defined(__APPLE__) && defined(__clang__)
+#pragma clang diagnostic pop
+#endif  // defined(__APPLE__) && defined(__clang__)
  }
  /* Was it a trailing run of 0x00's? */
  if (best.base != -1 && (best.base + best.len) == ARRAY_SIZE(words))
--- a/wpiutil/src/main/native/include/wpi/DecayedDerivedFrom.h
+++ b/wpiutil/src/main/native/include/wpi/DecayedDerivedFrom.h
@@ -4,10 +4,9 @@

 #pragma once

+#include <concepts>
 #include <type_traits>

-#include "wpi/concepts.h"
-
 namespace wpi {

 template <class Derived, class Base>
--- a/wpiutil/src/main/native/include/wpi/array.h
+++ b/wpiutil/src/main/native/include/wpi/array.h
@@ -5,12 +5,11 @@
 #pragma once

 #include <array>
+#include <concepts>
 #include <cstddef>
 #include <tuple>
 #include <utility>

-#include "wpi/concepts.h"
-
 namespace wpi {

 struct empty_array_t {};
--- a/wpiutil/src/main/native/include/wpi/concepts.h
+++ b/wpiutil/src/main/native/include/wpi/concepts.h
@@ -1,57 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <concepts>
-
-#if defined(__APPLE__) && !defined(__cpp_lib_concepts)
-
-#include <functional>
-#include <type_traits>
-#include <utility>
-
-namespace std {
-
-template <typename T, typename... Args>
-concept constructible_from =
-    is_nothrow_destructible_v<T> && is_constructible_v<T, Args...>;
-
-template <typename From, typename To>
-concept convertible_to = is_convertible_v<From, To> &&
-                         requires { static_cast<To>(declval<From>()); };
-
-template <typename T>
-concept move_constructible = constructible_from<T, T> && convertible_to<T, T>;
-
-template <typename T>
-concept copy_constructible =
-    move_constructible<T> && constructible_from<T, T&> &&
-    convertible_to<T&, T> && constructible_from<T, const T&> &&
-    convertible_to<const T&, T> && constructible_from<T, const T> &&
-    convertible_to<const T, T>;
-
-template <typename T>
-concept default_initializable =
-    constructible_from<T> && requires { T{}; } && requires { ::new T; };
-
-template <typename Derived, typename Base>
-concept derived_from =
-    is_base_of_v<Base, Derived> &&
-    is_convertible_v<const volatile Derived*, const volatile Base*>;
-
-template <typename T>
-concept floating_point = is_floating_point_v<T>;
-
-template <typename T>
-concept integral = is_integral_v<T>;
-
-template <typename F, typename... Args>
-concept invocable = requires(F&& f, Args&&... args) {
-  invoke(forward<F>(f), forward<Args>(args)...);
-};
-
-}  // namespace std
-
-#endif  // defined(__APPLE__) && !defined(__cpp_lib_concepts)
--- a/wpiutil/src/main/native/include/wpi/jni_util.h
+++ b/wpiutil/src/main/native/include/wpi/jni_util.h
@@ -7,6 +7,7 @@

 #include <jni.h>

+#include <concepts>
 #include <queue>
 #include <span>
 #include <string>
@@ -19,7 +20,6 @@
 #include "wpi/SmallString.h"
 #include "wpi/SmallVector.h"
 #include "wpi/StringExtras.h"
-#include "wpi/concepts.h"
 #include "wpi/mutex.h"
 #include "wpi/raw_ostream.h"

--- a/wpiutil/src/main/native/include/wpi/priority_queue.h
+++ b/wpiutil/src/main/native/include/wpi/priority_queue.h
@@ -6,12 +6,11 @@
 #define WPIUTIL_WPI_PRIORITY_QUEUE_H_

 #include <algorithm>
+#include <concepts>
 #include <functional>
 #include <utility>
 #include <vector>

-#include "wpi/concepts.h"
-
 namespace wpi {

 /**